diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000000.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8f1d9e7b2af3ed40fda9cfd709930106fe244caf --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:719dbd04a2d4ebe37da5d40b67cde0fc153d56e8d15ddaf97d06881116380353 +size 29546 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000001.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000001.parquet new file mode 100644 index 0000000000000000000000000000000000000000..93d5c2036b716b78cf3b3934f55e8cfa448ab3f1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000001.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d97a55db4ab719bc185ae9f4aea9318a3d9bdf00e611f5a07963f2f92d72fd45 +size 29568 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000002.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000002.parquet new file mode 100644 index 0000000000000000000000000000000000000000..32ed9e873b897e6f82700a62b0981a27f72e8100 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000002.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0e209696959054b53b7a0d4979e7308195233379473d9865b8cad5037a9e9ac +size 53643 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000003.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000003.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3144932eeb222f3f5ccebaeb6616ff217bca16d1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000003.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1099ed47fd2ef047f2cbc5a4a68692851335dfcb920cd6fa602f945457a086e6 +size 45400 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000004.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000004.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c381a3398ad6ae1c80d32d372ba26b9ed15f82f2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000004.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54d2964f38edc2c8eeccce96c461c895f73ec467a31f79a197fcbf6770401c44 +size 45602 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000005.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000005.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1ab060af6d1c675151f02aa6c8babf312204fe62 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000005.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:daa248dbc27ad675978d88898b1a5b96a7e75d4b98c791c7fe896fb0304fc933 +size 71410 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000006.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000006.parquet new file mode 100644 index 0000000000000000000000000000000000000000..14b6a8f58d5994bdd8048ce558a2923574bf583c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000006.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:538d2e9155b80c93260ac3ba905a85ae8f2628bbf69fe30894456a02ed84077a +size 60939 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000007.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000007.parquet new file mode 100644 index 0000000000000000000000000000000000000000..41cc1720482fe260b2cfcae1fa2738e87b97f665 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000007.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:163add8feaa0afa995cd2f86498df2ee35eda32ca1fa0b28d912bcdd4389d3fc +size 32281 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000008.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000008.parquet new file mode 100644 index 0000000000000000000000000000000000000000..87caea6ecc9c3e4cc80d1f42c58dac9287819ad6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000008.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:519d8377c7a33b699e22647713f0c786f7592dff49dcf28f33c964e8ab732131 +size 34414 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000009.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000009.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4fce6e884e5af36cf7690c1809e2b916367d714f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000009.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c136a950f308c1f3de2bc7b01af85d69d33b3ef1e469a4621eddd9bd8da5459 +size 56880 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000010.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000010.parquet new file mode 100644 index 0000000000000000000000000000000000000000..12be61f5c0e52b9090d6db682d32e5261350615e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000010.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db09e4da6bc2ccac6164d3bf8d640546c1ae529607466b30d85576c661195921 +size 50868 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000011.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000011.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c5e7132798f33f4ccb72633a8ddf52d69440088e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000011.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:29a8615b12f51d3bc4770deeabdaecb56b1106b700bb782cdb0c3e87df01460a +size 48807 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000012.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000012.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3b0cad0ae2009ad515f53f0e6b8d06b85d054354 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000012.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dccdf05a0bf6a0f2e7e6a024c9d726ca69f6f2dd39f64834dd5e7fe3f9547ec1 +size 27481 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000013.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000013.parquet new file mode 100644 index 0000000000000000000000000000000000000000..44b8994590ddd134dab2a4c2a7fb7077c93bc91c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000013.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95ed44aaef11082d3f22c560aafe5a263c589b1db6d69ca33c2ddf37703060b1 +size 52841 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000014.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000014.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b75cbd1ef9f20935b8ee01f7a4bde1fc92165b3d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000014.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30a39cf32aef0122c3056215912ec3cff2291687f1a83d2cfd199a85221f9bf4 +size 46375 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000015.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000015.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2432c94bb55388c005d652304b38b432a50761f9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000015.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aee1ed4ee99d9d0adf80ee47165cc54975ec2096e12fbbaaa7aaaa8b925baf68 +size 60310 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000016.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000016.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d18c2995cac6f5dcc9a79d093ef0e568bb269fe8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000016.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c1a8ff5542373107da12d3bdd95452df01014095757c7f94cdf2ffb76a97254 +size 33809 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000017.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000017.parquet new file mode 100644 index 0000000000000000000000000000000000000000..289b71949ca615701fba45d418b8d97bd7334799 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000017.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:89ba32656661c335b824f7ee130c44f7b96d63360f8549fc94506cbd8b816b6c +size 56824 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000018.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000018.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8f883960b2fbe48f4ffc4399508d86486e5eb868 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000018.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a181e730154d0dbe44a9c38e159d746f4307a69eec85cc5ce218c866549a316 +size 56148 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000019.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000019.parquet new file mode 100644 index 0000000000000000000000000000000000000000..365627bd370768e6f80e6a5d0958c2ad49c03ae7 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000019.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:060c95c00ba0a7f471b1a9f7fa59a12b2a901947c98f8298cc54fcd6a63dab79 +size 48072 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000020.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000020.parquet new file mode 100644 index 0000000000000000000000000000000000000000..38540b47e17b472971c6da7287b2640c22237ed2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000020.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dc474b718899d7f108be2d875b266c9a6d7876cfe0fa0aebc95193e554c15ff +size 53290 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000021.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000021.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e36ccb81ff994a5b8567addb7a360d25ed1b9a2f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000021.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c936242a5b18489de5033cddef3192b496f72fe43ffb7055786c3db9a6f1f04 +size 40792 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000022.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000022.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b2c2742be94552d7d4c5cd3e68726944657fee68 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000022.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:095b8859ffacd5ae1e7c6be9f214505692b0d727c6225cb71810a1d0ca3b0663 +size 44444 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000023.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000023.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f17c263174cbe0da862da4a0ceccd052873d3b2d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000023.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00c14ac62baba04de1911a1e757ffe869664dd80b47d866560b41e23ece6c8fc +size 27206 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000024.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000024.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8a2c1c6568a3ac32d099f9209a653c7362161d9a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000024.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40d60e2f0abb7ccfe2196148e7b16adff7c08975b01354b6a36b1ea750f2640e +size 47394 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000025.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000025.parquet new file mode 100644 index 0000000000000000000000000000000000000000..065ad8fc99d16dff9b27a51296d5eea13ed7c3b9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000025.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46efad16d08e1be8f98427daaa431437b3cc2ccd10359d950ffe2fe4196202a5 +size 58342 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000026.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000026.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8cf54dbdd8a6a96b2928dcf42449e8d4258b31ad --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000026.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:23e976448fd3c578e79371f7c434506308e26a719aee9feef4608db8041381f9 +size 48481 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000027.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000027.parquet new file mode 100644 index 0000000000000000000000000000000000000000..44eedf6d0e8dadacbbc8084f8891c88df3ef357a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000027.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24f6947df06aa8bd1647aeef6dffaf815827623f8f9f5a874cfeb4187152ee5e +size 47849 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000028.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000028.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b002712344e31d09be9e51220a6873f82ad6f778 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000028.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:78d9bfffef4145cd64b21d13755580cd691c171211b4ce8ccbf22985e2b78880 +size 57567 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000029.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000029.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8faed4fe0d85ea293de98ae64204bdd002711f6f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000029.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5fed70d925256c0f9deb7295a495f2bb876c0bd0df58b88b88931a269d641d15 +size 56123 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000030.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000030.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4618e55b3540cec8b385d7fc8695a6e0526aa519 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000030.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4404f0f52f791c4234d2f7fae0832103badfc05ee1afaed8e0421d621cf09fb5 +size 43217 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000031.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000031.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9e4bbd8d5931c3f2170e3f1340028ed454fa40a6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000031.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fab48326c5ffad781e02a847bad0c430a605c127b47cf7fc9e0e3841e392deb8 +size 52592 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000032.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000032.parquet new file mode 100644 index 0000000000000000000000000000000000000000..efa83e95a8c006cd4b3e5e18c9b927f5936e0833 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000032.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3f3662260636239e8ac556ac0b17cc6713fe188e068ab95ddcffc5aefd8a60c +size 30759 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000033.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000033.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8e167ccc883680569307488f76c513f22a5af548 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000033.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:470f0f957f28edbc24fdd9c68de1f6bf6847c74bdc54497533668b5f94cbf6eb +size 56103 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000034.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000034.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b7da20fa18ce5947243c49195214c40089c7a1fc --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000034.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:632430ebce587364a6988cb89b8e9dc20c59b03cfb01a0ee7619d75187406c9c +size 61139 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000035.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000035.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c07cd39cc92612fc39a26ea95fefe2c60e39420d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000035.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b82354e229fa3fcab66301168816a954a81f0bdc7c02c94465699d56babef6e +size 47530 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000036.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000036.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6a44d69b5b2ce0411df588153fbe449a5ee8511d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000036.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74e523e9cd1a6fbfa5f6298563c1dcb65ed18b86e46b306fd5ced57d6f0e2c20 +size 65617 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000037.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000037.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0a32eb16c1e154d904be9bbd5126512bcd28711e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000037.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03a37bb8d27682ee66b02d566f0a4b6d3e31a5ced690027c974d20ae0e17e883 +size 50799 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000038.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000038.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8bffc8579975b684c64b16d205448df915691b7b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000038.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f7184d647316b83d70fa72a19b583b0844377675a5564e03018271d5e140d49 +size 21986 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000039.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000039.parquet new file mode 100644 index 0000000000000000000000000000000000000000..44d9786ee654ce5fb4c34ed36284e9212bf36989 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000039.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e00246f1908c8af26b86fd946ed6b170f85c6f9294dba523df1437832b508414 +size 43542 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000040.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000040.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9b2fee2f916085102caf83d5ea4079663c864afd --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000040.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:334bcc32af226f3a582d344f15d042e05c337cbb4928bfafa8fc524fa346ad3a +size 49416 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000041.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000041.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0bd445c0156d85561dd3f17d670747f61dd1ba3a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000041.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b7ebaffc20e1d0770602e99ce9ceb6f4e0486985224b3aad31e931370f83fe2 +size 43166 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000042.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000042.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7417763f93f4103214bcf2c10437c879992f2213 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000042.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4acf98b4174dc01a25cb7f961c59beac9b289123b3b0129b3dc61200e78c2da1 +size 54238 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000043.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000043.parquet new file mode 100644 index 0000000000000000000000000000000000000000..53c6ee62c51369e02595e0da30c63aa1d1685af9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000043.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1385a48d608ad4f69f258ed7edf1b7d70c00c80158e471c0a78dfab69e6518f +size 48570 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000044.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000044.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6cb9220bbdb80237296da3374651862218d6a671 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000044.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:62990b3e84dc7b4605d6eb46d5938442db4d72917951f6305f4ee98df944f2db +size 50371 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000045.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000045.parquet new file mode 100644 index 0000000000000000000000000000000000000000..663fe3fb7974aef052180d85cac1ae099a2a1ece --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000045.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c89459bc1224826a90e05ad6a378a28b7685b71b858fbd5405568a91195bb38d +size 40659 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000046.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000046.parquet new file mode 100644 index 0000000000000000000000000000000000000000..af4795b743437f3b97fc35fb65be5a1553d2b582 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000046.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6349bf70e3807702d7b2d9ff961924652a42f9ee8da3391227f926af6e933e63 +size 33190 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000047.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000047.parquet new file mode 100644 index 0000000000000000000000000000000000000000..59a81a6e9a22ecc05191b67b3bff557cb062d74b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000047.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:efc18b0dfe2b6a4e09cff6f956bf2b744bb3c26b5652c3f2efa2d2e891867917 +size 41687 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000048.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000048.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2c5bfcd999b8262451df97cd9504fdb69110c856 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000048.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b63bdb3e6ab11ad7e67282ff1ca727c0f75a2e7bab4ddc86e38ce73960863a29 +size 45305 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000049.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000049.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5ae6897064dabcb69dcba87c5ad9b419e77c67e5 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000049.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e8387dbb9539094b066cee15777af4e83d5adc5b4cd3d729b55e41ace2d2fd2 +size 32267 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000050.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000050.parquet new file mode 100644 index 0000000000000000000000000000000000000000..4c3645f4c3efdaab4d5fd494e79e3bc321f91886 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000050.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e28df96113078187f5569beb3afea44ad021e159166e5cde985054fcaff3fd7 +size 41541 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000051.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000051.parquet new file mode 100644 index 0000000000000000000000000000000000000000..72838ef9eabdf9fe92eb90658c231727423b5baf --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000051.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:772c62fb854c8b73dfca3723e2dbbbc42e0f15de2cff7f3f34adf9b1350bd402 +size 32224 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000052.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000052.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9fc18b89c23126670551e83aab6e1482571a07bf --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000052.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:944fde2dc4e6313dd2abd8b73a3e7a4d421bc5cce44ae7c9bbd85a0c1d9fee8c +size 36503 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000053.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000053.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5d8873c191343270b18cb4fe8130a8869b11c758 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000053.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:016f6e7c525c65ff8e46cde24e6f4c88dbd2497c9129801eafe84f15975c732f +size 53470 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000054.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000054.parquet new file mode 100644 index 0000000000000000000000000000000000000000..d67fedfc1bdd4558b93952589126298c9293f0e6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000054.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b767b7673dea6f704ca99e3a32213c33b414ec1cd30c2f4627f260de9997261 +size 50231 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000055.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000055.parquet new file mode 100644 index 0000000000000000000000000000000000000000..337b5a6070b339f0eb97464381401b672acb5e42 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000055.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f9c1ea2942b94e018eafb6ab13817e7755b008dc687b92faf228924604b8355 +size 27933 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000056.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000056.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b907c1d54582a94180e6ac0ab649e3a8399982f0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000056.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31ea551751d65c03ebf04a250dd3fc4d24a135c7b3b6bf3ea00669c6b0bd28fc +size 41200 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000057.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000057.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6b0a96fe2a40a4382e3dfa4edce5c72462af8d44 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000057.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:45fec0eb4871583f391ad21ff9491d9cdc094405cfad20f650ce74fcdbf14f3b +size 63757 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000058.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000058.parquet new file mode 100644 index 0000000000000000000000000000000000000000..c21820c3df6a2e2165c268fcda4d1f798cf3ae7e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000058.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0221a42b3eba29dacf1ec9f7b5d10d4b22e24f7dc42f444038497d67c40bf05c +size 45623 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000059.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000059.parquet new file mode 100644 index 0000000000000000000000000000000000000000..deb2b27ce81229a6263511291ecc17296376615a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000059.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4974aaaba3cb9900ad8c1c14dff067ab5eebbcffee8a5eea6d4d80d4a40ba56d +size 56087 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000060.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000060.parquet new file mode 100644 index 0000000000000000000000000000000000000000..cf5ad1c35c8ddcc4e0aa5c38d37d4d8cf26a7746 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000060.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1152cc33594cee9cb2fff722dbf85c5613064c2b71d824c761f4b134ca7750f3 +size 29924 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000061.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000061.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2076cd719e76597069b145c397c968962599afe9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000061.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:869995e0003dcd342cf24eef483ddca250f80327edfe2330f19ad9931ed157ed +size 61464 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000062.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000062.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5afa0aadfa18927f244b93ac8d90b92a00fbf19e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000062.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:002dc54f3d86f2208ce67a86abd3675c4beb52710fa6300a9e4546430d187232 +size 47089 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000063.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000063.parquet new file mode 100644 index 0000000000000000000000000000000000000000..13700c60214a7798f8ccdaf5ae664dc346d1ce67 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000063.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1035c149d7dd729db52c5db08be82d9a8ac850d04935a9cc45d1535a6d8c93c +size 46856 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000064.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000064.parquet new file mode 100644 index 0000000000000000000000000000000000000000..feb8aae6fa4097213e7e67d4f75e8b4c419b22af --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000064.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:156068aec5f5b74d90c896758d0f8d5f46a836b8b86aac8a6f827fd9cf50fd2c +size 47392 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000065.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000065.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f2f197bded833d2198b4e28a0099f93df5920690 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000065.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2462e4c4d64ba05a55539e15b889819f398f3f184d6915dd4cb03a2303da962 +size 26477 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000066.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000066.parquet new file mode 100644 index 0000000000000000000000000000000000000000..455a572fe2530daedb1d2e1672612d4186f8d900 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000066.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0dc95836d97989d947b5318fa49ae3891dc83723a0de610213ee8842571dd3e7 +size 28644 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000067.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000067.parquet new file mode 100644 index 0000000000000000000000000000000000000000..52e6cf0b1fa258a215f96f1c83ceb0549943c415 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000067.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d4d684d65f201691265719f020aa7d313cf4a808c7cb3a40195598b361968ad +size 28765 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000068.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000068.parquet new file mode 100644 index 0000000000000000000000000000000000000000..414ba5cfc29eefaf8a77f19881a3c85e7a26acb1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000068.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ee53dee60ed2072510171772c1082dc050480efd75e2f8f0148c062e89450b5 +size 35560 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000069.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000069.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8163d6ab95025e8e1dd4848a28ae260990e0f7f5 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000069.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b599ecaad0dad15d6260934dd9dee0d4009aedf91fe533ff0947391a25084b82 +size 44534 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000070.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000070.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7fc1aaff611c8520f596d924dc3ac0f1a91ad4ac --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000070.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4da444576b9f18d7567e172c9863d6a59bcd0b48d89f087a31acd11fffec1cf +size 50048 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000071.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000071.parquet new file mode 100644 index 0000000000000000000000000000000000000000..fd8ed03fc2145258e6644eda767b67fd0150d43d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000071.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad2012dc3c39baa5f4754dd3b323de089ec0b3e2a67aee579367349037fb7c89 +size 39568 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000072.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000072.parquet new file mode 100644 index 0000000000000000000000000000000000000000..0a92548ce460982747d25e37e2e9d10a553aff30 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000072.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bc72d9546fe64a99de763ecff15ff6348d216f9628082a3e33cf4384d56e45e +size 64875 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000073.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000073.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6bce62d92759b27fb7bf0b7cb2720297d3239c71 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000073.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:870403f3d4a4c9aecda0ae98c36bce50311c5ddace78001fa0fe033f4b77b0f2 +size 61339 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000074.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000074.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8420dbfc341494cb473ca989845efff84a6acfb7 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000074.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3cd3955c98023fbdc18bc7ae2cc3f7ba8dc729aa2d67ceca4f0f7480db6a4d3 +size 69031 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000075.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000075.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6967d3134c23185c7765dadc95f42fa621e65d9d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000075.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e043398082a6a3e59be56c75b5c414be87d5970d0baea684e01a2f370541d95d +size 26783 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000076.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000076.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6227cfb7248763a65cab47feefa79ba1d7b50b57 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000076.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76d9035b15a168462b523bf282d68484bcd2fa57dfc0481ba998cde8c7775e94 +size 54127 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000077.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000077.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8bfa8108b625c24352d05fe21874b30dfba7d255 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000077.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c929f612f4a2e4681d072085ca41c6edfeab010482d4831f4972cd64304102e1 +size 46531 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000078.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000078.parquet new file mode 100644 index 0000000000000000000000000000000000000000..bbd4e2e7f3994099cf6dfddd9f128d263899fdae --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000078.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b9ae2feafebdd1cf9f2caf09a73f0f86ef2f17a4b7a36a7f3d480cc363194b1f +size 33003 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000079.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000079.parquet new file mode 100644 index 0000000000000000000000000000000000000000..de5f448567e14d9b38d8536b394668e7f7ff3689 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000079.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fe2fd33357b63aa00aa1526f2d1f84d289ebb6c6b02a3e65e41caec50b10f0f +size 43710 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000080.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000080.parquet new file mode 100644 index 0000000000000000000000000000000000000000..18910453d8c5aed408d19630e2a9a0043cabf127 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000080.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60b3903204bc4ccdb8e4ba490457fc91b01ebdf7a34405378adc897447d7726d +size 55689 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000081.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000081.parquet new file mode 100644 index 0000000000000000000000000000000000000000..7dfa543a178760d5651413591c503899c12c3130 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000081.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb62e3644958e387e5431f77c09df3f39cb47ce98b88c8c09c7ffbf56d2cba79 +size 30809 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000082.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000082.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5ab037abe372d1407c81f8275c35ef9ee8752aea --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000082.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:151cade251daf130821a19d50053ff5d4a8668fcc2725bf7a81e4bdf7dc5f8d0 +size 26826 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000083.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000083.parquet new file mode 100644 index 0000000000000000000000000000000000000000..973356b95ed188029706cfc92b22c3c42b139390 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000083.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb55f616e23d473119a7b5d37ae2c6ba21520dd7c0752c911aaa02d9ff454d3f +size 30788 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000084.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000084.parquet new file mode 100644 index 0000000000000000000000000000000000000000..bae758a6e28584106cdf39b8552d859da956ffbb --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000084.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1023e5b6f96d3bcdedacb6864e47021f1a7d8edf25bf22cf4f20624df6a8d86 +size 54373 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000085.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000085.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e7628ee0dc97d460565bebd58efb1c9204ade4dc --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000085.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:848b5b22002fe65dd667284544749e99c6469485d2a19c78abf5821c2443972a +size 32067 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000086.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000086.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ff161555c61e26f19be3e6f349bceb3840b70a6c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000086.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d106569a0c20e1bf827e9092351e35b587af662c9b5f1b2a72099557b7805c75 +size 40453 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000087.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000087.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f274315a48d994d7ee663d2692012621b1718a7f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000087.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:978c41e7c8d67c7a0649de7f5cd8df08e231e2ce655c99bc17ab26a591e0d867 +size 41185 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000088.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000088.parquet new file mode 100644 index 0000000000000000000000000000000000000000..34c2f7c72152a1a8bd1463994bff6f558451d515 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000088.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:812ee6a54a8e3c97828119df0309b054aee2c858227a3a47b077b43502bd25e1 +size 52615 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000089.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000089.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2b659237029284e0c7d6f1dacdfc3efe9eb5b32e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000089.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20ecd630f35f775cb1b90686beaf4b277bd088d571434d579cd988c69330444c +size 59523 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000090.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000090.parquet new file mode 100644 index 0000000000000000000000000000000000000000..48e30251e23cdd2cf1992c1a112b12072639c854 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000090.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd227e136e8176cee497886c458ba060fe127fbb989bd5ebec04700d35c95a37 +size 52201 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000091.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000091.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f37e27b3a038b64cb2829318736256d6b01f06a4 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000091.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a580871367331024aa792dd40e586c9cb3f3f84c39bce45c01a24c9f08650bb +size 28604 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000092.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000092.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e91cc6c44543dbf3dbfa15e7db7294900a4c32d7 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000092.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:13d15e1b7ba506fee6afcce0cdf39d129bf55f687ab95568cb4233fca991aa42 +size 31604 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000093.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000093.parquet new file mode 100644 index 0000000000000000000000000000000000000000..5080879340422ab6dae5dcc3de92be93da5555b6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000093.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e83fa66a6e5d44e2df8386af7fc7ea63b42f4be975e23fb9b377a4d7c2ee0deb +size 35067 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000094.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000094.parquet new file mode 100644 index 0000000000000000000000000000000000000000..70099ab160ccb8ab7f5f4dc286c0f40e638617c6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000094.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ea01dd9feda73099f1046095c68c092cc83f9590c48f065025b496284c092f3 +size 32485 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000095.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000095.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9dd16c08755950cefd6c896056d7e6face68425d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000095.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0d0f5dd14f8b8fe40e45106da0ad77a50c444f4d19b69e8acafd2df9d6df086 +size 69534 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000096.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000096.parquet new file mode 100644 index 0000000000000000000000000000000000000000..217949853e2cd6492e4e31ee03017bf1b02aeba8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000096.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de61aa5f5395ba3123ff746c7f09a93bcc462601813e99979d795d4fd6e241c3 +size 23519 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000097.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000097.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6d287b7a4e7f1d8cc9f6088e6f8d8de227543344 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000097.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b913e7e490095d795cb171a9210d20dfb13aaebca67ccc6b5d26609f87548275 +size 65435 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000098.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000098.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6b0e83920a26f6f2884df9b178c3db92ce466e58 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000098.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cde27cdb47e5fd70a407a743f1031d76ce1780f590ee66a6fa7378739e51314 +size 56220 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000099.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000099.parquet new file mode 100644 index 0000000000000000000000000000000000000000..015420ce2089659b5883774d188e9f6debf97341 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000099.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94a1819a7bcbcbb3e348be3e5467ea140352b447e29ed76a45f500492320beae +size 60366 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000100.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000100.parquet new file mode 100644 index 0000000000000000000000000000000000000000..e65ea51baeb737d2c662bf608d4092af12110741 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000100.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c116474c64c2c1e5f4ad624083aee850ceebf4b28e0fd04825134ca898b9a9f5 +size 51571 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000101.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000101.parquet new file mode 100644 index 0000000000000000000000000000000000000000..1b63dfe1aaae76a347cc57a4ab59567e723e47c1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000101.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31c1935a461c5c8909797fe552be6533308fd4edd087594081a8af46940d0b99 +size 50213 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000102.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000102.parquet new file mode 100644 index 0000000000000000000000000000000000000000..8393070f476188c0167e44c275763f6719b4d09f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000102.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86ff77b4bef22df1e20661e29d65081d52da6ae135fa9895a680350b92a6b665 +size 30688 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000103.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000103.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2ac29b7090c25f188d492d063141edda57c60c3a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000103.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:660c3332aaff2550fe6fb5821f21ecd75c3f284a297de46e2dea03ca41b4ab69 +size 42682 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000104.parquet b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000104.parquet new file mode 100644 index 0000000000000000000000000000000000000000..3028a67ecb4ca794251b317965a1d91f7bd3112a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/data/chunk-000/episode_000104.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ea65b86355e585f1cd0b2ac386fe6d67eca058f726701330b2d3d93622f97dd5 +size 29915 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/dataset_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0152e36babcae317763e396c3681b3055aa464e7 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/dataset_meta.json @@ -0,0 +1,392 @@ +{ + "date": "8-19-2025", + "env": "CloseCabinet", + "env_args": { + "type": 1, + "env_name": "CloseCabinet", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "CloseCabinet", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "clutter_mode": 0, + "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": "CloseCabinet", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "clutter_mode": 0, + "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": "8:59:36", + "total": 27754 +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000000/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a472b27e36286ac01493778ae769c293a9dd4005 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 54, + "style_id": 53, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5042610000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_main_group_1", + "min_size": [ + 0.342302, + 0.055938, + 0.055938 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil002/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_main_group_1", + "min_size": [ + 0.04940418759999999, + 0.18773543939999998, + 0.03373475745 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_main_group_1", + "min_size": [ + 0.06860664150000001, + 0.06860664150000001, + 0.07553844450000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_2/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 4.841322336164413, + -0.9879262014570828, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000000/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000000/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..668159f2a868b6cde2dac63bd57880eede87befe --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000000/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d49c77b2261c07aaca199422081dc4b681dbcfe50eaaed40a537010ea86a8f34 +size 57143 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000000/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000000/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..5cf03e1e0fe84ede151ede9e90baa9a60789ea76 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000000/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a2e1506a1aa78c92bf5f6adda79f4aaf43f91e4b5ae8bb3d0386995df0ed9b6 +size 141323 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000001/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..adc23cf447d2b93adb737f291cc6fd9304545248 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,412 @@ +{ + "layout_id": 59, + "style_id": 33, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_03_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.45869699999999997, + 0.220978 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_03_main_group_1", + "min_size": [ + 0.019866, + 0.053182, + 0.00405 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pickle_slice" + ], + "groups": [ + "all" + ], + "cat": "pickle_slice", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pickle_slice/PickleSlice005/model.xml" + }, + "reset_region": { + "size": [ + 0.5186649999999999, + 0.65 + ], + "offset": [ + 0.7712000000000001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_03_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": [ + 2.762259201928043, + -0.9363768977645847, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000001/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000001/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..f633ed8228487d62b119df3474ec17d6aa3d72ba --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000001/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a3178c22855b247bd8d9da3db3cae41b70ac00902b5f8c4f39df803402ed0fe +size 46668 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000001/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000001/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..84ae9b56ccb7afe43067565bd07694eaf7703606 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000001/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2419f74cdc933c7dcceab47153949e2ee45f2ca9518f7b0ab30f1d0400e981b8 +size 94414 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000002/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc5725a4b6739649b0cdfef5734762af238c388b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 55, + "style_id": 34, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jug_wide_opening", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jug_wide_opening", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6150530000000001, + 0.30914400000000003 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.04773901110906573, + 0.17999997854232788, + 0.006575500799999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "spoon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_21/model.xml" + }, + "reset_region": { + "size": [ + 0.8425400689751339, + 0.65 + ], + "offset": [ + 0.23749999999999982, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.05321475, + 0.053213525, + 0.18842733750000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mustard", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mustard", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard003/model.xml" + }, + "reset_region": { + "size": [ + 0.8425400689751339, + 0.65 + ], + "offset": [ + 0.23749999999999982, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.075759723, + 0.1426930235, + 0.051661035999999994 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun007/model.xml" + }, + "reset_region": { + "size": [ + 0.8425400689751339, + 0.65 + ], + "offset": [ + 0.23749999999999982, + -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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 5.200026892228454, + -0.9262258186265294, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000002/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000002/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..a03477cfeefbff2b2aa9e0ecfb502a9894329644 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000002/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:109015e782e9a89711ffd48bae6957cdaad896201f9daaec26a6322940298e24 +size 50610 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000002/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000002/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..025e484fb971ce3451042255c9af21239ccf5482 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000002/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d803bcf474f578816257800212afe291b9d54e673049c9869b0f36a15484381 +size 250851 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000003/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2658044df177982717c6f7ccb8f9c03a8579460c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,483 @@ +{ + "layout_id": 38, + "style_id": 15, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_left_group_1", + "min_size": [ + 0.23999765999999986, + 0.2399966807999999, + 0.10514416799999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "size": [ + 0.885, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_left_group_1", + "min_size": [ + 0.11039977, + 0.11049202999999999, + 0.017775 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread005/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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_3_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": [ + 0.8933317786675156, + -4.396266285152648, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000003/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000003/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..43ea28f3c5bd450185b05edb37d0b3227b2ade55 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000003/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdcf173661e22131cc3f5dfc514ab568f0ae2fcf4fb3f26a1c7dad767d365a26 +size 61429 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000003/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000003/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..005b0f6a598ad57aba09e5dca3f1556943a9ffa2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000003/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d639e7bb2a5e4bf703f9e9d087f7499204be8f00fba5438add32671631b100a +size 180154 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000004/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fa4ab87a555c7b4334c573d53924c6b049e42ae8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,499 @@ +{ + "layout_id": 57, + "style_id": 43, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_5_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.8867929999999999, + 0.340002 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_5_left_group_1", + "min_size": [ + 0.05351164464999999, + 0.05334858854999999, + 0.09602609119999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shaker", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "shaker", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3101729999999976, + 0.65 + ], + "offset": [ + 0.03100000000000125, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_5_left_group_1", + "min_size": [ + 0.05840713366587696, + 0.1199999940887535, + 0.05755418774893327 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3101729999999976, + 0.65 + ], + "offset": [ + 0.03100000000000125, + 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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_5_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": [ + -1.243366423045364, + -0.7856448248162822, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000004/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000004/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..37a6940326228b391bd11001d67599d1ea759bfa --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000004/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:757fe2f2c973909f22acd901da1169796e29de9977c681609153726e86db4bbc +size 59970 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000004/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000004/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..d14916387725d8fc49cc3514310a935faae1a2af --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000004/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ea0da7872c2a537ad425ae5a4adb7662e1e0d1efacf425a19cdab8e7e265a2a +size 192027 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000005/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b13da0a63813d15c7e27ffb043cb4a054302185a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 43, + "style_id": 31, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "boxed_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.097, + 0.351 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "size": [ + 0.7109769999999997, + 0.650008 + ], + "offset": [ + -0.17010000000000014, + 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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 2.703458833485132, + -0.7588303598211036, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000005/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000005/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..449e2acb2291d1d5c264da936da27c2777c779c6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000005/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:537743237030454a3b916fc51d6154612fa7057509522a2235e50ce91fc294ee +size 60225 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000005/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000005/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..47c58ef08697dd378ca7eb450c4e125db7bbf94c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000005/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40d7cf63c0948f57d4c6d897cfc75597f035b8a78a0d573195b6523465d03c9f +size 278706 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000006/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6727a3f188352f8f3a70df889dad94c7b10d6e9a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,594 @@ +{ + "layout_id": 23, + "style_id": 26, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kebab_skewer", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kebab_skewer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.14, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.09099378000000001, + 0.194397381, + 0.015302610000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peeler", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "peeler", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler002/model.xml" + }, + "reset_region": { + "size": [ + 0.7099999999999995, + 0.65 + ], + "offset": [ + -0.8950000000000002, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.06971942460000002, + 0.06971982150000001, + 0.10601233545000002 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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_14/model.xml" + }, + "reset_region": { + "size": [ + 0.7099999999999995, + 0.65 + ], + "offset": [ + -0.8950000000000002, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.048101219999999986, + 0.113468085, + 0.14999999399999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cereal", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "cereal", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_11/model.xml" + }, + "reset_region": { + "size": [ + 0.7099999999999995, + 0.65 + ], + "offset": [ + -0.8950000000000002, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_1_right_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": [ + 4.857639031051358, + -0.9847857442027125, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000006/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000006/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..2c9ae300bffcb35918be49e0ae79c3627103d994 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000006/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ccb4ab7db2de4d87213a5a56f1f86210b7ebaaa71134ac4e17b364af1e64fe2 +size 57280 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000006/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000006/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..ccce4c2270a1e99861e17140da9857eecba3debe --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000006/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:49b8f13ddf1278da56de576bd24e5a9497464a72dcb0e90564f0660a92252db3 +size 463184 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000007/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc78335da45ab6346aa7365e48fa2fd0f9bb174b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,356 @@ +{ + "layout_id": 40, + "style_id": 34, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.4273, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.12405540000000001, + 0.10193400000000001, + 0.12899880000000002 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lettuce", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lettuce", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce007/model.xml" + }, + "reset_region": { + "size": [ + 0.2427999999999999, + 0.65 + ], + "offset": [ + 0.6734, + 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" + }, + "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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 2.846203806418685, + -0.7527133688427032, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000007/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000007/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..49fc72a4b91a9205b39d795d5a837b1e7b9dc729 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000007/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a99d6eb3e34f1d4c9e769ac0a060a883761864dc7b7944e40cf0ef5bf538d379 +size 45340 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000007/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000007/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..0cac49c292ec9189b0007d7a9060f4ee55dd4ebc --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000007/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a5684e2dd7ba4cc0952efaae60fd8127810151a7155e753fd0832adbec5abec +size 100145 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000008/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..273dd633ce88aaddb246262ebd5e25f1b5bbf1e0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,590 @@ +{ + "layout_id": 12, + "style_id": 26, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.49000000000000005, + 0.54 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.1212167965, + 0.0625745705, + 0.023635695 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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/TurkeySlice007/model.xml" + }, + "reset_region": { + "size": [ + 1.8316822259761805, + 0.65 + ], + "offset": [ + 1.0211588870119102, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.059470920000000004, + 0.18, + 0.01637082 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "spoon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_14/model.xml" + }, + "reset_region": { + "size": [ + 1.8316822259761805, + 0.65 + ], + "offset": [ + 1.0211588870119102, + -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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "cab_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": [ + 4.187918727912141, + -1.0957009654666652, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000008/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000008/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..1372c5fd7fb863a4ab275c1608b26a26fcdd377c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000008/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a741ccbfb32f7e0233d7e85b5bf1a6591bc5d80d6458eddec2c993d0b4506ac3 +size 63522 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000008/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000008/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..1ab55079129f4b7b3176bed234f03ecce0ad1847 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000008/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b4bcced47f686077032fdfa3394370165d22a471d28fb9a6a1f5379cf2bf939 +size 223677 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000009/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e598a981eb3f430a22e37e400844a582e3c1f23b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,385 @@ +{ + "layout_id": 52, + "style_id": 27, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mayonnaise", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mayonnaise", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mayonnaise/Mayonnaise003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6999599999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.0720825927035424, + 0.10086663904729201, + 0.07184646271761685 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_17/model.xml" + }, + "reset_region": { + "size": [ + 0.608586, + 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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 1.6752920696374487, + -0.8793769181558403, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706272411567803 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000009/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000009/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..e3dd36f5f0605062f81d96e66251cde99777cb11 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000009/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4611aa86a6b851c89ed7c9658bb1c192b44830d613bc4a5353fe8fb6799856e8 +size 43420 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000009/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000009/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..0e809a4f470b0e4f491417d6c88c0640f1d0823e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000009/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c4b5d39601cfb9d757e4d3df12ad9272548003c18656d2b8c738cec95092841b +size 306557 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000010/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a1cc96116d9efd4ba7474fe72af615035b21fb23 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,613 @@ +{ + "layout_id": 22, + "style_id": 57, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6499999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_3_main_group", + "min_size": [ + 0.075, + 0.074107956, + 0.0582066 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_11/model.xml" + }, + "reset_region": { + "size": [ + 0.7100000000000009, + 0.65 + ], + "offset": [ + -0.35499999999999954, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_3_main_group", + "min_size": [ + 0.054704425, + 0.054704425, + 0.1470978375 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mustard", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mustard", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard006/model.xml" + }, + "reset_region": { + "size": [ + 0.7100000000000009, + 0.65 + ], + "offset": [ + -0.35499999999999954, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_3_main_group", + "min_size": [ + 0.05103102500000001, + 0.122814865, + 0.0535306175 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7100000000000009, + 0.65 + ], + "offset": [ + -0.35499999999999954, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_3_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": [ + 2.100712847532195, + -0.8113443247660374, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000010/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000010/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..3d719374a38064ca1cd9c984241253263b14cf6c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000010/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97dc5e1c45958741d95640d98a4cf18f6883a58a9709bf229623602834b27f9c +size 65183 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000010/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000010/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..28bb3861c7da80277df2458ad0a9e7b7014e32f2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000010/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b45d6668d9bd95871d85b8a5d5a73670f597ac8f9a849e93cb776d075b6496b4 +size 239464 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000011/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02a04e80fd842986dbfe3fcfb958c16f8dbd2722 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 53, + "style_id": 45, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_right_group_1", + "min_size": [ + 0.014456, + 0.041804, + 0.02032 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge003/model.xml" + }, + "reset_region": { + "size": [ + 0.8038599999999996, + 0.650027 + ], + "offset": [ + -0.14700000000000024, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_right_group_1", + "min_size": [ + 0.040818, + 0.192992, + 0.006616 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "all" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw007/model.xml" + }, + "reset_region": { + "size": [ + 0.8038599999999996, + 0.650027 + ], + "offset": [ + -0.14700000000000024, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_right_group_1", + "min_size": [ + 0.06339870034228504, + 0.09392994469999996, + 0.03259918021387442 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8038599999999996, + 0.650027 + ], + "offset": [ + -0.14700000000000024, + 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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 4.9350505260074184, + -4.304655378628836, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000011/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000011/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..9ce054f488ada882913b38c2d69cb82fa812b01b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000011/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4522103c87d5ed6df9b552e62d6d892248c69098f3773f7b0334b709cd173c6 +size 60656 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000011/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000011/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..e89d93258ecf29a3514b8708c60a138f64fd1d72 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000011/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f905146e33ddf4e2216dec428204dd7284e381a9dfab1e7c02e653a6c7317cbb +size 239154 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000012/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0dd35777b7d7c9e8f2ca7478f7f9a899bb728ce0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,587 @@ +{ + "layout_id": 20, + "style_id": 21, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.349, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.12660037, + 0.11732169, + 0.21118618 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "flour_bag" + ], + "groups": [ + "all" + ], + "cat": "flour_bag", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/flour_bag/FlourBag001/model.xml" + }, + "reset_region": { + "size": [ + 1.315860471791631, + 0.65 + ], + "offset": [ + -0.5129999999999995, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.2599988533999999, + 0.2599999999999999, + 0.09118975319999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_3/model.xml" + }, + "reset_region": { + "size": [ + 1.315860471791631, + 0.65 + ], + "offset": [ + -0.5129999999999995, + -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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "cab_1_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": [ + 0.8164190946456203, + -2.9542087168003555, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000012/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000012/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..524c6f15a126f1edcfd3b7fac39f8d50312e0ae8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000012/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb8aa4eb8c62221c11d4298c928ee73a87226ada644d9fc73f627e9403f9cbc2 +size 59299 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000012/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000012/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..f06f5b888f0c32bd234acb7d2c8693d5898f5c73 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000012/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1203dc396fc5f6c1ddde0b6b1408e325ff979f3e9c5ec26a065d1bd958fca893 +size 100311 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000013/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ffa0efdd5df1abe814a919694f82819899d9549 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,566 @@ +{ + "layout_id": 33, + "style_id": 16, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.340555 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.12640629223540972, + 0.14036459326612377, + 0.144853126 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "teapot", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "teapot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/teapot/teapot_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.49999999999999994, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.06339870034228504, + 0.09392994469999996, + 0.03259918021387442 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.49999999999999994, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.33898255, + 0.0843013, + 0.0755381145 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "basket", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket043/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.49999999999999994, + 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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 5.85356860624585, + -0.5536680795712102, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000013/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000013/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..546ae4c959a2668fe52596c38cb5503a90ae60a3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000013/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b27d9136fd43d7e7b2149eb984220f39fbc269f012cc2a9dd62d7fbdcee61a6 +size 71097 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000013/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000013/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..e7608203c3a661278f537aca5f5a01640ce600e0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000013/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dda85984dfbed092e5754967d8b8db16b20984e06dcf731862b3c4fd6d58a72 +size 237611 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000014/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9383a043711e0cf048c209efea73599301e9f6fe --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 15, + "style_id": 21, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "cab_2_left_group_1", + "min_size": [ + 0.072704732, + 0.09999866199999999, + 0.07166651999999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8000000000000012, + 0.65 + ], + "offset": [ + -0.8999999999999995, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "cab_2_left_group_1", + "min_size": [ + 0.06410261910000004, + 0.06378820760000004, + 0.05815621890000003 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8000000000000012, + 0.65 + ], + "offset": [ + -0.8999999999999995, + -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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_2_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": [ + 0.8462758084621419, + -3.8492765897885666, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000014/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000014/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..485b3853d6ed647fe60103648670d7339c9213df --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000014/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c733a1836f700f8cc5a77dec1dc97fc9f53dc7141a567501237bf1274535e7c0 +size 56582 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000014/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000014/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..38a7beeb05987cb1f550eba688e20c0f728ccf0d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000014/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32bb01a9cb568c4bd9e088c9b5c100a3ab7c223de9fd751480f45097a0342c52 +size 180207 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000015/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9159f281a7b5d789ec93838e915f26ab29534f25 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 14, + "style_id": 16, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "ice_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.02, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "cab_1_main_group_1", + "min_size": [ + 0.082723443075, + 0.05116918747499999, + 0.15908801894999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "condiment_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "condiment_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_2/model.xml" + }, + "reset_region": { + "size": [ + 1.085, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "cab_1_main_group_1", + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "size": [ + 1.085, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "cab_1_main_group_1", + "min_size": [ + 0.1443467, + 0.20561026, + 0.20819429 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher008/model.xml" + }, + "reset_region": { + "size": [ + 1.085, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 4.145472468649628, + -0.7773419829640754, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000015/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000015/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..4dc6d71e96291a74fbeb04bb084130b7c535350b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000015/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:359a33d1d0cd1e6a31d815c0988eaff213d0c9026aba16b262bd5e7fd33d711b +size 61272 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000015/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000015/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..be1b537bdc8144de4462fac01904605b5d3a9f4f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000015/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8de98ed1280cf12bdcda0311949712965f76de22065a59ca8147e65be09e7907 +size 288341 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000016/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3ee1ec3d31a25c018249c746a62625fd642c02 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,555 @@ +{ + "layout_id": 53, + "style_id": 56, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_3_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mustard", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mustard", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.48399200000000003, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_3_right_group_1", + "min_size": [ + 0.07299458639999998, + 0.11999999999999995, + 0.07409742479999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + }, + "reset_region": { + "size": [ + 1.09786, + 0.650027 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_3_right_group_1", + "min_size": [ + 0.07876715879999999, + 0.1099989572, + 0.0965910044 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_17/model.xml" + }, + "reset_region": { + "size": [ + 1.09786, + 0.650027 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_3_right_group_1", + "min_size": [ + 0.11610955104999995, + 0.11507913609999994, + 0.04536781624999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_2/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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_3_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": [ + 5.005244087888076, + -4.583693341750524, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000016/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000016/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..be61683723b441b8e17d08a5aca841472e63ce8a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000016/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0746ece2a59092cb2222ff233a1fe2b20a82f950391049840fbdf5ddc8e46f3 +size 55959 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000016/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000016/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..f17105a5ef3665a11aaccaf196e2d2fab86acb6b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000016/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd18d53106ac5043662c575863d41555758d873f318dda185f4b15996887212b +size 164457 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000017/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..684eb58152cb0ebd7593ad700f904c12d8ac5bf6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 37, + "style_id": 22, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_water", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_water", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9648649999999999, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_left_group_1", + "min_size": [ + 0.0542592, + 0.040534362, + 0.030523500000000002 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml" + }, + "reset_region": { + "size": [ + 1.0248369999999993, + 0.650008 + ], + "offset": [ + -0.9225000000000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_left_group_1", + "min_size": [ + 0.138482718, + 0.13825403900000002, + 0.11386397000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pancake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pancake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes003/model.xml" + }, + "reset_region": { + "size": [ + 1.0248369999999993, + 0.650008 + ], + "offset": [ + -0.9225000000000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_left_group_1", + "min_size": [ + 0.0639828827, + 0.1432333519, + 0.016380968999999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0248369999999993, + 0.650008 + ], + "offset": [ + -0.9225000000000003, + -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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 0.790840371722096, + -3.2162439892633543, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000017/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000017/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..7c7f0494954db38c0b7aa68b89dd64fd4012d901 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000017/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d3f9ab66b926906f29a90d4c8802f42943653c962ec7a899f8a6bc05e5305b61 +size 46341 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000017/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000017/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..84130918455d8cab0d27fdc6b960c7d681a694ff --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000017/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b785bee9d7b43e3de15b447d2ba9ef60f0bb9db5334f6dcbd356d165bd9f63eb +size 342976 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000018/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0e3f42338c9a9019c95a59c4be76be72f3e072a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,575 @@ +{ + "layout_id": 16, + "style_id": 52, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "whisk", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "whisk", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.05896086600000001, + 0.05867315640000001, + 0.05089237920000002 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml" + }, + "reset_region": { + "size": [ + 1.2478781654968585, + 0.65 + ], + "offset": [ + -1.3499999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.052237944, + 0.052164732, + 0.179039748 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cinnamon", + "spice" + ], + "groups": [ + "all" + ], + "cat": "cinnamon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cinnamon/Cinnamon005/model.xml" + }, + "reset_region": { + "size": [ + 1.2478781654968585, + 0.65 + ], + "offset": [ + -1.3499999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.039728626199999985, + 0.11514108689999997, + 0.13353283754999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cereal", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "cereal", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_4/model.xml" + }, + "reset_region": { + "size": [ + 1.2478781654968585, + 0.65 + ], + "offset": [ + -1.3499999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 2.2095231882509543, + -1.7043761883519668, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000018/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000018/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..ac88105ac67bcfe2139605bff41b158f24473fb5 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000018/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3273d9cd07f7291f49a14b4f2b55e1caeeb9d721f214acf8b7bfbfdb125f4995 +size 59751 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000018/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000018/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..333d8fe1dc36dcb1ef652fd7b8b46c6409180df1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000018/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:96575aa1af750cc4b1e81392ee01e6a60ce3e576100d1a0ac9afdf924255d717 +size 296733 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000019/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e219c04d968a2517e5b69eccb2a501d7db56c65 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 46, + "style_id": 48, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pizza_cutter", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pizza_cutter", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7873410000000001, + 0.340006 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_01_main_group_1", + "min_size": [ + 0.0671310922831356, + 0.09899880177224696, + 0.06861402506961725 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8474359999999976, + 0.65 + ], + "offset": [ + 0.4248000000000012, + 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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 5.997766792028086, + -0.9638109339013534, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000019/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000019/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..330b7b75197135cde77050f45dcaeb96eb2d283f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000019/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:643f15888aef5444eeb9db4f4766b21938bf569f9071673f0fa37c2402ba649b +size 61852 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000019/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000019/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..2fb1c23d6d9e6dcf3692c2a854c07a3184ad71c5 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000019/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b6c6d63309b3aa1a8b7c196d9ebf41a5b8397f313b6dfc417b773d66c90e068 +size 188624 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000020/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e916ef486815281906999cd757709dfea9832ab --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 12, + "style_id": 46, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jar", + "receptacle", + "decoration" + ], + "groups": [ + "all" + ], + "cat": "jar", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/jar/Jar011/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9199999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.052865963819999987, + 0.08099999999999999, + 0.052313077259999986 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0479999999999996, + 0.65 + ], + "offset": [ + 1.4129999999999998, + -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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 3.9747659665670088, + -0.8037951714988548, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000020/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000020/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..4f10dfa6a64a5b1c9aaa9cea39c19de933a3db25 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000020/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a86b14a9bfa5d4cf3419a2bc9361d5611b73bad5f99d8625e2767f3f5a7aca6 +size 77345 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000020/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000020/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..f1f7209b3190e7acc486edd378031b33a14469ce --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000020/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b66b7ea15783180853c858ff7b06b48b051c40287961d0e256bbb6b5c9795cc2 +size 236824 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000021/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2222ba6ba4ece1a4e28161b9afbc109ede281ec --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,526 @@ +{ + "layout_id": 18, + "style_id": 24, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peeler", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "peeler", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.54, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.06643181373156865, + 0.12999999315711352, + 0.06913134918545921 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_11/model.xml" + }, + "reset_region": { + "size": [ + 0.6000000000000001, + 0.65 + ], + "offset": [ + -0.05499999999999994, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.05028636, + 0.050592029999999996, + 0.11419997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "juice", + "drink" + ], + "groups": [ + "all" + ], + "cat": "juice", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/juice/Juice006/model.xml" + }, + "reset_region": { + "size": [ + 0.6000000000000001, + 0.65 + ], + "offset": [ + -0.05499999999999994, + 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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 1.9815756134780786, + -0.8261496197404061, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000021/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000021/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..9fced21b0a56011ef3ae7585446646de4d956f5b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000021/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e36b58616c2d86e8dd78dfcfd53860c23015f65bf23e639548f3e70b898cd9d4 +size 63374 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000021/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000021/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..5b7e00a7b2670919eb7d08fc60aa67e2263079ab --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000021/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae11fc5ad1f93f4e400bd8a0f41bc4f8dae4b3e41ee2a1eb0468bcc3d33355e4 +size 165554 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000022/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a87d7902c8a4d30ca14792425abe30bca751805f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,575 @@ +{ + "layout_id": 16, + "style_id": 31, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jug", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.08117588, + 0.08189596, + 0.19258767999999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser003/model.xml" + }, + "reset_region": { + "size": [ + 1.3602787177576932, + 0.65 + ], + "offset": [ + -1.3499999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.1049999979, + 0.1049999979, + 0.006800600099999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "waffle", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "waffle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_0/model.xml" + }, + "reset_region": { + "size": [ + 1.3602787177576932, + 0.65 + ], + "offset": [ + -1.3499999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.14077271521858256, + 0.10846947206942971, + 0.15154676699999994 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jug_wide_opening", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jug_wide_opening", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_4/model.xml" + }, + "reset_region": { + "size": [ + 1.3602787177576932, + 0.65 + ], + "offset": [ + -1.3499999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 2.2900299449539916, + -1.6219449775490156, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000022/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000022/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..67a08476a304e084b43c4734c54f73226f7a44b5 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000022/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:747fda09c3e6ad5cb2e8fd374b8127c836b8d0b23530d1ad955a539b8d3b9558 +size 52341 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000022/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000022/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..5f86a2c1be432142fc256dac434a64321a0d0112 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000022/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ef611a208e9b92b2920d0e56fa43b1cd3d458c32c73a228f1f4f3ebbe992bcb +size 206557 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000023/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36398005ecbd184eaeadcc0186f865a01bbb3055 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 59, + "style_id": 48, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_03_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.45869699999999997, + 0.220978 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_03_main_group_1", + "min_size": [ + 0.11039977, + 0.11049202999999999, + 0.017775 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread005/model.xml" + }, + "reset_region": { + "size": [ + 0.5186649999999999, + 0.65 + ], + "offset": [ + 0.7712000000000001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_03_main_group_1", + "min_size": [ + 0.048831, + 0.10225706, + 0.254742 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray004/model.xml" + }, + "reset_region": { + "size": [ + 0.5186649999999999, + 0.65 + ], + "offset": [ + 0.7712000000000001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_03_main_group_1", + "min_size": [ + 0.048011187840000004, + 0.047651500160000006, + 0.17511975888 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_water", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_water", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_11/model.xml" + }, + "reset_region": { + "size": [ + 0.5186649999999999, + 0.65 + ], + "offset": [ + 0.7712000000000001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_03_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": [ + 2.732637655342222, + -0.9586022942597799, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000023/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000023/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..94fc6c1bcf67501936437cbc67506abe3c5fa41d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000023/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6376b13cbefc67d5df52ab9fb11143bdd99811a4837a13a5ad9e43d7bb60ea1d +size 54806 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000023/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000023/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..6f6b472f2347ac48455d6a5fc34f73bd8be7f3ff --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000023/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b382c69a2a7cf5151c04f719f6e416b57b94e1fd08b8197ced4e180babbc482c +size 110718 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000024/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35da520faf1d9245bece371cf7c02f2a3dbc6f6a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,509 @@ +{ + "layout_id": 15, + "style_id": 20, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "colander", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "cab_1_left_group_1", + "min_size": [ + 0.05351164464999999, + 0.05334858854999999, + 0.09602609119999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shaker", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "shaker", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8000000000000003, + 0.65 + ], + "offset": [ + 0.8999999999999999, + -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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 0.8276700881040568, + -2.284579381972366, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000024/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000024/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..65ea6b45f5ffe72cfb3e4221f24f41412e307056 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000024/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:885324e69bef3ac99537d7c6cfc42cbb12e338cf400d85373881473d51531e3e +size 63950 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000024/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000024/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..8850db783f397ae0750631826cc8e0daded28bb6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000024/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4852092835077d3764b75665ecc638d3455f8bdb588f9e7537b0e90fbb435ca8 +size 183697 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000025/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c286af984f36cffabecda7766a1904b5101bc14d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,559 @@ +{ + "layout_id": 47, + "style_id": 28, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_front_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.0496029999999998, + 0.5899970000000001 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_05_front_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_front_group_1", + "min_size": [ + 0.14086905, + 0.060249225000000003, + 0.04179305 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cream_cheese_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cream_cheese_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick001/model.xml" + }, + "reset_region": { + "size": [ + 1.185217, + 0.649981 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_05_front_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_front_group_1", + "min_size": [ + 0.05418874979999999, + 0.11092357251547467, + 0.11264993344834179 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + }, + "reset_region": { + "size": [ + 1.185217, + 0.649981 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_05_front_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_front_group_1", + "min_size": [ + 0.11604075, + 0.12344877, + 0.0234394 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread002/model.xml" + }, + "reset_region": { + "size": [ + 1.185217, + 0.649981 + ], + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_3_front_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": [ + 1.5521005752482595, + -2.357705867698844, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712248166391399 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000025/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000025/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..27b07908e952cae2a6aa05d84283c1794cbb5587 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000025/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:632d7f1c194fa38a081d64d4675eabc41bf970558613f73c6f36af623ea78eb4 +size 56103 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000025/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000025/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..2960e14007a6e678cef54f4442fabce680960bf8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000025/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dbeb24795004e8f2c14ab3ae3fa28682241527b1a10da539c978ae4e65e097fc +size 415054 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000026/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0fdba49b87e6c536a49fbf05ea4bcef0bb6e259 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,540 @@ +{ + "layout_id": 45, + "style_id": 48, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "syrup_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "syrup_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.5885 + ], + "size": [ + 0.7589999999999999, + 0.5900000000000001 + ], + "height": 0.3723333333333334, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8142815213010123, + 0.65 + ], + "offset": [ + -0.8598592393494937, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.10900347562694279, + 0.0921648817046346, + 0.059641815869999996 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8142815213010123, + 0.65 + ], + "offset": [ + -0.8598592393494937, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8142815213010123, + 0.65 + ], + "offset": [ + -0.8598592393494937, + -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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 1.19833807456051, + -0.8738434422663593, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000026/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000026/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..5273bc2fd4a7808698fe7c77683217221c3a3ab7 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000026/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:247627c87b0f4655bafb042246608131410d585ffa85f821499593ae176ed4b7 +size 52443 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000026/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000026/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..f4bb760eaf850db938f6c59eba9886b8a1f34400 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000026/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb9fa02bd387b54253f17cc82e420dbe551290adb7c7539ce906b28ce4bdbebf +size 214930 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000027/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc7036615259b04a1e6e216af94aa5ad15481802 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 57, + "style_id": 52, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "honey_bottle", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "honey_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.79294, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_4_main_group_1", + "min_size": [ + 0.055882318800000004, + 0.0558976506, + 0.1637222796 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_water", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_water", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_12/model.xml" + }, + "reset_region": { + "size": [ + 0.947683605496858, + 0.65 + ], + "offset": [ + -0.7007999999999999, + -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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_4_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": [ + -0.8471746796912827, + -1.3571590388580148, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000027/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000027/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..def8f114cd45e7de6352ab5ca4b9eb51ed8d7fd3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000027/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b0683c6201e0431efbc58202897ca608573b7ac6c4282b7bbd5c140151ab91d +size 59993 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000027/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000027/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..0c546a0f98599dd6e8f72b337db40172c54ca7a7 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000027/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3220491751dc74c83f8961802195f90ad5bd533a4a08e9fb171b5fa627a44e7 +size 219931 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000028/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..602be81a8ea045505d1839df7f145405068b59af --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,441 @@ +{ + "layout_id": 52, + "style_id": 31, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_right_group_1", + "min_size": [ + 0.21772919999999998, + 0.20394135, + 0.1698087075 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "basket", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "basket", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket047/model.xml" + }, + "reset_region": { + "size": [ + 1.4131393588788468, + 0.65 + ], + "offset": [ + 0.4209303205605768, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_right_group_1", + "min_size": [ + 0.06875434881227208, + 0.10047349900000001, + 0.06839816487910581 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4131393588788468, + 0.65 + ], + "offset": [ + 0.4209303205605768, + -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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_3_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": [ + 2.4524403227946476, + -0.9324124517851009, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000028/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000028/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..8bae92af8a9e27d751435500acd097d877d11637 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000028/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5448e5fe7efc715bf7fdadabd9833eb933982cb5f84777b032f67507b1bd10c5 +size 42955 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000028/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000028/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..6f68050dc4e2e76dfb1d5e8efaf97d6e92ac74bd --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000028/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:299dc39bc661fc4183dba2f630167634ba9c0acbf049c60fc954131ceeff488b +size 241321 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000029/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..48a9800d018c2446d264b509e164b3e2e57c3233 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 60, + "style_id": 31, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_02_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7155229999999999, + 0.418886 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_02_main_group_1", + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "size": [ + 0.42440000000000067, + 0.65 + ], + "offset": [ + 0.08779999999999966, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_02_main_group_1", + "min_size": [ + 0.3193152, + 0.24947280000000005, + 0.154212752 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "all" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml" + }, + "reset_region": { + "size": [ + 0.42440000000000067, + 0.65 + ], + "offset": [ + 0.08779999999999966, + 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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_02_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": [ + 3.814999997839496, + -0.8080981013123859, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000029/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000029/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..1f33ba42e846a2ea863e00b57a7f70efb30034ca --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000029/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e7bceec4cdc47bf80965d327514842a1a39793d5a2764fc5b34d6bfb23ece1a +size 50149 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000029/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000029/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..7cb2b16fc53ab54de1ab70b0effdc6e8c86e9c6d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000029/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0a78135927bfea6b59d6302c250b8fcc05807a5da3be31d63918e12af78317f9 +size 242859 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000030/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0d0e818c36093204bc19a2ccb59e55c20013ce4f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,525 @@ +{ + "layout_id": 14, + "style_id": 55, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_3_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "cab_3_left_group_1", + "min_size": [ + 0.11961480026999996, + 0.12189832283999998, + 0.05081281112249998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_4/model.xml" + }, + "reset_region": { + "size": [ + 0.7500000000000002, + 0.65 + ], + "offset": [ + -0.5049999999999999, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "cab_3_left_group_1", + "min_size": [ + 0.316952, + 0.24420000000000003, + 0.0017280000000000002 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "placemat", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "placemat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/placemat/Placemat021/model.xml" + }, + "reset_region": { + "size": [ + 0.7500000000000002, + 0.65 + ], + "offset": [ + -0.5049999999999999, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "cab_3_left_group_1", + "min_size": [ + 0.139807456, + 0.25199665600000004, + 0.08190958400000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup001/model.xml" + }, + "reset_region": { + "size": [ + 0.7500000000000002, + 0.65 + ], + "offset": [ + -0.5049999999999999, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_3_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": [ + 0.8171686447379662, + -2.0860635731309065, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000030/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000030/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..45eaeba0168762beab1a99943286134f75be3b3f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000030/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b11c722d871f0653d4767f19eb875fc4806bbf6704f7fb8b9b95840178108fc1 +size 69739 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000030/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000030/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..86aaf21200a887c2dd603f752357a5c32c0df629 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000030/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74d85e7a61a5bb0ce92846a55eabba3c38a2ab25d9b9c15fd5dfecc822d54de5 +size 216506 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000031/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b8de23395b948276c5c4a352aa5082903f62995f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,540 @@ +{ + "layout_id": 29, + "style_id": 15, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.26999999999999996 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.5399999999999999, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.05747576910560051, + 0.2983830713120845, + 0.13044025008318824 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ladle", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "ladle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_1/model.xml" + }, + "reset_region": { + "size": [ + 1.2636643638758047, + 0.65 + ], + "offset": [ + -1.0499999999999998, + -3.469446951953614e-17, + 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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_1_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": [ + 0.16132011363651932, + -5.257829355894735, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000031/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000031/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..076cb54e1daccaaf6335245cb4ded4c930d7e7b6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000031/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91f02d23911a42cc7980908e278aebfd4352d1c9c93705d39c6c9f4350bfb767 +size 70862 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000031/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000031/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..c1140b678e605522d3a428a42fb0f3a816b24bba --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000031/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6c6aafc1cafba5e046dda6a04c846fe916be14738dea54eaee4010d92c83505 +size 194918 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000032/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cdb49f1cb2d049c6a0f1acd2645f4cc751477cf1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,558 @@ +{ + "layout_id": 53, + "style_id": 32, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5474410000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.06648958553999999, + 0.16172615602499998, + 0.0644791624575 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + }, + "reset_region": { + "size": [ + 0.32771200000000045, + 0.65 + ], + "offset": [ + 0.8384999999999998, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "size": [ + 0.32771200000000045, + 0.65 + ], + "offset": [ + 0.8384999999999998, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.060868218, + 0.059343440000000004, + 0.1 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "can", + "drink", + "group1" + ], + "groups": [ + "all" + ], + "cat": "can", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/can/can_13/model.xml" + }, + "reset_region": { + "size": [ + 0.32771200000000045, + 0.65 + ], + "offset": [ + 0.8384999999999998, + -3.469446951953614e-17, + 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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 4.5146785673886365, + -0.7899393679706032, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706343213793446 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000032/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000032/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..7e7415f88cdfaf73a32d06e9745f9a64827ef128 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000032/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b95bdb606f61c4f41733eb3aaebac30fc85c6b744305fa46aa84625603c0ce4 +size 55914 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000032/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000032/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..1768354811e469e046a72f7bd2c38b0be834117c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000032/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:955e87ae2c72733bfbdb650acd2dfbf74ca54f2961ad49f14cea5338ae31ccb2 +size 190125 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000033/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60412f46d770909b53c2e273085b87c210724f52 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,471 @@ +{ + "layout_id": 11, + "style_id": 26, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -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_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.065, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_3_main_group", + "min_size": [ + 0.06132114708994878, + 0.2639999685287476, + 0.01904579952 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spatula", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "spatula", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spatula/spatula_4/model.xml" + }, + "reset_region": { + "size": [ + 1.1280000000000008, + 0.65 + ], + "offset": [ + 0.0014999999999996128, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_3_main_group", + "min_size": [ + 0.005732, + 0.195316, + 0.005732 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "all" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw003/model.xml" + }, + "reset_region": { + "size": [ + 1.1280000000000008, + 0.65 + ], + "offset": [ + 0.0014999999999996128, + 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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_3_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": [ + 3.071966408968636, + -0.7998700924983121, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000033/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000033/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..15cbbfbc7986ca219ccc8b796a6ec05d5538b503 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000033/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1301d325559aeafabf324f57e23d92d9c1c938e20abe8ba86a553242804de8f +size 46768 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000033/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000033/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..088a1414b1581ecc2f53df57e62cf503690b4e18 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000033/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5b2649f5e745d78edda2450f9c33a3037162c451ad6ae147a12450e1428fc9d +size 320517 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000034/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fe4375b7ec33728886f25ff4372ae31e6d1aa30 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,465 @@ +{ + "layout_id": 36, + "style_id": 49, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.99, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.0786316751, + 0.11, + 0.0912749266 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0499999999999992, + 0.65 + ], + "offset": [ + 4.440892098500626e-16, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.04796986162499999, + 0.048751061624999995, + 0.159065507475 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "condiment_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "condiment_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0499999999999992, + 0.65 + ], + "offset": [ + 4.440892098500626e-16, + 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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 2.152630386959095, + -2.4520218384684096, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000034/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000034/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..7f05a44157c83c37ab80b9bc261f4e80eef99b19 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000034/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:daec8630dc92199c7caeb795cd13db1dbd23d48b884870209d1df35260d7d475 +size 53654 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000034/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000034/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..930899c5d62870686821bf3e428fcc46ab2e3e77 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000034/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fdf9fb91b4d7a29cdabfd0fe26419d5221d88294581606db8b9b5c276b04c5c +size 267734 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000035/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..92d17323637ccddaf889d67f5aee24a07b4f2059 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,440 @@ +{ + "layout_id": 48, + "style_id": 42, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "water_bottle", + "drink" + ], + "groups": [ + "all" + ], + "cat": "water_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.769776, + 0.309173 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.05983110359999998, + 0.059777203199999976, + 0.05999755379999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "all" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_0/model.xml" + }, + "reset_region": { + "size": [ + 0.2680550000000007, + 0.650004 + ], + "offset": [ + 0.14039999999999964, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 3.6307166775651676, + -0.9677984489168173, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000035/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000035/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..a79016f65ccf2b52d54d9cff234e60f3af722be5 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000035/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d937da67f9af3c1da97567443ff4a98cea2ad433ea02ea656b43f48208da67d +size 57173 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000035/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000035/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..66c79876eaa888cfd7497199390c07242822fd2d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000035/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b17457bd9fd3a4a4663a8f7ec84d3bfb8ad3537b479ba016d682562d257353a1 +size 221450 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000036/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e9c62dde8f05d9cfefa7a1bfa6c8bf13d894f048 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,569 @@ +{ + "layout_id": 49, + "style_id": 29, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_main_group_1", + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + }, + "reset_region": { + "size": [ + 1.2997959999999984, + 0.65 + ], + "offset": [ + -0.5932000000000008, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_main_group_1", + "min_size": [ + 0.19980559758131392, + 0.3762056949927813, + 0.025200050400000014 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cutting_board", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "cutting_board", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2997959999999984, + 0.65 + ], + "offset": [ + -0.5932000000000008, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 3.4917854232082677, + -1.1215891362226817, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000036/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000036/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..d8e68dd52be1dfa92e1df4ce71ef34638490c2f0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000036/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c53dd41775ac68649275868591f65d4131ed80a34752759d69b52ff1aea89ef1 +size 62862 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000036/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000036/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..1f7740212073ae795a3147802f69fe0bc810741a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000036/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09e80ef2ec4baab64dc70d747bbd9249ded9f8d26c37f809b79194389bbef03e +size 298526 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000037/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae95f75745faf4f7e122a6390e12fa23855d2ad4 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 30, + "style_id": 34, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_6_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wooden_spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "wooden_spoon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "cab_6_left_group", + "min_size": [ + 0.05656026095999997, + 0.05656026095999997, + 0.08549999999999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "size": [ + 0.800000000000002, + 0.65 + ], + "offset": [ + -0.7999999999999989, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "cab_6_left_group", + "min_size": [ + 0.06730011959999999, + 0.06979004619999998, + 0.06027413279999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml" + }, + "reset_region": { + "size": [ + 0.800000000000002, + 0.65 + ], + "offset": [ + -0.7999999999999989, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "cab_6_left_group", + "min_size": [ + 0.08903991219999997, + 0.14500000579999991, + 0.030621597349999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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_3/model.xml" + }, + "reset_region": { + "size": [ + 0.800000000000002, + 0.65 + ], + "offset": [ + -0.7999999999999989, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_6_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": [ + 0.7771162128746301, + -4.825201113881909, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000037/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000037/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..6746adf833d475554f9d7f56d11a686517fd7ed9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000037/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1fe4f126e3a1e74e9e44e7ed3470be26f8e9bcc97da744337834eff51a58080 +size 55484 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000037/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000037/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..1e9fcae41de72e712311e4606e03970920126d08 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000037/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f1d1988693e206867395fd36a611e1d7d3387cab2d9ffaa5f3f375e1a695430 +size 255263 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000038/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0461c7a7400aad9e21ba984e2a8d28faf629a066 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,729 @@ +{ + "layout_id": 25, + "style_id": 27, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -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/CookieDoughBall004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.364, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.048026731499999996, + 0.048024259799999997, + 0.16499963039999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_drink", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_drink/bottled_drink_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8239999999999996, + 0.65 + ], + "offset": [ + 0.35950000000000015, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.40162557, + 0.23769502, + 0.052876 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray007/model.xml" + }, + "reset_region": { + "size": [ + 0.8239999999999996, + 0.65 + ], + "offset": [ + 0.35950000000000015, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.06514122600000001, + 0.19687987799999998, + 0.027456993 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peeler", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "peeler", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler001/model.xml" + }, + "reset_region": { + "size": [ + 0.8239999999999996, + 0.65 + ], + "offset": [ + 0.35950000000000015, + 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" + }, + "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" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_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_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_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_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_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": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "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_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "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_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "cab_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": [ + 1.8157712809733517, + -0.7918033362840613, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000038/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000038/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..333cde02f6818aa49e6a62712af98ce489837b36 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000038/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57cfcd0d4b495be7f6afcba04c770c1cadd16ac34427597b5e7d1f7bcd81be71 +size 70848 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000038/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000038/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..003ac9597714bc8a8c5c1e35f90810030373121c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000038/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cbe1687e82a8fa5a9b49213089378e8a354a725d89733be5f7cf0ef6c81b0342 +size 172441 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000039/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6603a3206e81660edb04d34e7c0fc483501da4e4 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,513 @@ +{ + "layout_id": 17, + "style_id": 25, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_5_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shaker", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "shaker", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "cab_5_main_group_1", + "min_size": [ + 0.104804626, + 0.10245547249999999, + 0.1931713315 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese_grater", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cheese_grater", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cheese_grater/CheeseGrater006/model.xml" + }, + "reset_region": { + "size": [ + 1.1339999999999995, + 0.65 + ], + "offset": [ + 1.6165000000000007, + -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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_5_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": [ + 4.580474336516016, + -0.809222822775255, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000039/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000039/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..98e64630a6403e65a02372f1e54e4aa7459e73de --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000039/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:787ac7d1db933154a5f19063f8b7e19dc539577eb983ee9781a73ba649638d2c +size 64539 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000039/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000039/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..d98d9bce5cce64d0e0f856548935831afd786619 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000039/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31cf6d5c9a247e0cb8394d7494b8c708fa134f7292dd1bf6ee8d1fcdf8bb1b89 +size 163510 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000040/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..800a72c1baab6233a91abc69ffb54dd62d3b2c62 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,495 @@ +{ + "layout_id": 19, + "style_id": 46, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "middle_2_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.708, + 0.54 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "middle_2_left_group_1", + "min_size": [ + 0.032836, + 0.089844, + 0.034452 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge006/model.xml" + }, + "reset_region": { + "size": [ + 0.8513741384582226, + 0.65 + ], + "offset": [ + 0.8243129307708887, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "middle_2_left_group_1", + "min_size": [ + 0.19499798954999994, + 0.11886663164999997, + 0.14890659029999992 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jug", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8513741384582226, + 0.65 + ], + "offset": [ + 0.8243129307708887, + -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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "middle_2_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": [ + 0.8340021848091849, + -0.2678376696941048, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000040/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000040/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..b16757598f00ac68411490bd59fff321d97de19c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000040/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6daba3c42bd07f846f0341da71a22cfee2bc2cd1a076d60154966dcad359f877 +size 65380 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000040/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000040/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..09f9476707f8415d31be999d59c1a0490adf1419 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000040/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5e41c66a2e64421f73e17be351c23f94e201736a8d460e7ac489e3a378b963d +size 260658 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000041/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..40ed44aa2a18b2669ff0dd11413ebcef1379ae9a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,562 @@ +{ + "layout_id": 42, + "style_id": 33, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pizza_cutter", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pizza_cutter", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.592633, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.04033332207189279, + 0.1008333269597293, + 0.12099999999999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "boxed_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_11/model.xml" + }, + "reset_region": { + "size": [ + 0.6870844305302247, + 0.65 + ], + "offset": [ + -0.7584, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.096856473, + 0.156963177, + 0.04916907450000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "digital_scale", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "digital_scale", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/digital_scale/DigitalScale005/model.xml" + }, + "reset_region": { + "size": [ + 0.6870844305302247, + 0.65 + ], + "offset": [ + -0.7584, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.06902307935999999, + 0.14168519711999997, + 0.049903595999999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "croissant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_3/model.xml" + }, + "reset_region": { + "size": [ + 0.6870844305302247, + 0.65 + ], + "offset": [ + -0.7584, + -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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 4.3647510489735755, + -1.1394185782590327, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000041/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000041/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..e1bb2152ae4858de3086fa05d1bef6d3814a6e84 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000041/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c0b7b071860d64e549d087011aeb2a7eed57cefbe832843c02990162d9e342e +size 52297 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000041/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000041/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..123d50da40eae00f126cca86c0ce60b883054275 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000041/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08a69439ad136d293e1f031df956644ff34f92d835ca5ba9daf6d6fe7a825be4 +size 183017 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000042/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a8ef97f55b54f7c3e3b25c50d9f8d2f76163a37f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,607 @@ +{ + "layout_id": 56, + "style_id": 40, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1569479999999999, + 0.309158 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_right_group_1", + "min_size": [ + 0.138482718, + 0.13825403900000002, + 0.11386397000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pancake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pancake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes003/model.xml" + }, + "reset_region": { + "size": [ + 1.217070000000001, + 0.65 + ], + "offset": [ + 0.20559999999999956, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_right_group_1", + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "size": [ + 1.217070000000001, + 0.65 + ], + "offset": [ + 0.20559999999999956, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_right_group_1", + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "size": [ + 1.217070000000001, + 0.65 + ], + "offset": [ + 0.20559999999999956, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 5.911316840101251, + -1.6280737608019697, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000042/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000042/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..0bf376b822d91523eb1d72b3a290b5bd2561a595 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000042/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ebaa1205f7c73f0b4bb0a877279ff4ea27cd81583fadc43e57726f5b0fe4bdc8 +size 68598 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000042/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000042/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..23ef6c23500addae85da5ecb8199b11efec178ec --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000042/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f8b65e8586891be579360b4cad86b2ca22734ddb9eab61f02d4897d0f4c3053 +size 252251 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000043/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..01ca3f0eef206168eeeca933a4372229015656be --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,564 @@ +{ + "layout_id": 31, + "style_id": 56, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ladle", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "ladle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.79, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_right_group_1", + "min_size": [ + 0.10464242249999998, + 0.12385554249999998, + 0.05342668 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + }, + "reset_region": { + "size": [ + 1.1136643638758061, + 0.65 + ], + "offset": [ + 0.9750000000000005, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_right_group_1", + "min_size": [ + 0.06004016399999999, + 0.060040236, + 0.1326396 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cinnamon", + "spice" + ], + "groups": [ + "all" + ], + "cat": "cinnamon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cinnamon/Cinnamon004/model.xml" + }, + "reset_region": { + "size": [ + 1.1136643638758061, + 0.65 + ], + "offset": [ + 0.9750000000000005, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_right_group_1", + "min_size": [ + 0.049612332, + 0.049612332, + 0.10168505550000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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/SaltShaker004/model.xml" + }, + "reset_region": { + "size": [ + 1.1136643638758061, + 0.65 + ], + "offset": [ + 0.9750000000000005, + -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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_3_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": [ + 4.857074540438793, + -5.588359657550315, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000043/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000043/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..7c7172fa96edf1d04e9e0151e92b45b8ca21b8ab --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000043/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39676132072e2baaf7e7a9cd9c631ba0cd1f380cbb84146a7c97bd0bdf6e3c89 +size 56040 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000043/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000043/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..049553b1232a4b7ee5a3ea5b72f6ad62a9bb801f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000043/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:633ee1914da3a9dbf4e1056b79d8466d46e024615940b6f0c748569b63403dca +size 242669 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000044/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f705cb200a88d590ba4ac1ec691fb60024dad81 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,428 @@ +{ + "layout_id": 60, + "style_id": 42, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "paprika", + "spice" + ], + "groups": [ + "all" + ], + "cat": "paprika", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/paprika/Paprika003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7600629999999999, + 0.418885 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_01_main_group_1", + "min_size": [ + 0.057608837187413324, + 0.2328650074257728, + 0.07522244119756101 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ladle", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "ladle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_2/model.xml" + }, + "reset_region": { + "size": [ + 0.3800000000000002, + 0.65 + ], + "offset": [ + -0.10999999999999988, + 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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 2.4759061600440586, + -0.8470375081859751, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000044/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000044/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..51fbb5316e77dba0eddc76357ad3b8aa9acf723e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000044/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f59995ce38161023958f44033310653e66218707000eff9940fbec40378b3263 +size 51160 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000044/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000044/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..e18c9a119dcf5450b8ccc789cdd265b08a5a19c2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000044/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1b96085a874e349ee4d83b5c660ded98cac25a66ba85b56a754522221960430 +size 209099 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000045/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1379f65700673b2feed0ba2e0cd9e17d41afcba6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,500 @@ +{ + "layout_id": 22, + "style_id": 34, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -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_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6930000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.07203545828726018, + 0.10467156681815841, + 0.2304665653250654 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spray/spray_0/model.xml" + }, + "reset_region": { + "size": [ + 0.766, + 0.65 + ], + "offset": [ + 2.1345, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_1_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": [ + 0.7883141845767186, + -0.4241646214842656, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000045/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000045/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..33e1be2712158e212cc533a02ae39d70cd2afef3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000045/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c55c2e51e9fcb53b0411952c14a8ffbdc653a932e50adcae881dbcda93250af +size 64104 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000045/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000045/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..65eb59af11dd47745f89c36e8cc3ff0016305af2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000045/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b4b278cda6d7348c87c3d0b110fcd7762960508f69a826f728ad1c707bd52d0 +size 145181 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000046/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1a02ff80c85e91b3f03327f13c498d7fdb61fe9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,445 @@ +{ + "layout_id": 47, + "style_id": 17, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jug_wide_opening", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jug_wide_opening", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5637000000000001, + 0.39 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_01_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.051042, + 0.185926, + 0.005424 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "all" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw005/model.xml" + }, + "reset_region": { + "size": [ + 0.6236999999999987, + 0.65 + ], + "offset": [ + 0.0002555000000006302, + 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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 4.823066682064044, + -0.9164465606312996, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378857158503 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000046/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000046/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..9d8890462af7a9545e93934231a7d0997030b9f7 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000046/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4cbcb04ba7a40ca426a51362aa6197f5284ba79be95f3c90b2425e5242a1ef67 +size 66412 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000046/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000046/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..2e7add7ce820c37394c92b00846e7ff722fa8c66 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000046/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ce5ce6a56ec3404ad75246f30ff5e3118e23a666b114710ce1bdb078e15382d +size 115607 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000047/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8bf7af6077291fbe0c26d12ec34c734f56ed0a99 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,534 @@ +{ + "layout_id": 20, + "style_id": 26, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.752, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_group", + "min_size": [ + 0.08124977951999995, + 0.11674550627999995, + 0.04595124923999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "croissant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_1/model.xml" + }, + "reset_region": { + "size": [ + 1.129000000000001, + 0.65 + ], + "offset": [ + -1.1234999999999995, + -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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_2_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": [ + 0.8260607758950762, + -3.5761122193120216, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000047/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000047/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..a9961acedf75e389661ec4db70f668a709a4bb95 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000047/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c28ca3fbcd8b21874200e7b3675118b2923cf0a6ae0234edbbae8d23f7027adc +size 62426 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000047/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000047/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..ef23e303b2be098979b3b2fadcffa37737280ff0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000047/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b06c084d84632595f898a8d0e683a1450c1a7a9054558933bcdd9eadf8825b3 +size 320409 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000048/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed1748c22cf0160c68ef6ab70ddb4967d6949d3f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 16, + "style_id": 25, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "condiment_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "condiment_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.16599284954999996, + 0.11557245479999996, + 0.13667960459999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jug_wide_opening", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jug_wide_opening", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_3/model.xml" + }, + "reset_region": { + "size": [ + 1.1720000000000002, + 0.65 + ], + "offset": [ + -1.3499999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.06730011959999999, + 0.06979004619999998, + 0.06027413279999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml" + }, + "reset_region": { + "size": [ + 1.1720000000000002, + 0.65 + ], + "offset": [ + -1.3499999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 2.277094501324059, + -1.6080973596819415, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000048/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000048/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..ecd144da53a733d58f759bd44e14fe98d35a928b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000048/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6abc870ea05f36665ad3dab1673f2d04d16225c0e1bb4bbf28b9d5349af44f36 +size 57843 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000048/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000048/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..0d335d99330d7d001251451dfd1c59f1ddef161e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000048/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9edd127fd2afe292ba7c04697ca7a95a62eb641db31522868f7f1020d202d3c9 +size 197583 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000049/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..caa5678fa0f5d38ea74030672023fddc76541165 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,446 @@ +{ + "layout_id": 57, + "style_id": 58, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.371623, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_left_group_1", + "min_size": [ + 0.06408269139999999, + 0.06382025779999997, + 0.06412384874999996 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml" + }, + "reset_region": { + "size": [ + 1.1822913306143343, + 0.65 + ], + "offset": [ + -0.7844963346928329, + -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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_2_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": [ + -0.8658998679542264, + -0.8234341503688134, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000049/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000049/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..e5353657fd2274c437824a525f490ddf76b53748 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000049/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bfc0fbcf4d22e129a2e66841b4bce9aa68c5d341bdc3f15ee365afd8881c7c4 +size 61725 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000049/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000049/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..8a1bae642426599b0bb11700d88e53111eeb80f9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000049/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:809f61ee831147bf4fd4b0492fcfdcabea3668c36e42d01300e859b07a7cf5dc +size 105490 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000050/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37434ed345d2161b34acf7f5b342ef51ccb53f25 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 18, + "style_id": 58, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.54, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.08248466015999999, + 0.08059432751999998, + 0.06550323 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml" + }, + "reset_region": { + "size": [ + 0.6000000000000005, + 0.65 + ], + "offset": [ + -0.054999999999999716, + 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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 1.9581881585569734, + -0.7780545831567511, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000050/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000050/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..a92f7eea30c2a5142006168e02e07fba9768eb14 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000050/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22a885362534a2318f669843fe715ac519cda3091d960fe705790259e308faf9 +size 69117 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000050/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000050/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..865c75562d86f1048abebdd1c8f0a95722067eab --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000050/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ed8f81ff55d446a2f7db8ef16afd39e9f977aed46b20e326b3ed42baf27b548 +size 134518 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000051/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7982ea30a6ff875daceffc451c5c3b93c7d9b5a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,603 @@ +{ + "layout_id": 39, + "style_id": 40, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_water", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_water", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.09531359547499998, + 0.165726581825, + 0.030236419499999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_22/model.xml" + }, + "reset_region": { + "size": [ + 0.7700000000000005, + 0.65 + ], + "offset": [ + -2.465, + -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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 0.24969573604267994, + -0.8266676554209097, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000051/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000051/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..42efc87fef7a253aeb10313cda9a31e5090e984e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000051/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f73701326a85241c48c1f7162e3c6dd2507d8198108448af9a2324ca982f860c +size 61402 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000051/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000051/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..a3f2352b81b9435474f611e68c3edc8c22174992 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000051/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cddeaf1753aee90f6bdac03438a20e6b2bd179ffa1ed13d692662c039e7f37da +size 99772 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000052/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ced6ea74391b68009845c5a07bf17ec117a5206 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,648 @@ +{ + "layout_id": 12, + "style_id": 30, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.49000000000000005, + 0.54 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.30329568, + 0.12329678, + 0.052903240000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube_tray", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "ice_cube_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray004/model.xml" + }, + "reset_region": { + "size": [ + 1.8001055460768134, + 0.65 + ], + "offset": [ + 1.0369472269615934, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.046066760999999984, + 0.040821181999999984, + 0.10107485099999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "boxed_drink", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_drink/boxed_drink_1/model.xml" + }, + "reset_region": { + "size": [ + 1.8001055460768134, + 0.65 + ], + "offset": [ + 1.0369472269615934, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.06870559919999997, + 0.06802645079999997, + 0.06348796859999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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_13/model.xml" + }, + "reset_region": { + "size": [ + 1.8001055460768134, + 0.65 + ], + "offset": [ + 1.0369472269615934, + -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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "cab_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": [ + 4.181532024950322, + -0.9235134819765036, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000052/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000052/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..05cc043482ba2b32cda581186a5d76295203f2ba --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000052/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b87c2e06f813e87365276a82ba98f86fd316a38c61185e784bf15a119e297ce5 +size 64866 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000052/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000052/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..ae25ffda6ee8c640aa37549d6a02a8d2d731c9e9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000052/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42e6e9b7d2f18536046a8817962a6cddda03b8c9e29838cb7550f587edfe7ef6 +size 276782 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000053/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec29930c486d259226dcaadac532801bdfb6e9be --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,645 @@ +{ + "layout_id": 12, + "style_id": 15, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -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": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.050422134104999995, + 0.16269918619499998, + 0.04841119022249999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "size": [ + 0.49999999999999956, + 0.65 + ], + "offset": [ + -1.6870000000000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.0918202005, + 0.057627339, + 0.1382033835 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "honey_bottle", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "honey_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle001/model.xml" + }, + "reset_region": { + "size": [ + 0.49999999999999956, + 0.65 + ], + "offset": [ + -1.6870000000000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.06709493250000001, + 0.08707466790000001, + 0.20216558137500004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "water_bottle", + "drink" + ], + "groups": [ + "all" + ], + "cat": "water_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_2/model.xml" + }, + "reset_region": { + "size": [ + 0.49999999999999956, + 0.65 + ], + "offset": [ + -1.6870000000000003, + -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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 0.9734496212732829, + -0.8107939293571023, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000053/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000053/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..98911e1790bdd6754960f267f6f9d6c8e392c7f0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000053/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7b2870ff80619429c136c38331974ede93a8e4a61aa113b49106c5bb25fe739 +size 72841 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000053/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000053/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..b8d78e86b7af8a7716e667cb716274f7a0df69fe --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000053/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eda5782090048bad7afef819e96d576e7ff32b1a6e0503e23dbd1ff36eb0f878 +size 257308 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000054/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..356601cf1894032c4b029ec862a8ecf0cf9873aa --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,496 @@ +{ + "layout_id": 43, + "style_id": 55, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cream_cheese_stick", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cream_cheese_stick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.372 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_left_group_1", + "min_size": [ + 0.0682296, + 0.12375264, + 0.0281796 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + }, + "reset_region": { + "size": [ + 0.37099999999999955, + 0.65 + ], + "offset": [ + 1.0870000000000002, + -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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 2.506475128491702, + -0.8775657680449904, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000054/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000054/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..8934a06b531a35ec497532091ce9452af702b676 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000054/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3b8b378fdaa7fb4967f1d2b5d5a49315d118380ce6ff4b8d936f19ce9b27553 +size 84927 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000054/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000054/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..12b842b77ef8407dfad0a9af579532a19f8abbad --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000054/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6c9ecabed67ae9abd18380428b128f136a6602c70007ebdc0dcf987c7654729 +size 211017 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000055/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13aa9eff55ebfb7c208ecd1efb2eb878f6ded31f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,420 @@ +{ + "layout_id": 32, + "style_id": 15, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_3_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5650035, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_3_right_group_1", + "min_size": [ + 0.09974986, + 0.09975215, + 0.101826 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup014/model.xml" + }, + "reset_region": { + "size": [ + 0.5750085000000001, + 0.65 + ], + "offset": [ + -0.012498249999999933, + 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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_3_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": [ + 3.5783492378789252, + -0.901202155244608, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000055/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000055/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..ded9ed1338cef8c6cc64d61102147b74c92d367b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000055/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76975f9396118a7ffeae77fe731e7a0f71175aaaa586a4d4a39bc209a2ea5015 +size 60616 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000055/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000055/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..e6ef4f1d97871f48313e1c309946132ca58fcb31 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000055/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8bdc432bd5727baaf42baccf401e96e4bce1c62e8f0cc57216e0ebda23e5f99 +size 83968 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000056/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..413eb1f03d5a780c0005b1cdc280645e7ff56d91 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,465 @@ +{ + "layout_id": 40, + "style_id": 55, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.4273, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.06273676665000001, + 0.06750000000000002, + 0.065336915925 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_2/model.xml" + }, + "reset_region": { + "size": [ + 0.2427999999999999, + 0.65 + ], + "offset": [ + 0.6734, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.0275308302, + 0.1694619262, + 0.0065305890999999994 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fork", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "fork", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_3/model.xml" + }, + "reset_region": { + "size": [ + 0.2427999999999999, + 0.65 + ], + "offset": [ + 0.6734, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.05811066834999999, + 0.14645964249999996, + 0.05928928344999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + }, + "reset_region": { + "size": [ + 0.2427999999999999, + 0.65 + ], + "offset": [ + 0.6734, + 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" + }, + "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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 2.901506437341801, + -0.8280583512552682, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000056/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000056/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..c36de48d04fddcd85f059ae8184a82eb73dd3a53 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000056/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50ffc794165655190887bb2ed3737c5d8de064395936bf6990f46e7170c2b18b +size 59573 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000056/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000056/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..a7cf9d740339e7171d7d17cf2b1b05fe25f8a0db --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000056/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f45f55e52055eb77bd2cfec664e04b38e8f5a3fdec4e2d9d68f4a14bc1533cc8 +size 185572 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000057/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d8eb6c25a44c849475b78f3f3b50249b90d3eb0f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 23, + "style_id": 11, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.14, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.131274737, + 0.13076197200000003, + 0.12267713700000002 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pancake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pancake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes001/model.xml" + }, + "reset_region": { + "size": [ + 0.7099999999999995, + 0.65 + ], + "offset": [ + -0.8950000000000002, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_1_right_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": [ + 4.836362535206903, + -0.8680287067685674, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000057/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000057/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..d835617bd19a27b407e595923ed6ca112dbd8a99 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000057/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6acd550019ec5dae8cbe22fd7ed9d2bbdd626a25a3aefa41a927e9bf82fe572a +size 62169 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000057/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000057/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..af7555b39288f2f8c68d055fe131eb4121af09ac --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000057/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36fbe1da0de60ab30bc68569569f0b9ad0d837c9d77aeff08208a9a827725ecb +size 253918 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000058/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4816a54fe0354073b764866cb2d6133ec1a451ed --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,593 @@ +{ + "layout_id": 29, + "style_id": 33, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.26999999999999996 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.5399999999999999, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.05747576910560051, + 0.2983830713120845, + 0.13044025008318824 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ladle", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "ladle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_1/model.xml" + }, + "reset_region": { + "size": [ + 1.1676844305302243, + 0.65 + ], + "offset": [ + -1.0499999999999998, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.05489868767034543, + 0.0876179106044848, + 0.05044507492771319 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_10/model.xml" + }, + "reset_region": { + "size": [ + 1.1676844305302243, + 0.65 + ], + "offset": [ + -1.0499999999999998, + -3.469446951953614e-17, + 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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_1_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": [ + 0.15514776995941898, + -5.313655038218256, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000058/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000058/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..12caf331011582043cf3550862f4b9a8bde7684e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000058/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f077a51dbd9aa7cdd77cfba5ab35c629ff4fe71d4f9c534561674add88f5074c +size 59953 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000058/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000058/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..e036aee1fd6b294bd8a06d2c010246c84dbd0219 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000058/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cee333ef6fcb80f4e1596383203bb3d4b1f92404d15bb96a3b293717e7c98049 +size 188755 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000059/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15f5aff636e8bd683fe7993a672625de1c79680d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 27, + "style_id": 25, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "rolling_pin", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "rolling_pin", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/rolling_pin/rolling_pin_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.52, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.094657282, + 0.0944686015, + 0.012950745 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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/TurkeySlice002/model.xml" + }, + "reset_region": { + "size": [ + 0.5800000000000003, + 0.65 + ], + "offset": [ + -0.5839999999999999, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_1_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": [ + 0.8125686711334341, + -2.1208713473553957, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000059/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000059/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..104c60e1b29fa18829b5cc7a0bd4d4fd7f0ed238 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000059/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60985d93fe2962b08b20a6652a9ab0fc0643e0b9099c1ef94b8c28da0700c0b7 +size 55036 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000059/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000059/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..863f28623a0f87a9c944011aa51c1cbb6fb37bad --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000059/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9750e356cd1f92aafa9d02116e503628cd4ceb3af85849684c53b4da6944e2b0 +size 221846 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000060/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38037402773ee65ace77bb3fad6adc1ac58b8596 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,401 @@ +{ + "layout_id": 41, + "style_id": 33, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "colander", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.554, + 0.399 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_right_group_1", + "min_size": [ + 0.04104189999999999, + 0.1991200475, + 0.023273099999999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wooden_spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "wooden_spoon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon003/model.xml" + }, + "reset_region": { + "size": [ + 0.615000000000001, + 0.65 + ], + "offset": [ + -0.0649999999999995, + 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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 4.756553272625689, + -2.920526200041696, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000060/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000060/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..fd3f88a7f7ded33b1d215634ad8d25ab585ee030 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000060/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:708dcb3ac0c4057af8fbbeb41be933326a43e2b7af8f74bfe4a70f32e82b93fe +size 48138 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000060/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000060/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..b59eebdbad9c5573c3979bb9833481a0ed3cab9f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000060/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0997a6ece5a4201c1674e46141ee799fde7812836ab97c728cb43cd49fd68f46 +size 93788 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000061/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..244eb08ed7bd469384548b8ee8615e3d54bc7428 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,473 @@ +{ + "layout_id": 14, + "style_id": 23, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.02, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "cab_1_main_group_1", + "min_size": [ + 0.03495, + 0.107888, + 0.044468 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon_wedge", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lemon_wedge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge001/model.xml" + }, + "reset_region": { + "size": [ + 1.085, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "cab_1_main_group_1", + "min_size": [ + 0.0852368275144514, + 0.12627049048764677, + 0.07772736160054913 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + }, + "reset_region": { + "size": [ + 1.085, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 4.11726762213299, + -0.8109425624335118, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000061/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000061/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..4b9050547783b4248a429d6595524ccf4aa5fa26 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000061/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a36cf02e185313455e57a4330cc711ac48d25010f5f1f942f1671ec83b134e30 +size 62880 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000061/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000061/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..65048ba2afb89ebf77227b1e90c70b34fb8a272a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000061/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f79553b3d35cdad339236e3574b677e68c9393462846b4b47afa540336a39d4 +size 304138 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000062/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fd4588de59ae4cf55408a981234a9a1213a8ded --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,455 @@ +{ + "layout_id": 27, + "style_id": 11, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "boxed_drink", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_drink/boxed_drink_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.06825578316094581, + 0.067836388384929, + 0.03648932705092989 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8000000000000012, + 0.65 + ], + "offset": [ + 0.8599999999999994, + -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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 2.8642418400947096, + -0.8329223617937579, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000062/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000062/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..f494b1f5eda8de16d1ffe217b9c0e682e4e09ba6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000062/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80ff28a018710ad0f689bcffab5f6bceed81e5b9abdb75a6f7e290f616fefc70 +size 55134 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000062/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000062/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..5a17c4089b967605c0488bc8932901b61e2c1bf0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000062/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fb4c20a5c341a795b6e9f1d0beb4b9f630721f0983c02e32b150a08c40cf03c +size 188156 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000063/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ef0d3c18a21c8c9fb779e00ae2dd5580879cb75 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,437 @@ +{ + "layout_id": 30, + "style_id": 54, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_5_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "cab_5_left_group", + "min_size": [ + 0.028576455999999997, + 0.10520994, + 0.16999999999999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cereal", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "cereal", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_2/model.xml" + }, + "reset_region": { + "size": [ + 2.399999999999998, + 0.65 + ], + "offset": [ + 8.881784197001252e-16, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_5_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": [ + 0.8029716089870762, + -3.9860408206040057, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000063/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000063/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..48a7973b001555ffa8768b7c02051f969e75ea19 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000063/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ae298c8eabf414520f7ba8c32d4722cfdd709958f227bd58ae1e9261d7497cd +size 57986 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000063/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000063/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..cb569e5c13abb54fa7ed6ec28aa98901e403eb58 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000063/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:697a3b1c49c5dd193371bf3350ccdada14b5d8f2f5522adb03bb3866173ca132 +size 164876 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000064/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26f24c1e1365f49b68e333060ffd2a1953823a9b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,509 @@ +{ + "layout_id": 15, + "style_id": 12, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_front_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_18/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "cab_2_front_group_1", + "min_size": [ + 0.08982056, + 0.08982056, + 0.19973605 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser001/model.xml" + }, + "reset_region": { + "size": [ + 2.3999999999999995, + 0.65 + ], + "offset": [ + 2.220446049250313e-16, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_2_front_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": [ + 1.2781958360920358, + -5.70952934073955, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000064/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000064/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..d1279fefe8607c89fa65b0d24903bf85b50b3ba5 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000064/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58cf63219eb5af3c010a3edf667f04e5f30470b54ab97f100139b91ba7c8fe67 +size 58141 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000064/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000064/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..dff6782abfdb01c82040946c434389fa413a9333 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000064/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97b4f478ddf381d3511387eb13fcd04d7e499963a4ce534cd7634fd6e80ebade +size 311188 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000065/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79e69c19786090efb00e4559cf1d70c1fd1adbfd --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 24, + "style_id": 53, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese_grater", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cheese_grater", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cheese_grater/CheeseGrater002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.54, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.094657282, + 0.0944686015, + 0.012950745 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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/TurkeySlice002/model.xml" + }, + "reset_region": { + "size": [ + 0.948, + 0.65 + ], + "offset": [ + -1.1355, + 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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "cab_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": [ + 0.9725488794487243, + -0.8206830226917351, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000065/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000065/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..c21c94f9fb5748bf1e73a3e026811a692d0a972d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000065/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fd4afe3c5e44bed18d413085c71353c33b135c363207b4e7e4eb0f0cce1c1d34 +size 64530 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000065/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000065/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..102fb6b90f165e58378c83a04802d3ffca1c334d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000065/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54df9bd7f53fb70ada71babd0bf262ac7a0fa98432006d5555fe9c04e7206ac3 +size 94912 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000066/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7c8e8ad3574b230e13490a0f354aa9d4f348d5d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 41, + "style_id": 46, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.554, + 0.399 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_right_group_1", + "min_size": [ + 0.06132114708994878, + 0.2639999685287476, + 0.01904579952 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spatula", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "spatula", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spatula/spatula_4/model.xml" + }, + "reset_region": { + "size": [ + 0.615000000000001, + 0.65 + ], + "offset": [ + -0.0649999999999995, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_right_group_1", + "min_size": [ + 0.06291628785, + 0.06335505670000001, + 0.06555583450000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_20/model.xml" + }, + "reset_region": { + "size": [ + 0.615000000000001, + 0.65 + ], + "offset": [ + -0.0649999999999995, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_right_group_1", + "min_size": [ + 0.07384239449999998, + 0.07426866764648381, + 0.055746330854518675 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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_0/model.xml" + }, + "reset_region": { + "size": [ + 0.615000000000001, + 0.65 + ], + "offset": [ + -0.0649999999999995, + 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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 4.688227161194024, + -2.896593211292501, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000066/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000066/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..7635234927725ea48005f202b0153098d699cb7a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000066/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b62218c7fdea012dbcaed5f0f4c3571b647eb4266e129ba1890b89aee1d32d75 +size 61583 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000066/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000066/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..10a79af6b3b398e055ba6290f38665b44e088b80 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000066/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74b6c50676fb8248abf5dc8dfc02221998d169a4dcb9930768245f3d6948dd86 +size 125057 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000067/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..746b0fedf546ad66b3372f74825b6f7724426db9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,603 @@ +{ + "layout_id": 39, + "style_id": 13, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_main_group_1", + "min_size": [ + 0.05582381962499999, + 0.05582381962499999, + 0.20923361153999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_1/model.xml" + }, + "reset_region": { + "size": [ + 2.306, + 0.65 + ], + "offset": [ + -1.697, + -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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 1.031508751061032, + -0.8420537442720143, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000067/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000067/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..e24bad06eb0ea141436f803d6fe047b6e0b75068 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000067/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4debb08d8737749f59553a47de6ad2f004099666c48cef6390a4475128db871 +size 59129 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000067/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000067/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..de9ea523e07c0e551b30d06244f726162c244a91 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000067/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:139196d570a8524e9a2717695b9c5ceaa83ee9fe0b60f343d331516136d2b693 +size 168777 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000068/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eaa0f7c79ef0c3e2cca63c668691a812a3063159 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 32, + "style_id": 13, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_3_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "rolling_pin", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "rolling_pin", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/rolling_pin/rolling_pin_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5650035, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_3_right_group_1", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.5750085000000001, + 0.65 + ], + "offset": [ + -0.012498249999999933, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_3_right_group_1", + "min_size": [ + 0.057547025999999994, + 0.057547025999999994, + 0.18148389480000002 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "milk", + "drink", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "milk", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_0/model.xml" + }, + "reset_region": { + "size": [ + 0.5750085000000001, + 0.65 + ], + "offset": [ + -0.012498249999999933, + 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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_3_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": [ + 3.5249598445205206, + -0.8951635686622001, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000068/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000068/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..45733b3600ccb0eeb4f96d5a88d51a63a5e9eedc --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000068/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4ad44dd6f3de5e83fbea58b60439721970408dd2e79326498936fff41a4e584 +size 54096 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000068/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000068/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..e94fdea97b28f253a8b2cebf16c5cdd4a8493a3f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000068/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b3dcda68a0ba37c5c931ce5536514ebe4509354f500676f046adb6078057441 +size 191039 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000069/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0cfc3711bd2603d252491d96cb7100411c44c62b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,575 @@ +{ + "layout_id": 13, + "style_id": 13, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.8089999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_1_right_group_1", + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8659999999999999, + 0.65 + ], + "offset": [ + 0.0015000000000000568, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_1_right_group_1", + "min_size": [ + 0.06873523019999997, + 0.08863954919999997, + 0.027029192399999992 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8659999999999999, + 0.65 + ], + "offset": [ + 0.0015000000000000568, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_1_right_group_1", + "min_size": [ + 0.06839594549999997, + 0.06514787849999996, + 0.07482789599999996 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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": [ + 0.8659999999999999, + 0.65 + ], + "offset": [ + 0.0015000000000000568, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 3.894619691551521, + -1.2191780920104056, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000069/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000069/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..8d3b3df96e0c5f9dd22908ef83ccf22280652ea2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000069/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da1cc4d6f96f9a3e9b2cc908eb95ad63efa22bb086bdc849ce2bb9f6983bac33 +size 58032 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000069/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000069/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..154539ab99da2f2d1219f55b106bccffa8cf35b1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000069/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fcd9fee1f91e37c84d1ed29f1e77708303349bca01169249d414d504744ce1b +size 297070 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000070/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..550fdffbfa2f972f393e9734f3e3c671763c540c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,580 @@ +{ + "layout_id": 18, + "style_id": 49, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "honey_bottle", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "honey_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.04, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.052983322, + 0.16999999999999998, + 0.045520543 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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_1/model.xml" + }, + "reset_region": { + "size": [ + 1.1999999999999997, + 0.65 + ], + "offset": [ + -1.2000000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.18028875200000002, + 0.12872486400000002, + 0.0750664 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml" + }, + "reset_region": { + "size": [ + 1.1999999999999997, + 0.65 + ], + "offset": [ + -1.2000000000000002, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.2140773668, + 0.3805340892, + 0.1680793908 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "saucepan", + "receptacle", + "cookware" + ], + "groups": [ + "all" + ], + "cat": "saucepan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan002/model.xml" + }, + "reset_region": { + "size": [ + 1.1999999999999997, + 0.65 + ], + "offset": [ + -1.2000000000000002, + -3.469446951953614e-17, + 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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_1_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": [ + 0.8327403122839399, + -5.654981140375766, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000070/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000070/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..3b5e0b914c80513cb51b4882167d87ef3f19a935 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000070/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d170f08338d8996f634200deee6358b2b60ad49297582c6092ece6149491144 +size 69778 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000070/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000070/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..fc1b7e8476b9439ad7fa09db35fc3b4fd81bdcae --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000070/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ad9467e9e36760d8859047f604ba5dd318ef5005c2b021eca876c0e90785da5 +size 248000 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000071/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..58d42d022b3eb78ee759a1d27ab7e54352b84fff --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,531 @@ +{ + "layout_id": 20, + "style_id": 46, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_drink", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_drink/bottled_drink_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5900000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.10002413, + 0.10002422, + 0.11279692 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup017/model.xml" + }, + "reset_region": { + "size": [ + 0.6540000000000004, + 0.65 + ], + "offset": [ + 0.30799999999999983, + 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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 1.4996806434659735, + -0.8038258564560111, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000071/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000071/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..29429fdd7a7a68bfc6218b3da668199ad5bfcfdb --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000071/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c31abd682c25288bebb9e63517247a7beb8e1ab68748255b6a1040d61691bbb +size 73350 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000071/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000071/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..609accac663a8cf84627fdf0476cbe085d51769b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000071/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bc38f178e8a9edf1e4c0e119ead6acdd9eb4b425ce4e08321e0e5479cac1e58 +size 173917 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000072/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36d2cb487280177d5513e679af7a3b50f07ef493 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,516 @@ +{ + "layout_id": 49, + "style_id": 52, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "milk", + "drink", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "milk", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_main_group_1", + "min_size": [ + 0.17588008, + 0.20878533, + 0.27522576 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "reamer", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "reamer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer004/model.xml" + }, + "reset_region": { + "size": [ + 1.2997959999999984, + 0.65 + ], + "offset": [ + -0.5932000000000008, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 3.607239819431446, + -1.159710959389977, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000072/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000072/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..e5b21b64669eb60426fe695cf295dbb8d154a730 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000072/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46a0124878665d4c7e1e0a9ec811692d44c98bf391124b3b438a1afd45f71046 +size 61688 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000072/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000072/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..a4a2f7450d6df83297bbbadb99d423902f9756d8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000072/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcb0632e45b2121ddb09afb9ac120c7cefc2abbd2f533005032ec1b909c73e09 +size 312154 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000073/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0bf27f9d82f86bb18d159ce0772465f9c285221e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,516 @@ +{ + "layout_id": 49, + "style_id": 51, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_main_group_1", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.2997959999999984, + 0.65 + ], + "offset": [ + -0.5932000000000008, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 3.688236458817347, + -1.1236345568914665, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000073/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000073/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..94f344d071e58037d78e0698665ddcac64073226 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000073/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab22b7c279223678c7fc3023c46d842a41d3d0f8a35b71effa3a86f478734d74 +size 68574 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000073/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000073/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..32ae751542332e9db81351e8551c503d8629c07e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000073/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a7e748e1a8fcfd730a770b7fa5a72cb4c7cb4326b31b28e76ca2620b9438404 +size 229673 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000074/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27e28cc6d439edee8da8f2768864179a6c9a11ef --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,477 @@ +{ + "layout_id": 38, + "style_id": 35, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sponge", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "sponge", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.266802, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_left_group_1", + "min_size": [ + 0.10581994080000001, + 0.12127231920000002, + 0.037854385200000014 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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_3/model.xml" + }, + "reset_region": { + "size": [ + 1.3268020000000007, + 0.65 + ], + "offset": [ + -9.899999999962716e-05, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_left_group_1", + "min_size": [ + 0.06141700409999998, + 0.09336129749999995, + 0.036899635499999986 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml" + }, + "reset_region": { + "size": [ + 1.3268020000000007, + 0.65 + ], + "offset": [ + -9.899999999962716e-05, + 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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_2_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": [ + 0.8314524023046006, + -5.526736905689764, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000074/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000074/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..0b0cdd1a2c4d69a0e3f2f4873078502ca91feded --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000074/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e09ad98033972eaf6a46f09b391d79786648cc181b3ada7ef8442c2c150331ce +size 67616 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000074/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000074/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..a97360c53c20accd66a8beeaff7c84723271b4a8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000074/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8468fcf693fef31ec01a38a8ac196167b8b4a3e7a551504ee9748806997711c9 +size 244968 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000075/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..62cb5d603b9e616ae93271155b367ce9b2870cde --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,458 @@ +{ + "layout_id": 46, + "style_id": 45, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "syrup_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "syrup_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.54, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_main_group_1", + "min_size": [ + 0.07408379999999999, + 0.07426247999999999, + 0.18231372 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "paprika", + "spice" + ], + "groups": [ + "all" + ], + "cat": "paprika", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/paprika/Paprika001/model.xml" + }, + "reset_region": { + "size": [ + 1.0994360000000019, + 0.65 + ], + "offset": [ + -0.29879999999999907, + 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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 5.289120739045213, + -0.9480654531567414, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000075/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000075/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..ed50d345815259e351e9765b8ed15b198a61467c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000075/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1107ede809b95e7ca5e890a25b7f9f7eec4b81e24ab08784d2d9e3e06308516b +size 63869 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000075/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000075/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..abda73a799da6a9d43b25b950815e5ffd31917bc --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000075/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:855d2c66f2575575dacd7fcd9368ea56d1e66b5c6b384eea66ad87ed8287aae3 +size 96803 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000076/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c419d6fca09d642f89803f9f1e1859ddd38f48e8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,383 @@ +{ + "layout_id": 52, + "style_id": 53, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "colander", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander005/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_4_right_group_1", + "min_size": [ + 0.06879941970000003, + 0.06878519560000003, + 0.11073106440000005 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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_12/model.xml" + }, + "reset_region": { + "size": [ + 0.21583940666623302, + 0.65 + ], + "offset": [ + -0.17159999999999997, + -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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 2.5120337273298703, + -1.6034907935491243, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000076/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000076/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..9dc709b168b74985da64a7e34f6dfedeacc49311 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000076/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f32d1cfa9b7a09456e3b53ee31223dcf1328c29f499b68804eb3e3ef02ca2a9b +size 45512 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000076/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000076/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..99e739997f354ed1b9afb90af2431d429dcd7135 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000076/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e919d3608cf66ebfb9587122d03a3db3ccf83ddcc54ec4882627fdb223f4f82d +size 198859 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000077/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0cc340fd7ccfb1065cbf64e2ecc38b2fce7f6c1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 52, + "style_id": 28, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wooden_spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "wooden_spoon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_4_right_group_1", + "min_size": [ + 0.040818, + 0.192992, + 0.006616 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "all" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw007/model.xml" + }, + "reset_region": { + "size": [ + 1.3891851665009942, + 0.65 + ], + "offset": [ + 0.43290741674950306, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_4_right_group_1", + "min_size": [ + 0.030919662499999997, + 0.030623749999999998, + 0.0290325 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube", + "iced_item", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "ice_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube003/model.xml" + }, + "reset_region": { + "size": [ + 1.3891851665009942, + 0.65 + ], + "offset": [ + 0.43290741674950306, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_4_right_group_1", + "min_size": [ + 0.0759303125, + 0.0524059, + 0.1413036 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mustard", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "mustard", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard004/model.xml" + }, + "reset_region": { + "size": [ + 1.3891851665009942, + 0.65 + ], + "offset": [ + 0.43290741674950306, + -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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 2.4838505186225444, + -1.5025649640562793, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000077/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000077/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..0bdfd3757650a4d26cce1d2cde55e9b42ad4f4b8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000077/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fcfcd6ddddb217228d4964e9e308d7a911ab5102dde33129e81d2f2a728cb8bb +size 43236 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000077/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000077/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..ba7b75eb78250df2d6d2af37c86f3e92b41e53b9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000077/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eae9ee2e023971b5cda68b37418dc9eb7d4ce7ab11cc39892e7b37f4db31f19e +size 281944 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000078/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a6e0d401e624efd311bc16cc663a3ae7e9550 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,540 @@ +{ + "layout_id": 54, + "style_id": 44, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -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_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5042610000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_main_group_1", + "min_size": [ + 0.062140701, + 0.035678601000000004, + 0.17351260500000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "honey_bottle", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "honey_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle003/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_main_group_1", + "min_size": [ + 0.27521772, + 0.218687196, + 0.098827296 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "colander", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander002/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_main_group_1", + "min_size": [ + 0.008, + 0.195892, + 0.008 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "all" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw004/model.xml" + }, + "reset_region": { + "size": [ + 1.3555, + 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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 4.855175032620329, + -1.0194757639610506, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000078/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000078/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..f7981ed1d4207f86add846e111b272637e892a9d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000078/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:232ecd305ab47b5f889ba33848b1e8af7a738c38e1679a8f4e72d207921e1155 +size 66800 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000078/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000078/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..d0d08327a4dc5d65fd7c8abfccb128c30f6bd36d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000078/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1e4fdf2521c6b2f4c8ce9962def76c82db24d3cb454a8c8d29c73e7aed8d324 +size 163685 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000079/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a5816cb962b2f9676bc540b3a0cd4f00d5e08ce --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,543 @@ +{ + "layout_id": 30, + "style_id": 35, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_5_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cinnamon", + "spice" + ], + "groups": [ + "all" + ], + "cat": "cinnamon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cinnamon/Cinnamon004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "cab_5_left_group", + "min_size": [ + 0.063, + 0.063, + 0.0395256393 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + }, + "reset_region": { + "size": [ + 2.399999999999998, + 0.65 + ], + "offset": [ + 8.881784197001252e-16, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "cab_5_left_group", + "min_size": [ + 0.12682986, + 0.17668013999999999, + 0.24497747 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher004/model.xml" + }, + "reset_region": { + "size": [ + 2.399999999999998, + 0.65 + ], + "offset": [ + 8.881784197001252e-16, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "cab_5_left_group", + "min_size": [ + 0.05399614204999997, + 0.05397836327999997, + 0.19754474622999993 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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_12/model.xml" + }, + "reset_region": { + "size": [ + 2.399999999999998, + 0.65 + ], + "offset": [ + 8.881784197001252e-16, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_5_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": [ + 0.8405380691884139, + -3.887250238809369, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000079/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000079/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..1da8c6a0e69d739bbfadd75d75964208ea76ad7e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000079/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:396bbcb735de8f8da69d9ce1f70e051fc4f5bc9f35d7f372f42e02c1e54d7807 +size 68207 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000079/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000079/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..f7193f41464857307cfe5944a0b250396006d460 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000079/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab05d9bfcb02bdc4637eceabb95d59fd4f5ffbbfb198d6ffaa56add3548fcf60 +size 199771 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000080/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..946b29d9436f31ac63c460fe836565fcc6d5debb --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 33, + "style_id": 57, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.340555 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_right_group_1", + "min_size": [ + 0.23310807345, + 0.23310807345, + 0.023453234437499998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 0.9999999999999998, + 0.65 + ], + "offset": [ + -0.5000000000000001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_right_group_1", + "min_size": [ + 0.19077960800000002, + 0.136271592, + 0.051411200000000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml" + }, + "reset_region": { + "size": [ + 0.9999999999999998, + 0.65 + ], + "offset": [ + -0.5000000000000001, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_right_group_1", + "min_size": [ + 0.3193152, + 0.24947280000000005, + 0.154212752 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "all" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml" + }, + "reset_region": { + "size": [ + 0.9999999999999998, + 0.65 + ], + "offset": [ + -0.5000000000000001, + 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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 5.856099958377052, + 0.3339311842206821, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000080/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000080/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..cbb1da7a7c433e2b590081f8571d93bdba38f968 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000080/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20b0ce0cfd10c1b3803a4741c805f092eef191cfeadb808f0a3e09adf40164d9 +size 65594 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000080/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000080/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..9ce17945825c8fa8ae6cd327f066330ad7927de0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000080/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa3953d9e575ce86b236a34203aaf363920745d2a619e42e60fb436668483ed7 +size 274956 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000081/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1abe1efe9d9b9386726bb292398e95d98ffdce87 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,496 @@ +{ + "layout_id": 48, + "style_id": 42, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cereal", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "cereal", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.650733, + 0.309143 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.04796986162499999, + 0.048751061624999995, + 0.159065507475 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "condiment_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "condiment_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7106220000000006, + 0.650005 + ], + "offset": [ + -5.799999999966943e-05, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.05496633832750106, + 0.10011066582587716, + 0.11258375177999994 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7106220000000006, + 0.650005 + ], + "offset": [ + -5.799999999966943e-05, + 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" + }, + "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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 1.9840505501470829, + -0.9495123387620833, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000081/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000081/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..6325f3761610233a74fb53efbb5a7742a19de67c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000081/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0476b08fd26cb865f55162c1d66d4c9f31c791936f4fdb0ea7d5ce58aaff3652 +size 57039 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000081/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000081/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..b53da8bc509a8991fa3d65f022bdf5e7f0ce51a0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000081/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a41e7132c537b1fc9f8b90e3f460d0c411aa65200c10f797c9d56658bec2de4d +size 139543 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000082/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a4518b86c66233055eb7b93dcb139786a7842a6c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 46, + "style_id": 28, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.54, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.06619601604000001, + 0.06056229718000001, + 0.07700000000000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + }, + "reset_region": { + "size": [ + 0.5999069999999992, + 0.65 + ], + "offset": [ + -0.1999000000000004, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.342302, + 0.055938, + 0.055938 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil003/model.xml" + }, + "reset_region": { + "size": [ + 0.5999069999999992, + 0.65 + ], + "offset": [ + -0.1999000000000004, + 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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 3.05762403769737, + -0.9145972465298949, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000082/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000082/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..07440b9dffdbf6008c48f669ab66cc23f63f8720 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000082/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f1ccdba377e794d544105d9cd86d6f12d25d9cb87d2678324877855201e0d0a +size 61136 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000082/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000082/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..1f3e0bd770a30b46a64aecd5ad99ba754e530b8b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000082/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60f395ec32fc2b4c4568d68ee5a6adf183a0ab4a2d84c95f26245009adbf9385 +size 170733 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000083/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc9eb605066c0ecdc833e883aa1fe59375af4ab0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 41, + "style_id": 59, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "alcohol", + "drink" + ], + "groups": [ + "all" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.554, + 0.399 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_right_group_1", + "min_size": [ + 0.048112295000000006, + 0.27687158950000007, + 0.0481123555 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "rolling_pin", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "rolling_pin", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/rolling_pin/rolling_pin_1/model.xml" + }, + "reset_region": { + "size": [ + 0.6139999999999997, + 0.65 + ], + "offset": [ + 0.05900000000000016, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_right_group_1", + "min_size": [ + 0.05927122655999998, + 0.16936915248, + 0.02869816221 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_3/model.xml" + }, + "reset_region": { + "size": [ + 0.6139999999999997, + 0.65 + ], + "offset": [ + 0.05900000000000016, + 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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 4.715999801015095, + -4.329449151496524, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000083/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000083/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..fe919a107f578fa233e182ae1203b07387235bc6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000083/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:33274dd512d368dc50a337a885ca098e03389af130e2b0a15f402295a12e5ea4 +size 61042 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000083/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000083/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..47e8e4f76e858f08d49a91a4056f926d90be3e48 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000083/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed0f1b44a0007e9b895282b368410ac8891b3556d75f3a1094a2d627bd313dc6 +size 116030 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000084/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fff593c82fac743f1f4bd89c741632b9d78a3be --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,463 @@ +{ + "layout_id": 33, + "style_id": 13, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.340555 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_right_group_1", + "min_size": [ + 0.05664036450000001, + 0.05560247025000001, + 0.07553774250000002 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_14/model.xml" + }, + "reset_region": { + "size": [ + 0.9999999999999991, + 0.65 + ], + "offset": [ + 4.440892098500626e-16, + 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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_3_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": [ + 5.832567211450803, + -2.521898504370118, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000084/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000084/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..9025dc849166220d56e1c36172bb4a55beef424a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000084/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be7ddc6e7b97ed9daa6ccb67eb83280d55261bdf65a45b1c548ff4312ef1a6e4 +size 59710 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000084/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000084/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..0af4226353c58d5798c45021ff72986075160515 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000084/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a30bab27acc726e5d53b455cdc5f356ffdc4d99da783fab3226d3d6db92c8e0f +size 373881 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000085/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7fd35cac0440a6422eb304f876e693efb52f7f79 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,547 @@ +{ + "layout_id": 57, + "style_id": 51, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "honey_bottle", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "honey_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.438374, + 0.340002 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.3193152, + 0.24947280000000005, + 0.154212752 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pot", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "all" + ], + "cat": "pot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml" + }, + "reset_region": { + "size": [ + 1.1723323398027659, + 0.65 + ], + "offset": [ + -0.7894758300986171, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.0609861395, + 0.062096059999999995, + 0.10939872449999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "turmeric", + "spice" + ], + "groups": [ + "all" + ], + "cat": "turmeric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turmeric/Turmeric004/model.xml" + }, + "reset_region": { + "size": [ + 1.1723323398027659, + 0.65 + ], + "offset": [ + -0.7894758300986171, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_main_group_1", + "min_size": [ + 0.0944163225, + 0.058841475, + 0.012645915 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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/TurkeySlice001/model.xml" + }, + "reset_region": { + "size": [ + 1.372173, + 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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + -0.7943379631854375, + -0.854544350500591, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000085/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000085/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..f95585d0f7ac9edd81b292398fc56586a19c36c1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000085/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a002c13890a2df44eaee981819fc816a6dccaaf24fa0e3d176e473068fe92874 +size 65974 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000085/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000085/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..c8d1fba7141ce26bca3e847e202d6909f79c2a58 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000085/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ff87ab9efc1fd7daa2c2995fe26dc5366e588fef9acffa7780e66c532993c1e +size 154235 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000086/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..82acc8e92690bdfedd0ea8dee6d50d4420d5d8f3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,562 @@ +{ + "layout_id": 21, + "style_id": 18, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6200000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.05600264660999997, + 0.07531491860999998, + 0.06240128944499997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_16/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000004, + 0.65 + ], + "offset": [ + 0.33999999999999986, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.061742093059556344, + 0.06812991806648402, + 0.04924424765192108 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000004, + 0.65 + ], + "offset": [ + 0.33999999999999986, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.059487211199999994, + 0.07933203679999999, + 0.058050267999999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_2/model.xml" + }, + "reset_region": { + "size": [ + 0.6800000000000004, + 0.65 + ], + "offset": [ + 0.33999999999999986, + 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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_2_right_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": [ + 4.530946064894636, + -1.105385362923373, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000086/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000086/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..98a930a471ae3f1b65ac264985f649c62d5352ae --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000086/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fbc7c512170fadb34dc1704a0dc7446e5657dc03aaefc1b708e1cb62ee1f2a8 +size 58022 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000086/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000086/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..fc02c22f9be2e2af17fda9069bdf38b7750dc363 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000086/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:333dcf3d6621e6b636abf6cb56473249ca3df688dcba2321fd8bc03fdbc22898 +size 209003 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000087/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aaf9248a8fc9b40cc82ba9a02b627236814236fa --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,535 @@ +{ + "layout_id": 38, + "style_id": 50, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_left_group_1", + "min_size": [ + 0.0786316751, + 0.11, + 0.0912749266 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_left_group_1", + "min_size": [ + 0.07261774416, + 0.07261775712, + 0.21836988072 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_11/model.xml" + }, + "reset_region": { + "size": [ + 1.327, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_left_group_1", + "min_size": [ + 0.04575419800000001, + 0.17607222500000005, + 0.04106902275000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_3_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": [ + 0.8657052765488148, + -4.564078295918385, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000087/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000087/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..e40e5fca303b4cf29f9a22b155de97f79afb0a6d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000087/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a19af4d91589d1398ceb9e41ec6e90d28ee44b0156c8acae5cbca411fcba9682 +size 61234 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000087/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000087/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..57131847c8ff7e94931b5942f0f8e9508b49cb41 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000087/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73fc0e891227cb933069ba4e563d7ecdfccbeeeadc760f0b9366377d14ffdcb4 +size 294767 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000088/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..473a32d6f120cc627943f58008bf44636d622fa5 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,606 @@ +{ + "layout_id": 35, + "style_id": 13, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9924, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.16599284954999996, + 0.11557245479999996, + 0.13667960459999995 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jug_wide_opening", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jug_wide_opening", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0312, + 0.65 + ], + "offset": [ + 0.005300000000000082, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0312, + 0.65 + ], + "offset": [ + 0.005300000000000082, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.056480252399999986, + 0.05648034554999997, + 0.06749922374999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0312, + 0.65 + ], + "offset": [ + 0.005300000000000082, + 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" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_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_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "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" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "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": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "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_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "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" + }, + "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": "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" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 4.174066647805835, + -0.831508195804004, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707961519493434 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000088/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000088/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..ac85bd92aa264c4e9ea4acfb9c29ac22ca7cf814 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000088/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:802ceb0b88584376e117930f5ce74e5ba17c54a355b37651708feee7047849d4 +size 64584 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000088/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000088/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..f2546d6bb1328860d5a505832abeaddf5deeead3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000088/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc57716b0799526a5e1da3f82dd423d3443ed1991f88419173a91296ddf5d3e3 +size 376940 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000089/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..97b069a93da33ab6a33c0b28baf9e22278c19a58 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,571 @@ +{ + "layout_id": 26, + "style_id": 56, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_right_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.165, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.044789947600000005, + 0.1686022974, + 0.03514701719999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + }, + "reset_region": { + "size": [ + 1.2550000000000012, + 0.65 + ], + "offset": [ + -0.29749999999999943, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.052865963819999987, + 0.08099999999999999, + 0.052313077259999986 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_2/model.xml" + }, + "reset_region": { + "size": [ + 1.2550000000000012, + 0.65 + ], + "offset": [ + -0.29749999999999943, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_2_right_group", + "min_size": [ + 0.053910776399999964, + 0.05559512279999995, + 0.12124407239999993 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "milk", + "dairy", + "drink", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "milk", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_1/model.xml" + }, + "reset_region": { + "size": [ + 1.2550000000000012, + 0.65 + ], + "offset": [ + -0.29749999999999943, + 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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_2_right_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": [ + 4.336490412748382, + -3.281829383850303, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.085780169280298e-07 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000089/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000089/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..719bb753bc5331b22f231f7fc408262f31d8640e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000089/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8cc68e85a2cd76bccac01fdd1a522157698f17a7ee01e5a9d351ac3f9acbf4a +size 57346 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000089/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000089/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..6c6591ea51634002b8acefe905614f3abc0f3787 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000089/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4dd768091726ef1b7f8c429c491bb67488837e9ba2caf63d91b4b66b8b0bdaa9 +size 326730 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000090/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d2eaa2f27e0daac251e68867b753e4683b64520 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,485 @@ +{ + "layout_id": 34, + "style_id": 12, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.825, + 0.3716 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_left_group_1", + "min_size": [ + 0.04085709341999999, + 0.14299989989999995, + 0.14269349093999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "boxed_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_10/model.xml" + }, + "reset_region": { + "size": [ + 1.081845771688204, + 0.65 + ], + "offset": [ + -0.7054000000000005, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_left_group_1", + "min_size": [ + 0.06861722785325214, + 0.08054430004212317, + 0.039939231817500004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "yogurt", + "packaged_food", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "yogurt", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_2/model.xml" + }, + "reset_region": { + "size": [ + 1.081845771688204, + 0.65 + ], + "offset": [ + -0.7054000000000005, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_left_group_1", + "min_size": [ + 0.07395939149999996, + 0.07202754299999997, + 0.07467260324999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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_11/model.xml" + }, + "reset_region": { + "size": [ + 1.081845771688204, + 0.65 + ], + "offset": [ + -0.7054000000000005, + -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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_2_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": [ + 0.7934915438511955, + -3.3434799203216086, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000090/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000090/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..e4c6b37068c58488cc8fca6b817a695dd5d2e5e2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000090/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58f830f95082f5aeb77606666f3bbf926fb8e6b5c046da53457997517c737746 +size 50215 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000090/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000090/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..5764314ddce7dbe1f4f2db9797ec470b2605c4c7 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000090/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:808f126a2300b6f594c2ce5a1a2ac8355c38a38cecfa76f975326efc41c77ced +size 322980 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000091/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d908ef0aa4c23af83faa1287c812f5189d6134eb --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,572 @@ +{ + "layout_id": 50, + "style_id": 40, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -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_2/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.464942, + 0.309141 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_right_group_1", + "min_size": [ + 0.3185488, + 0.31855520000000004, + 0.00456484 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "placemat", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "placemat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/placemat/Placemat004/model.xml" + }, + "reset_region": { + "size": [ + 0.6250370000000003, + 0.65 + ], + "offset": [ + 0.4624999999999999, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_right_group_1", + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "size": [ + 0.6250370000000003, + 0.65 + ], + "offset": [ + 0.4624999999999999, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_right_group_1", + "min_size": [ + 0.0542592, + 0.040534362, + 0.030523500000000002 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml" + }, + "reset_region": { + "size": [ + 0.6250370000000003, + 0.65 + ], + "offset": [ + 0.4624999999999999, + 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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 5.439414627317762, + -3.6574501199184097, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001619848215634878 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000091/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000091/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..f7fd7c54d6152d3be63fec1141bae47959bf0b8a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000091/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc013cdab24fa31db2bf3c3d6f4e9dd1c00dd556d67a239877f00a4f6b19580b +size 61271 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000091/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000091/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..583c4c4c5115ebc794c2e7f8a2dd7425577d8b68 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000091/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:22663c76709ea434f61ee5eb365b28e754e7cd892f5a014ba5e4e0c27e1fdef6 +size 139765 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000092/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c2edb2febb3ac72817d8ede69d5e5648bc97bf6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,603 @@ +{ + "layout_id": 39, + "style_id": 39, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_3_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_3_main_group_1", + "min_size": [ + 0.04671055, + 0.28351711, + 0.04933986 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "whisk", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "whisk", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk003/model.xml" + }, + "reset_region": { + "size": [ + 1.8122486038320953, + 0.65 + ], + "offset": [ + -0.929, + -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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_3_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": [ + 1.8300784581426466, + -0.8062238282931912, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000092/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000092/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..2b335aff722bd63b0f85c6c2a44ad5cf9cc7fa21 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000092/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27b904b9147c30c3d19d27c5d7f4ef8b10692cda2aa9aa06e6241cd30fe5d0ce +size 58963 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000092/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000092/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..a39ab6ccf7c94ac2a0ca21f733a0195e5b75d4c3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000092/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fdf8418f60414e0fee9481b719ecd395f3997034010ef81eec2eed1afdb46a95 +size 121365 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000093/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1375736bf68fedea806240a6eb60e68afd56bf4 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 39, + "style_id": 14, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_2_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pizza_cutter", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pizza_cutter", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_2_main_group_1", + "min_size": [ + 0.23912618200000002, + 0.4187364520000001, + 0.04983586125000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pan", + "receptacle", + "cookware", + "pots_and_pans" + ], + "groups": [ + "all" + ], + "cat": "pan", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_3/model.xml" + }, + "reset_region": { + "size": [ + 2.306, + 0.65 + ], + "offset": [ + -1.697, + -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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 1.038701250703381, + -0.7774442257954448, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000093/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000093/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..a7e782391608afd987844542aae9413986069042 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000093/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:041e4d77a9b453bf98b36c3f306b2896558e162033d34a5b5b2b95174706e98a +size 63141 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000093/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000093/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..f490c5cc28ea8c27a366c077e278aa765240e850 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000093/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ff8df4c2c077282cb0b7f4e8779a41041dd63237a484bfade4f6699931d698c +size 115615 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000094/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0425b1d5ea8f9550744c60dc76404b213b8f6990 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 41, + "style_id": 11, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_1_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "avocado", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "avocado", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_4/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.554, + 0.399 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_1_right_group_1", + "min_size": [ + 0.048101219999999986, + 0.113468085, + 0.14999999399999997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cereal", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "cereal", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_11/model.xml" + }, + "reset_region": { + "size": [ + 0.615000000000001, + 0.65 + ], + "offset": [ + -0.0649999999999995, + 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_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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 4.74358189053979, + -2.7404381348787377, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000094/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000094/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..c3a9a5d4c2922013fca5568982982ddbf150186a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000094/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98382187962985ea4b808d4b398ec97b9c272177b7f229989013683662c88e39 +size 54061 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000094/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000094/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..7c21e303faa9e1808a1a6ed066f5ec200b1fe332 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000094/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6b057fed8853da9ad61324cb610625f2bcb5d03bf528f65b91864533fa7b62d +size 99544 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000095/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ed60beaa7e2eb1292d2b47a998f4521c21007bc --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,516 @@ +{ + "layout_id": 50, + "style_id": 16, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_5_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -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/CookieDoughBall001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.24495, + 0.309167 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_5_left_group_1", + "min_size": [ + 0.040818, + 0.192992, + 0.006616 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "all" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw007/model.xml" + }, + "reset_region": { + "size": [ + 1.304953, + 0.66078 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_5_left_group_1", + "min_size": [ + 0.24681513780000008, + 0.3780000378000002, + 0.06985282374000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tray", + "receptacle", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_2/model.xml" + }, + "reset_region": { + "size": [ + 1.304953, + 0.66078 + ], + "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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_5_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": [ + 0.848457165761607, + -2.4976113898533177, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14143752494427 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000095/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000095/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..90ac1b1f73cd95df799d1364091e187e3aacd8c3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000095/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ad123ae9c9ac31d99e4692ac8e09369af7c31417bffe8b954facbeb3ee6edbb +size 69699 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000095/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000095/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..da876d4e424435c63d71a9f15df2ce5553677f79 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000095/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8e319663b9f8657605c6662b76f97a491ff708aeb4e764712309c698cf6c504 +size 317241 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000096/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ea06e6643f18652ecc7999329635f9db678104f5 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 25, + "style_id": 46, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_4_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wine", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "wine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/wine/wine_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.444, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_4_left_group", + "min_size": [ + 0.058767396000000034, + 0.05876740200000004, + 0.05286663060000003 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + }, + "reset_region": { + "size": [ + 1.882468276916442, + 0.65 + ], + "offset": [ + -0.4229999999999987, + -3.469446951953614e-17, + 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" + }, + "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" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_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_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_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_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_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": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "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_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "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_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "cab_4_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": [ + 0.778330267471076, + -3.161145141330607, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000096/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000096/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..f74a08f7276dc9b360add328cbd8ce12bd774457 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000096/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7a5d0b5ff9814dd82f808d46f1351e82384ed3ed24cf496d108517314ca4a1b +size 85902 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000096/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000096/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..3f552af819e28f9a7cb44bf19ea54e3f7a57915b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000096/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5430647bb3a5be9790882803a1acab6c0d630c6abb9cc6baf00bb21c417b2d3e +size 116715 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000097/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b6ef4dbffc5930ad21a038ad99aa836c27bd2d4b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 54, + "style_id": 26, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_main_group_1", + "min_size": [ + 0.26086863410203165, + 0.2606635901999999, + 0.09013180765544997 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_18/model.xml" + }, + "reset_region": { + "size": [ + 1.022279, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_main_group_1", + "min_size": [ + 0.17527581, + 0.17536388400000003, + 0.154695294 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jar", + "receptacle", + "decoration" + ], + "groups": [ + "all" + ], + "cat": "jar", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/jar/Jar003/model.xml" + }, + "reset_region": { + "size": [ + 1.022279, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_main_group_1", + "min_size": [ + 0.057608837187413324, + 0.2328650074257728, + 0.07522244119756101 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ladle", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "ladle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_2/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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_3_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": [ + 2.561073054877911, + -0.9557270342683961, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000097/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000097/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..846c3fb7e14b2a6904ba118cf0a16315ff48c877 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000097/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d105c9d1e91ae67dce32a6968136cdce5c994317a04c9ffbdeaec46a2e1b3b82 +size 57479 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000097/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000097/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..7154627f524eb12586a521bb117e0c82f94ba7af --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000097/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:943dc3d01e8b0e4a71f6da06e0c7eba382333986b8fde4984f50184a696dca44 +size 468521 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000098/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18eeef64482db171def02e61e72965af239a9ead --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,544 @@ +{ + "layout_id": 23, + "style_id": 42, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.0560709, + 0.0285174, + 0.0299313 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + }, + "reset_region": { + "size": [ + 0.2999999999999998, + 0.65 + ], + "offset": [ + -2.0315000000000003, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.05704048680000002, + 0.059094555600000015, + 0.052538282400000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + }, + "reset_region": { + "size": [ + 0.2999999999999998, + 0.65 + ], + "offset": [ + -2.0315000000000003, + -3.469446951953614e-17, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_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": [ + 0.9005820115477501, + -0.843460878670506, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000098/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000098/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..8286a14ee2211d8d04ecc6a7c9265ccc0f1b135f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000098/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1fd958b8be54b804093473463aac48c144c9859a76e6a6b07241dabda868408b +size 59132 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000098/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000098/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..500eb706c73a27e44bbddb846f7e4f87998fd5e1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000098/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3de8d1bfcd9036cfba44702b80189d2121f2d0a77d33a5d72344789ab9837a52 +size 261935 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000099/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b062fea9725e43ad38441ab5bf6aa6b25e5ff52 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 35, + "style_id": 45, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_3_left_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "paprika", + "spice" + ], + "groups": [ + "all" + ], + "cat": "paprika", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/paprika/Paprika007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_left_group_1", + "min_size": [ + 0.06547692, + 0.065672352, + 0.17600208 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "paprika", + "spice" + ], + "groups": [ + "all" + ], + "cat": "paprika", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/paprika/Paprika004/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 0.8799999999999999, + -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" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_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_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "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" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "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": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "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_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "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" + }, + "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": "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" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_3_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": [ + 0.7993165194500982, + -0.5351619669918246, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000099/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000099/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..7d3f5fd659db2815cd3a37036ac8816d9ca42da6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000099/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:616cbcb5a25b46902a539f7961a95a6da349e83fd40e33935a55012f4c58cc2e +size 69774 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000099/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000099/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..b9efa05262490d8b3cfaf17abe29efc5b26d35b3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000099/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7c1aa9f53ea5d491109044ea8f53e13991b18190b42a433a1930225fac8b4db +size 233532 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000100/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4801e0d2f6786b66ee44176c1ff150b49467b724 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,521 @@ +{ + "layout_id": 36, + "style_id": 48, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.99, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.11609288640000001, + 0.11194805294999999, + 0.043384427350000004 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_12/model.xml" + }, + "reset_region": { + "size": [ + 1.0499999999999992, + 0.65 + ], + "offset": [ + 4.440892098500626e-16, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.06352755, + 0.26314673, + 0.06365040999999999 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "whisk", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "whisk", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk001/model.xml" + }, + "reset_region": { + "size": [ + 1.0499999999999992, + 0.65 + ], + "offset": [ + 4.440892098500626e-16, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_3", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.11610955104999995, + 0.11507913609999994, + 0.04536781624999998 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0499999999999992, + 0.65 + ], + "offset": [ + 4.440892098500626e-16, + 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_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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "hingecabinet_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": [ + 2.123467079086722, + -2.2601561478307715, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000100/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000100/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..65a962184fd933f048bdc52ab135420e0f182020 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000100/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8865c339c9ad229604874ec460d01d9d05fabaedd73e42f4c7e2f21b0bd482bc +size 51774 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000100/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000100/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..4dc244d6f6aab1e728d011e35b9e4af31a500fb8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000100/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd078c04de5bd9d2e6ba02ea706bf1d6f37010665a7e88fce130582aa93709ba +size 243525 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000101/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a68fa1e790077bd9601a148d6714aaaf2487217 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,438 @@ +{ + "layout_id": 30, + "style_id": 52, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_group", + "min_size": [ + 0.06381797500000003, + 0.06285560840000001, + 0.051404796300000014 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7999999999999983, + 0.65 + ], + "offset": [ + 8.881784197001252e-16, + 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" + }, + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_2_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": [ + 0.842351724620941, + -1.7585594350640366, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000101/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000101/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..978a3d60718d07a3408a3ea879a4e18435f05666 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000101/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3cd8adb8a92fe4f0662fbc8dee24161e9fdb5836d970ceef1f9a49483bf625d +size 58769 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000101/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000101/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..4091e7239f3c73f5fd979c3a12aa52acf063f100 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000101/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:742a1c43a1864c40b47fce13f812ce5ddc19b4f8bf4cc1d3f81f000a8838119a +size 219122 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000102/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2166f22ec8f2ab0bc4447e6f6654416e70c25b6b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,422 @@ +{ + "layout_id": 32, + "style_id": 44, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_3_right_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5650035, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_3_right_group_1", + "min_size": [ + 0.0918202005, + 0.057627339, + 0.1382033835 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "honey_bottle", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "honey_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle001/model.xml" + }, + "reset_region": { + "size": [ + 0.5750085000000001, + 0.65 + ], + "offset": [ + -0.012498249999999933, + 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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_3_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": [ + 3.5693516579851114, + -0.9646058511841336, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000102/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000102/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..ca0dde16c3e91c16e1dbf4de485eb019a549c50b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000102/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02c493584a190d8342eae4c3fe44997f28f494456156b699396eeea2fe9642d0 +size 58918 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000102/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000102/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..f1453e3ec4d6d2784abadb5ddf00eab4a3a269cd --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000102/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bccdb809e8406ae0fe3bcbe61f0a98b12cf3dc0cd5d7d7c97006771ceb8c3d8 +size 101691 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000103/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..360aae8245131f3c565cb6f6ac090d295c40b448 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,559 @@ +{ + "layout_id": 22, + "style_id": 18, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6499999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_3_main_group", + "min_size": [ + 0.120814265, + 0.10930387600000001, + 0.114549622 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pancake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pancake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes002/model.xml" + }, + "reset_region": { + "size": [ + 0.71, + 0.65 + ], + "offset": [ + -0.355, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_3_main_group", + "min_size": [ + 0.120814265, + 0.10930387600000001, + 0.114549622 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pancake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pancake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes002/model.xml" + }, + "reset_region": { + "size": [ + 0.71, + 0.65 + ], + "offset": [ + -0.355, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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": "Close the cabinet doors.", + "fixture_refs": { + "fxtr": "cab_3_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": [ + 2.200254865457723, + -0.7678476133712551, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000103/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000103/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..b3731757b1db7d3f8d9cb83806b4be091d417b90 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000103/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fedc212f70d8af429ffd82a12d166b47fcf715fd07cdf3c33510de8b39fbb8e6 +size 60655 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000103/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000103/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..2834af6a53edd220f0ad3c00047967eab7f99793 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000103/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:574b090c4428374c4521f92fc25cfd5a39a6b8e2d000d19ef6b638451de22881 +size 183849 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000104/ep_meta.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..375980e1a8a8ecac5bc0abf11f68b2bb2f5fdb34 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,467 @@ +{ + "layout_id": 59, + "style_id": 43, + "object_cfgs": [ + { + "name": "door_obj", + "obj_groups": "all", + "graspable": true, + "placement": { + "fixture": "singlecabinet_01_main_group_1", + "size": [ + 0.3, + 0.3 + ], + "pos": [ + null, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.45869699999999997, + 0.220978 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter_1", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_01_main_group_1", + "min_size": [ + 0.0770555522, + 0.1110600634, + 0.0960879095 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "all" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_16/model.xml" + }, + "reset_region": { + "size": [ + 0.5186650000000013, + 0.65 + ], + "offset": [ + 0.7711999999999994, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter_2", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "singlecabinet_01_main_group_1", + "min_size": [ + 0.049612332, + 0.049612332, + 0.10168505550000001 + ] + }, + "size": [ + 1.0, + 0.5 + ], + "pos": [ + null, + -1.0 + ], + "offset": [ + 0.0, + 0.1 + ] + }, + "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/SaltShaker004/model.xml" + }, + "reset_region": { + "size": [ + 0.5186650000000013, + 0.65 + ], + "offset": [ + 0.7711999999999994, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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": "Close the cabinet door.", + "fixture_refs": { + "fxtr": "singlecabinet_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": [ + 5.652092376911613, + -0.9606541669250893, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707888166096549 + ] +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000104/model.xml.gz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000104/model.xml.gz new file mode 100644 index 0000000000000000000000000000000000000000..507edfa4ff49af95ce8a6d4f1350e462581539dd --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000104/model.xml.gz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:315cd0dd5cb113a6dca32f1e9bd319e7e0a9dd52a71d31b451b3cc53abfa4106 +size 57370 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000104/states.npz b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000104/states.npz new file mode 100644 index 0000000000000000000000000000000000000000..a77ecae8f97c9822c13b5a37ee544eddd7ac4aff --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/extras/episode_000104/states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:52273ec90fa4709f4fa43f811296c59e2e8435020d84a4fac5315a816863b630 +size 113766 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/embodiment.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/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/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/episodes.jsonl b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a443daaccd89a88d7644fb12e5b09dbcbff6a6f4 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/episodes.jsonl @@ -0,0 +1,105 @@ +{"episode_index": 0, "tasks": ["Close the cabinet door."], "length": 155} +{"episode_index": 1, "tasks": ["Close the cabinet door."], "length": 154} +{"episode_index": 2, "tasks": ["Close the cabinet doors."], "length": 317} +{"episode_index": 3, "tasks": ["Close the cabinet doors."], "length": 270} +{"episode_index": 4, "tasks": ["Close the cabinet doors."], "length": 259} +{"episode_index": 5, "tasks": ["Close the cabinet doors."], "length": 444} +{"episode_index": 6, "tasks": ["Close the cabinet doors."], "length": 373} +{"episode_index": 7, "tasks": ["Close the cabinet door."], "length": 172} +{"episode_index": 8, "tasks": ["Close the cabinet door."], "length": 188} +{"episode_index": 9, "tasks": ["Close the cabinet doors."], "length": 335} +{"episode_index": 10, "tasks": ["Close the cabinet doors."], "length": 299} +{"episode_index": 11, "tasks": ["Close the cabinet doors."], "length": 292} +{"episode_index": 12, "tasks": ["Close the cabinet door."], "length": 143} +{"episode_index": 13, "tasks": ["Close the cabinet doors."], "length": 316} +{"episode_index": 14, "tasks": ["Close the cabinet doors."], "length": 278} +{"episode_index": 15, "tasks": ["Close the cabinet doors."], "length": 362} +{"episode_index": 16, "tasks": ["Close the cabinet door."], "length": 188} +{"episode_index": 17, "tasks": ["Close the cabinet doors."], "length": 350} +{"episode_index": 18, "tasks": ["Close the cabinet doors."], "length": 336} +{"episode_index": 19, "tasks": ["Close the cabinet doors."], "length": 281} +{"episode_index": 20, "tasks": ["Close the cabinet doors."], "length": 317} +{"episode_index": 21, "tasks": ["Close the cabinet doors."], "length": 230} +{"episode_index": 22, "tasks": ["Close the cabinet doors."], "length": 261} +{"episode_index": 23, "tasks": ["Close the cabinet door."], "length": 139} +{"episode_index": 24, "tasks": ["Close the cabinet doors."], "length": 284} +{"episode_index": 25, "tasks": ["Close the cabinet doors."], "length": 345} +{"episode_index": 26, "tasks": ["Close the cabinet doors."], "length": 283} +{"episode_index": 27, "tasks": ["Close the cabinet doors."], "length": 285} +{"episode_index": 28, "tasks": ["Close the cabinet doors."], "length": 345} +{"episode_index": 29, "tasks": ["Close the cabinet doors."], "length": 335} +{"episode_index": 30, "tasks": ["Close the cabinet doors."], "length": 256} +{"episode_index": 31, "tasks": ["Close the cabinet doors."], "length": 318} +{"episode_index": 32, "tasks": ["Close the cabinet door."], "length": 161} +{"episode_index": 33, "tasks": ["Close the cabinet doors."], "length": 335} +{"episode_index": 34, "tasks": ["Close the cabinet doors."], "length": 374} +{"episode_index": 35, "tasks": ["Close the cabinet doors."], "length": 277} +{"episode_index": 36, "tasks": ["Close the cabinet doors."], "length": 393} +{"episode_index": 37, "tasks": ["Close the cabinet doors."], "length": 310} +{"episode_index": 38, "tasks": ["Close the cabinet door."], "length": 105} +{"episode_index": 39, "tasks": ["Close the cabinet doors."], "length": 245} +{"episode_index": 40, "tasks": ["Close the cabinet doors."], "length": 298} +{"episode_index": 41, "tasks": ["Close the cabinet doors."], "length": 250} +{"episode_index": 42, "tasks": ["Close the cabinet doors."], "length": 326} +{"episode_index": 43, "tasks": ["Close the cabinet doors."], "length": 292} +{"episode_index": 44, "tasks": ["Close the cabinet doors."], "length": 296} +{"episode_index": 45, "tasks": ["Close the cabinet doors."], "length": 239} +{"episode_index": 46, "tasks": ["Close the cabinet door."], "length": 181} +{"episode_index": 47, "tasks": ["Close the cabinet doors."], "length": 247} +{"episode_index": 48, "tasks": ["Close the cabinet doors."], "length": 265} +{"episode_index": 49, "tasks": ["Close the cabinet door."], "length": 172} +{"episode_index": 50, "tasks": ["Close the cabinet doors."], "length": 235} +{"episode_index": 51, "tasks": ["Close the cabinet door."], "length": 171} +{"episode_index": 52, "tasks": ["Close the cabinet door."], "length": 207} +{"episode_index": 53, "tasks": ["Close the cabinet doors."], "length": 315} +{"episode_index": 54, "tasks": ["Close the cabinet doors."], "length": 304} +{"episode_index": 55, "tasks": ["Close the cabinet door."], "length": 148} +{"episode_index": 56, "tasks": ["Close the cabinet door."], "length": 235} +{"episode_index": 57, "tasks": ["Close the cabinet doors."], "length": 396} +{"episode_index": 58, "tasks": ["Close the cabinet doors."], "length": 274} +{"episode_index": 59, "tasks": ["Close the cabinet doors."], "length": 343} +{"episode_index": 60, "tasks": ["Close the cabinet door."], "length": 162} +{"episode_index": 61, "tasks": ["Close the cabinet doors."], "length": 375} +{"episode_index": 62, "tasks": ["Close the cabinet doors."], "length": 276} +{"episode_index": 63, "tasks": ["Close the cabinet doors."], "length": 278} +{"episode_index": 64, "tasks": ["Close the cabinet doors."], "length": 276} +{"episode_index": 65, "tasks": ["Close the cabinet door."], "length": 135} +{"episode_index": 66, "tasks": ["Close the cabinet door."], "length": 155} +{"episode_index": 67, "tasks": ["Close the cabinet door."], "length": 150} +{"episode_index": 68, "tasks": ["Close the cabinet door."], "length": 199} +{"episode_index": 69, "tasks": ["Close the cabinet doors."], "length": 261} +{"episode_index": 70, "tasks": ["Close the cabinet doors."], "length": 306} +{"episode_index": 71, "tasks": ["Close the cabinet doors."], "length": 225} +{"episode_index": 72, "tasks": ["Close the cabinet doors."], "length": 388} +{"episode_index": 73, "tasks": ["Close the cabinet doors."], "length": 362} +{"episode_index": 74, "tasks": ["Close the cabinet doors."], "length": 425} +{"episode_index": 75, "tasks": ["Close the cabinet door."], "length": 138} +{"episode_index": 76, "tasks": ["Close the cabinet doors."], "length": 326} +{"episode_index": 77, "tasks": ["Close the cabinet doors."], "length": 273} +{"episode_index": 78, "tasks": ["Close the cabinet door."], "length": 179} +{"episode_index": 79, "tasks": ["Close the cabinet doors."], "length": 259} +{"episode_index": 80, "tasks": ["Close the cabinet doors."], "length": 333} +{"episode_index": 81, "tasks": ["Close the cabinet door."], "length": 159} +{"episode_index": 82, "tasks": ["Close the cabinet door."], "length": 143} +{"episode_index": 83, "tasks": ["Close the cabinet door."], "length": 165} +{"episode_index": 84, "tasks": ["Close the cabinet doors."], "length": 327} +{"episode_index": 85, "tasks": ["Close the cabinet door."], "length": 176} +{"episode_index": 86, "tasks": ["Close the cabinet doors."], "length": 234} +{"episode_index": 87, "tasks": ["Close the cabinet doors."], "length": 241} +{"episode_index": 88, "tasks": ["Close the cabinet doors."], "length": 312} +{"episode_index": 89, "tasks": ["Close the cabinet doors."], "length": 360} +{"episode_index": 90, "tasks": ["Close the cabinet doors."], "length": 316} +{"episode_index": 91, "tasks": ["Close the cabinet door."], "length": 152} +{"episode_index": 92, "tasks": ["Close the cabinet door."], "length": 168} +{"episode_index": 93, "tasks": ["Close the cabinet door."], "length": 189} +{"episode_index": 94, "tasks": ["Close the cabinet door."], "length": 178} +{"episode_index": 95, "tasks": ["Close the cabinet doors."], "length": 439} +{"episode_index": 96, "tasks": ["Close the cabinet door."], "length": 119} +{"episode_index": 97, "tasks": ["Close the cabinet doors."], "length": 399} +{"episode_index": 98, "tasks": ["Close the cabinet doors."], "length": 333} +{"episode_index": 99, "tasks": ["Close the cabinet doors."], "length": 374} +{"episode_index": 100, "tasks": ["Close the cabinet doors."], "length": 311} +{"episode_index": 101, "tasks": ["Close the cabinet doors."], "length": 307} +{"episode_index": 102, "tasks": ["Close the cabinet door."], "length": 166} +{"episode_index": 103, "tasks": ["Close the cabinet doors."], "length": 245} +{"episode_index": 104, "tasks": ["Close the cabinet door."], "length": 156} diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/episodes_stats.jsonl b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8bd4a7321ccf0a1ddfe83a03dd8e1896df57a9a7 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,105 @@ +{"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": [[[0.45465329817229627]], [[0.4537838410022212]], [[0.4536147466921339]]], "std": [[[0.17870634870518537]], [[0.17691940101006295]], [[0.1756571781554766]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4684232052073759]], [[0.4659345374013863]], [[0.46525633748372397]]], "std": [[[0.2126035772156525]], [[0.2092805798881186]], [[0.20674358484773928]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48820392922794115]], [[0.48629196585860907]], [[0.48568529495538454]]], "std": [[[0.23187999704406026]], [[0.22995223208970064]], [[0.22840995416573073]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [155]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [155]}, "observation.state": {"min": [4.8411913365154575, -0.9901374897141403, 0.6998822769640337, 0.0, 0.0, 0.7068544030189514, 0.7070249319076538, -0.1621711094830559, -0.40994447686991986, 0.5892051246707235, -0.9899750351905823, -0.279803991317749, -0.7636873126029968, 0.00010529012797633186, -0.001225852095221206, -0.04002289326735853], "max": [4.841539185590075, -0.9879179077230881, 0.700202190859146, 0.0, 0.0, 0.7071887254714966, 0.7073590755462646, 0.463336317816032, 0.006446996079112921, 0.7719877342375762, 0.9064643979072571, 0.2535381317138672, 0.7772795557975769, 0.25921863317489624, 0.040614955515440095, -0.020508433729714046], "mean": [4.841336673302863, -0.9879885087432815, 0.6999943699364768, 0.0, 0.0, 0.7070149260182534, 0.7071986086906925, 0.08548627171415062, -0.16735002901751447, 0.7334390170418171, -0.048425463322670226, -0.1014457804541434, -0.011906235064229657, 0.07290210403270096, 0.03415113611083626, -0.038625738242189483], "std": [4.291034604561543e-05, 0.00019941565196352566, 5.2954108286468606e-05, 0.0, 0.0, 6.320248110581265e-05, 6.320198211782021e-05, 0.19946901958835195, 0.1579346873559122, 0.051711443534428025, 0.735213449886177, 0.1483671629843793, 0.6441005195652035, 0.06700849474558719, 0.010450043658696586, 0.003602355624122222], "count": [155]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6928571428571428, -0.11142857142857143, -0.4628571428571429, -0.2057142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.40714285714285714, 0.005714285714285714, -0.0, 0.24, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.36138248847926263, 0.005299539170506869, 0.02534562211981566, -0.034838709677419366, -0.11529953917050695, 0.0027096774193548522, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7552056326459131, 0.5634750863606094, 0.19801050229225142, 0.04260150704859744, 0.137415911710026, 0.1364791132952599, 0.0], "count": [155]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.10322580486536026], "std": [0.30425357818603516], "count": [155]}, "next.done": {"min": [false], "max": [true], "mean": [0.0064516129032258064], "std": [0.08006241061929585], "count": [155]}, "timestamp": {"min": [0.0], "max": [7.7], "mean": [3.85], "std": [2.2371857321197095], "count": [155]}, "frame_index": {"min": [0], "max": [154], "mean": [77.0], "std": [44.74371464239419], "count": [155]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [155]}, "index": {"min": [0], "max": [154], "mean": [77.0], "std": [44.74371464239419], "count": [155]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [155]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3084916453642004]], [[0.3010361579446232]], [[0.28612246943455116]]], "std": [[[0.21454393259723736]], [[0.21293064650386845]], [[0.21658603919684516]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.06274509803921569]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4233580394071691]], [[0.41195791865330117]], [[0.39462330956552544]]], "std": [[[0.25284712836123785]], [[0.2536203549521905]], [[0.25773611476949043]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.06274509803921569]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3972312502393536]], [[0.38498470111921723]], [[0.36948680982402726]]], "std": [[[0.24101298703978855]], [[0.24221486390651947]], [[0.24600424851938912]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [154]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [154]}, "observation.state": {"min": [2.762055820027756, -0.9482887031678574, 0.6998011382447392, 0.0, 0.0, 0.7068986892700195, 0.7068678736686707, -0.16013138942426908, -0.3180997609611662, 0.6085353294417701, -0.9855196475982666, -0.0550505667924881, -0.8182433843612671, 0.016336021944880486, -0.000819059912290442, -0.03972653567607351], "max": [2.762572951439579, -0.9363678685666819, 0.7000376348702855, 0.0, 0.0, 0.7073456048965454, 0.7073147296905518, 0.5499799105961409, 0.1083486811995189, 0.8514182487925839, -0.41176995635032654, 0.2540076971054077, -0.1579500287771225, 0.676032304763794, 0.039760432626586385, 0.004064009998196434], "mean": [2.762259164403663, -0.9366349548099154, 0.6999902370957527, 0.0, 0.0, 0.707108927237523, 0.7071045884838352, 0.15875158682684753, -0.10380043486144253, 0.7659244059027697, -0.6354938555847515, 0.0932096845724366, -0.6129992495883595, 0.28595782360424854, 0.013447840270236775, -0.012960591738010846], "std": [5.9684202908934026e-05, 0.0014979601973401104, 3.769256055554673e-05, 0.0, 0.0, 5.185345689909568e-05, 5.1853795922848984e-05, 0.2146223320421179, 0.14733449201410834, 0.06178694716716516, 0.17424351909377286, 0.10602171967541356, 0.16856063021719803, 0.24475591594733265, 0.017105469722159455, 0.017382302121126087], "count": [154]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9, -0.021428571428571432, -0.07714285714285714, -0.5771428571428572, -0.32571428571428573, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.3214285714285714, 0.23428571428571432, 0.14857142857142858, 0.29714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.18177179962894255, 0.10111317254174393, 0.059461966604823814, 0.061076066790352504, -0.12538033395176254, -0.05747680890538034, 0.4155844155844156], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7095982754827626, 0.5337857245701905, 0.09551943142110313, 0.09677277421911552, 0.17417921502103248, 0.18308976045062073, 0.9095546127217236], "count": [154]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.10389610379934311], "std": [0.30512574315071106], "count": [154]}, "next.done": {"min": [false], "max": [true], "mean": [0.006493506493506494], "std": [0.0803202394600843], "count": [154]}, "timestamp": {"min": [0.0], "max": [7.65], "mean": [3.8249999999999997], "std": [2.2227516730395234], "count": [154]}, "frame_index": {"min": [0], "max": [153], "mean": [76.5], "std": [44.45503346079047], "count": [154]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [154]}, "index": {"min": [155], "max": [308], "mean": [231.5], "std": [44.45503346079047], "count": [154]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [154]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6868534144981235]], [[0.6161262290804994]], [[0.5172117040297565]]], "std": [[[0.16042036739050447]], [[0.1459139339841116]], [[0.15834160828516053]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6791405035280713]], [[0.6327777380849801]], [[0.5705232340494792]]], "std": [[[0.24054834786033]], [[0.23269129996413038]], [[0.24319937854168078]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6855460037530637]], [[0.6356856318455116]], [[0.5667736678777956]]], "std": [[[0.20577860397708514]], [[0.2038548721321437]], [[0.2233513006597775]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [317]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [317]}, "observation.state": {"min": [5.199952138879341, -0.9266589140958534, 0.6999218173696988, 0.0, 0.0, 0.7069109082221985, 0.707015872001648, -0.0666585401217431, -0.2885448192458311, 0.6148772851378507, -0.9852312803268433, -0.3177686929702759, -0.8598592877388, 0.001269893953576684, -0.0006280033356013922, -0.03956470905821879], "max": [5.20018244631005, -0.9262140818306497, 0.7000310664879067, 0.0, 0.0, 0.7071976661682129, 0.7073026299476624, 0.4391257693919561, 0.5289356374403091, 0.8718549495670157, 0.6483164429664612, 0.2170175313949585, 0.7747105956077576, 0.6596242785453796, 0.03956801755659935, 0.001626662423903118], "mean": [5.200036535141236, -0.9262451062341225, 0.6999929725671524, 0.0, 0.0, 0.7070492904645035, 0.7071642328512029, 0.22123017669801523, 0.11306008390779647, 0.7484507562794304, -0.37746600510570155, 0.03033746684951361, -0.3595705782107374, 0.21222088278318266, 0.005933814522786209, -0.004869612202669242], "std": [4.11138959078325e-05, 5.093775912809416e-05, 1.8470316501715255e-05, 0.0, 0.0, 4.190306146487286e-05, 4.190294186383835e-05, 0.1534034681878714, 0.22354672624076938, 0.0481533655288527, 0.5272931548460361, 0.14166471207045436, 0.5919742082187864, 0.18365711778275295, 0.011768788817849509, 0.012063135655446039], "count": [317]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6071428571428572, -0.1742857142857143, -0.42, -0.39714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.8571428571428572, 0.36857142857142855, 0.2714285714285714, 0.30857142857142855, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04364578639026585, 0.07643082469580888, 0.08949977467327626, 0.012392969806218998, -0.03687246507435785, -0.011978368634520042, 0.7917981072555205], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6398783240293855, 0.5489747632913328, 0.23807520900046925, 0.10292007529479781, 0.13212535098424713, 0.15861364729780858, 0.6107829052507778], "count": [317]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09148264676332474], "std": [0.2882942259311676], "count": [317]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031545741324921135], "std": [0.056076936386849144], "count": [317]}, "timestamp": {"min": [0.0], "max": [15.8], "mean": [7.9], "std": [4.575478117093338], "count": [317]}, "frame_index": {"min": [0], "max": [316], "mean": [158.0], "std": [91.50956234186677], "count": [317]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [317]}, "index": {"min": [309], "max": [625], "mean": [467.0], "std": [91.50956234186677], "count": [317]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [317]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07058823529411765]], [[0.054901960784313725]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45227457083907785]], [[0.33739062799191943]], [[0.25296535716337315]]], "std": [[[0.14782566566408967]], [[0.18233913277625896]], [[0.2243687392782852]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47672729312672335]], [[0.3955293118345971]], [[0.33374474499272366]]], "std": [[[0.2414477922850071]], [[0.2616916712985688]], [[0.28266510441953047]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47327360863779105]], [[0.39297043564740347]], [[0.33124472943474265]]], "std": [[[0.2371022657820905]], [[0.256498729670774]], [[0.27616058600958876]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [270]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [270]}, "observation.state": {"min": [0.893320634808592, -4.396492463962141, 0.699900334191522, 0.0, 0.0, -1.0, 1.2385189620545134e-06, -0.04896162668748971, -0.3802919104440816, 0.5821782508947163, -0.992899477481842, -0.4223634600639343, -0.8473712205886841, 0.0003777175152208656, -0.0012223276060502567, -0.039237996380579655], "max": [0.8947205994752154, -4.3961526840614455, 0.7000401205453575, 0.0, 0.0, 1.0, 0.00031977283651940525, 0.4553679781408631, 0.4814109965595925, 0.8729333335717958, 0.8872424960136414, 0.2926138639450073, 0.7762349843978882, 0.6274093389511108, 0.03923081227541813, 0.001863668712117376], "mean": [0.8933614157995021, -4.396270734341629, 0.6999946147525024, 0.0, 0.0, 0.9111111111111111, 0.00014872022288096154, 0.19785347887338073, 0.04037857707905164, 0.7743300376005694, -0.2993232376045651, 0.05346460273420369, -0.3045411693001235, 0.24069473709150097, 0.004700462462729816, -0.003859586785486787], "std": [0.00013327012053584476, 4.151139306142078e-05, 2.1630783296046838e-05, 0.0, 0.0, 0.41216082202203125, 5.307752328189014e-05, 0.1496979563846937, 0.247731791795267, 0.06002031643746235, 0.5452470473670389, 0.2070222818535141, 0.6212477187173842, 0.1754039853741119, 0.010179777450342048, 0.010441235754788461], "count": [270]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5214285714285715, -0.20285714285714287, -0.5457142857142857, -0.41714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6285714285714287, 0.3657142857142857, 0.30857142857142855, 0.45999999999999996, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.030502645502645497, 0.021719576719576767, 0.11574074074074078, 0.012571428571428577, -0.054507936507936554, -0.001174603174603173, 0.8518518518518519], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6974165780951297, 0.6449669306404601, 0.21354625335875885, 0.11501760356903389, 0.16411722362061582, 0.1807411772171725, 0.5237828008789299], "count": [270]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05925925821065903], "std": [0.23610931634902954], "count": [270]}, "next.done": {"min": [false], "max": [true], "mean": [0.003703703703703704], "std": [0.06074525728465454], "count": [270]}, "timestamp": {"min": [0.0], "max": [13.45], "mean": [6.725], "std": [3.8970875877591804], "count": [270]}, "frame_index": {"min": [0], "max": [269], "mean": [134.5], "std": [77.9417517551836], "count": [270]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [270]}, "index": {"min": [626], "max": [895], "mean": [760.5], "std": [77.9417517551836], "count": [270]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [270]}}} +{"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": [[[0.4530683671539905]], [[0.3444541021608839]], [[0.300332945580576]]], "std": [[[0.16534584446127198]], [[0.21345019747888347]], [[0.23630038256778632]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5105860386268766]], [[0.40112719188017]], [[0.3568907853668811]]], "std": [[[0.21503697497648494]], [[0.2783720873965793]], [[0.3050574187016554]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.03529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5195681122424556]], [[0.4136626718558517]], [[0.3707998088761872]]], "std": [[[0.20390224954053876]], [[0.2731473964071029]], [[0.301378312309134]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [259]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [259]}, "observation.state": {"min": [-1.2437261792634957, -0.7875298451845978, 0.6999209545025216, 0.0, 0.0, 0.7070052623748779, 0.7067493796348572, 0.01167711414755368, -0.46901117861560193, 0.4924855096429448, -0.9926045536994934, -0.12444332242012024, -0.5230246186256409, 0.002150797750800848, 0.0205449458366875, -0.041222364059499424], "max": [-1.2432838926711296, -0.7856203550892684, 0.7001725116899635, 0.0, 0.0, 0.7074639201164246, 0.7072083353996277, 0.3881064936859056, 0.5171850337664794, 0.7345626437022127, 0.9006213545799255, 0.6619465947151184, 0.5688673257827759, 0.7674753069877625, 0.04004172792685571, -0.01468632933897785], "mean": [-1.2434059829482909, -0.7856741618852997, 0.7000101795469894, 0.0, 0.0, 0.7070911540488019, 0.7071223785978487, 0.16430506511607637, 0.011436620847490581, 0.6377542757373257, 0.012655264507389437, 0.24161372992522928, 0.07795881373541695, 0.4389802270567109, 0.03920784022711957, -0.03755354376369501], "std": [9.22391808834448e-05, 0.00014425133271635176, 4.403759204268532e-05, 0.0, 0.0, 8.87143344833358e-05, 8.873399558022459e-05, 0.11186768398286893, 0.2763861700587585, 0.07850865670859132, 0.6883980950916588, 0.23539708640369142, 0.39797009157360813, 0.2345155050245162, 0.0022685941693232153, 0.005416973550968984], "count": [259]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.7542857142857143, -0.32, -0.4942857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.8, 0.44, 0.18571428571428572, 0.32571428571428573, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1039161610590182, -0.08742415885273032, 0.0519580805295091, -0.052255929398786545, -0.05755102040816325, -0.06153337010479863, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5782773773401807, 0.79415403519043, 0.3309702645661911, 0.31764762987178713, 0.11285616039644616, 0.17551629449547468, 0.0], "count": [259]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0617760606110096], "std": [0.24074837565422058], "count": [259]}, "next.done": {"min": [false], "max": [true], "mean": [0.003861003861003861], "std": [0.06201690503555602], "count": [259]}, "timestamp": {"min": [0.0], "max": [12.9], "mean": [6.449999999999999], "std": [3.7383151285037486], "count": [259]}, "frame_index": {"min": [0], "max": [258], "mean": [129.0], "std": [74.76630257007497], "count": [259]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [259]}, "index": {"min": [896], "max": [1154], "mean": [1025.0], "std": [74.76630257007497], "count": [259]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [259]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9764705882352941]], [[0.996078431372549]]], "mean": [[[0.46572217933804383]], [[0.4389923029880897]], [[0.44158308440563726]]], "std": [[[0.19510492002267105]], [[0.18635881960567421]], [[0.18161304091378616]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5599607807234223]], [[0.49804869887408093]], [[0.46642508473115807]]], "std": [[[0.24686609015878253]], [[0.21849629093586048]], [[0.19656954039006075]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5369388655120251]], [[0.4741290163526348]], [[0.444896286908318]]], "std": [[[0.23995564262532534]], [[0.20858534039627022]], [[0.18571255896531175]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [444]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [444]}, "observation.state": {"min": [2.703411304167012, -0.7590637199629928, 0.6999056151620948, 0.0, 0.0, 0.7069270014762878, 0.7069815993309021, -0.3002331414129993, -0.6274290018465987, 0.5867636928510318, -0.8903778195381165, -0.3553500175476074, -0.8683978915214539, 0.0004672214272432029, -0.0008178657020720922, -0.039118241991395394], "max": [2.703582991078474, -0.7588150910777445, 0.7000708221938595, 0.0, 0.0, 0.7072319388389587, 0.707286536693573, 0.34366396110758934, 0.4667190009460027, 0.8490093092952341, 0.9923138618469238, 0.32809978723526, 0.7591176629066467, 0.744174063205719, 0.03904592332588573, 0.0009583427038405586], "mean": [2.7034723746829896, -0.7588485305768847, 0.6999963166125635, 0.0, 0.0, 0.707107783974828, 0.7071057398308505, -0.0006313396406221097, -0.07992122435439403, 0.7689065668951156, 0.10052536809942811, -0.0038978121000098754, -0.1708009397896292, 0.21932567113201315, 0.0031390118853328306, -0.0021623569897616553], "std": [3.324711139566591e-05, 3.5959701314347517e-05, 2.405916648821262e-05, 0.0, 0.0, 4.391943309546003e-05, 4.391888902588285e-05, 0.16549427183409068, 0.34172206877123124, 0.07334059472494191, 0.6682033330568131, 0.1936803822492461, 0.6117667177410918, 0.23310180620053478, 0.007727035355729298, 0.007572319710742645], "count": [444]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8500000000000001, -0.8, -0.21142857142857144, -0.35428571428571426, -0.33714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.39285714285714285, 0.2885714285714286, 0.26, 0.19714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.16087516087516082, 0.07820141570141571, 0.044144144144144117, 0.009105534105534102, -0.05971685971685974, -0.04837194337194336, 0.9279279279279279], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6300780811532337, 0.5012800548497455, 0.22043034469359604, 0.09537970336799026, 0.13421105016772436, 0.11275607904891641, 0.372759655235628], "count": [444]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.036036036908626556], "std": [0.1863798350095749], "count": [444]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022522522522522522], "std": [0.04740442608074141], "count": [444]}, "timestamp": {"min": [0.0], "max": [22.15], "mean": [11.075000000000001], "std": [6.408571733753682], "count": [444]}, "frame_index": {"min": [0], "max": [443], "mean": [221.5], "std": [128.17143467507364], "count": [444]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [444]}, "index": {"min": [1155], "max": [1598], "mean": [1376.5], "std": [128.17143467507364], "count": [444]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [444]}}} +{"episode_index": 6, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47919735598096663]], [[0.48912001546223954]], [[0.48269464231004905]]], "std": [[[0.21694206128284413]], [[0.20281259346788977]], [[0.18913530679867005]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5619916824640012]], [[0.5678605221019072]], [[0.5597036479875153]]], "std": [[[0.24143534101989841]], [[0.2286075517636064]], [[0.21904719728194535]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.0392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5455591346890318]], [[0.5538459514543123]], [[0.5459406762216605]]], "std": [[[0.24559434609643668]], [[0.23088645440222483]], [[0.21780332022891188]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [373]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [373]}, "observation.state": {"min": [4.857303593230244, -0.9849915818575726, 0.699966446995243, 0.0, 0.0, -0.0002783569507300854, 1.0, -0.286917976006535, -0.5976667212151203, 0.5869083254545352, -0.9918040633201599, -0.2813873291015625, -0.8260582089424133, 0.001887527760118246, -0.0018391460525425487, -0.038676193391292586], "max": [4.85765346535292, -0.984723778454605, 0.7017639510052925, 0.0, 0.0, 0.00019058166071772575, 1.0, 0.4063622750753355, 0.5003847331821047, 0.8277460838772946, 0.9506179094314575, 0.5346308946609497, 0.8418039679527283, 0.44379425048828125, 0.03871230344453341, 0.0006077702968198867], "mean": [4.857620928596524, -0.9848002966636867, 0.7007191945995026, 0.0, 0.0, -5.736643947043592e-06, 1.0, 0.03209998016097355, -0.014795653586912486, 0.7484066462564372, 0.051344634181053325, 0.1961134160811396, 0.04434522383174692, 0.19526821819300097, 0.0025714797927288953, -0.0024223807145046256], "std": [3.948168474008568e-05, 3.531262351129889e-05, 0.0006343555711382219, 0.0, 0.0, 6.243222133857712e-05, 0.0, 0.1989768814319888, 0.3217701840032895, 0.07936040379853296, 0.6809108202371945, 0.22620801399517051, 0.6218486433314159, 0.1315361000272496, 0.006901131255667833, 0.006720008581586113], "count": [373]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8500000000000001, -1.0, -0.2857142857142857, -0.6542857142857142, -0.2571428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6857142857142858, 0.2285714285714286, 0.27714285714285714, 0.27714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.16022596706242814, 0.060149368058215205, -0.05978552278820369, -0.005017234775947905, -0.06222137112217543, -0.030157027958636548, 0.9463806970509383], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7082446092900337, 0.5306065602523711, 0.29412062308342385, 0.11846760982854818, 0.18715298903584818, 0.11051735598116584, 0.32305351917194547], "count": [373]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.042895443737506866], "std": [0.20262137055397034], "count": [373]}, "next.done": {"min": [false], "max": [true], "mean": [0.002680965147453083], "std": [0.05170858316886303], "count": [373]}, "timestamp": {"min": [0.0], "max": [18.6], "mean": [9.299999999999999], "std": [5.3837719119591245], "count": [373]}, "frame_index": {"min": [0], "max": [372], "mean": [186.0], "std": [107.67543823918248], "count": [373]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [373]}, "index": {"min": [1599], "max": [1971], "mean": [1785.0], "std": [107.67543823918248], "count": [373]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [373]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.07450980392156863]]], "max": [[[0.9686274509803922]], [[0.9411764705882353]], [[0.9372549019607843]]], "mean": [[[0.6125385395124847]], [[0.5508599871467141]], [[0.4619339192708333]]], "std": [[[0.16006254616132232]], [[0.1542827961776998]], [[0.1704210258270058]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7164174972234988]], [[0.6626229882333793]], [[0.5855958263920803]]], "std": [[[0.17178958570506567]], [[0.18089382129586346]], [[0.21725886434682168]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6191084211760877]], [[0.5688561586866192]], [[0.49603677487840836]]], "std": [[[0.21007148584149335]], [[0.21829091785075108]], [[0.2439888554480639]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [172]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [172]}, "observation.state": {"min": [2.846134457318978, -0.7529200165046246, 0.6999768308750148, 0.0, 0.0, 0.7069573402404785, 0.7070935964584351, -0.2573057722169181, -0.3479216353130421, 0.5893481780300127, -0.9894757270812988, -0.3425755500793457, -0.8039848208427429, 0.0020299383904784918, 0.00043557913994669796, -0.03921339359865514], "max": [2.846397480965993, -0.7527030092195451, 0.7010392565858405, 0.0, 0.0, 0.7071199417114258, 0.7072562575340271, 0.24499431521147352, 0.029172168861280934, 0.8343899935071919, 0.9186968803405762, 0.49777650833129883, 0.7236288785934448, 0.3924952447414398, 0.03931352424440027, 0.0014749818858921654], "mean": [2.846216421960261, -0.7527369352866419, 0.7003017912423436, 0.0, 0.0, 0.707079732487368, 0.7071337949397952, -0.04123745201792277, -0.1178833393965454, 0.7622118916971942, -0.33354885061812956, 0.181460565086021, -0.24480017430560533, 0.1934768160233859, 0.0068409158975854395, -0.006260231053109918], "std": [3.479609695905716e-05, 3.7920582711546905e-05, 0.0003776440594490085, 0.0, 0.0, 3.8337386420340735e-05, 3.8368739202736466e-05, 0.17241387906035344, 0.1263181442216154, 0.07182503882936975, 0.6418081837464199, 0.24310233641865217, 0.5193363405852386, 0.1331544531042976, 0.012560749283452225, 0.01279422246155503], "count": [172]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9214285714285714, -1.0, -0.4714285714285715, -0.12, -0.4828571428571429, -0.23142857142857146, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.6214285714285714, 0.4714285714285715, 0.21714285714285717, 0.38857142857142857, 0.3942857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.24335548172757468, -0.022799003322259134, -0.11004983388704313, 0.02981727574750829, -0.1046179401993356, 0.03521594684385383, 0.7558139534883721], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7173247564655372, 0.41711453612838745, 0.2082379630348523, 0.07620890795202392, 0.24133062103315636, 0.15286129833235382, 0.6547864290837759], "count": [172]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09302325546741486], "std": [0.2904650568962097], "count": [172]}, "next.done": {"min": [false], "max": [true], "mean": [0.005813953488372093], "std": [0.07602730715477919], "count": [172]}, "timestamp": {"min": [0.0], "max": [8.55], "mean": [4.2749999999999995], "std": [2.4825641985656683], "count": [172]}, "frame_index": {"min": [0], "max": [171], "mean": [85.5], "std": [49.65128397131337], "count": [172]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [172]}, "index": {"min": [1972], "max": [2143], "mean": [2057.5], "std": [49.65128397131337], "count": [172]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [172]}}} +{"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": [[[0.3940134857776118]], [[0.40513872154086245]], [[0.40104606478821997]]], "std": [[[0.20322390997104048]], [[0.19191571677755198]], [[0.17855788438542458]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44823834707222737]], [[0.4562158741670496]], [[0.45404615634095435]]], "std": [[[0.2637860837325359]], [[0.25742995708126554]], [[0.252068253425894]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35764580760282627]], [[0.3625416816262638]], [[0.3601089890423943]]], "std": [[[0.24938844617049416]], [[0.2435047944853709]], [[0.23795762914867463]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [188]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [188]}, "observation.state": {"min": [4.185943126234721, -1.0958998920813816, 0.6998201468917956, 0.0, 0.0, -0.00011615567200351506, 1.0, -0.18919547276787085, -0.006852886884249676, 0.587765842533049, -0.9908784031867981, -0.11916828155517578, -0.5194052457809448, 0.0010206591105088592, -0.0005482386262658045, -0.04065845114376334], "max": [4.187927277037686, -1.095577299285739, 0.7001394270877406, 0.0, 0.0, 0.000368687033187598, 1.0, 0.3777650105016974, 0.6439336423154274, 0.7864464885708629, 0.834760308265686, 0.4860410690307617, 0.8740594983100891, 0.6894299983978271, 0.03891428883297451, 0.0004935531157634935], "mean": [4.187867211191188, -1.0956980636753235, 0.6999702776611297, 0.0, 0.0, 5.692725330994016e-05, 1.0, 0.029422312061279154, 0.34459485621327374, 0.6945062331806691, 0.14533113690459745, 0.31324492505890256, 0.5849306131614015, 0.36216739610399795, 0.00687740699174741, -0.009347044689119881], "std": [0.00021463403542270102, 6.175959133992562e-05, 6.228056143288322e-05, 0.0, 0.0, 0.00010520081030304291, 0.0, 0.17824535366842675, 0.19425124826626342, 0.0444149866171196, 0.469331024559813, 0.1572988693379626, 0.34840949819023603, 0.20259243228712542, 0.011811522908435951, 0.01217788444026876], "count": [188]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.5714285714285715, -0.55, -0.29428571428571426, -0.7285714285714285, -0.5228571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6142857142857143, 0.7028571428571428, 0.4314285714285714, 0.18, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.1398176291793314, 0.3914133738601825, 0.09696048632218844, 0.09314589665653498, -0.08066869300911857, -0.16971124620060793, 0.8829787234042553], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4748185536408299, 0.5404301849748911, 0.235324789557377, 0.2894100696945589, 0.30628031159661206, 0.2253861529107147, 0.4694130100619181], "count": [188]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08510638028383255], "std": [0.2790399491786957], "count": [188]}, "next.done": {"min": [false], "max": [true], "mean": [0.005319148936170213], "std": [0.07273826771902842], "count": [188]}, "timestamp": {"min": [0.0], "max": [9.35], "mean": [4.675], "std": [2.7135078772688312], "count": [188]}, "frame_index": {"min": [0], "max": [187], "mean": [93.5], "std": [54.270157545376634], "count": [188]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [188]}, "index": {"min": [2144], "max": [2331], "mean": [2237.5], "std": [54.270157545376634], "count": [188]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [188]}}} +{"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": [[[0.5464307448443244]], [[0.528461966121898]], [[0.4733118782791437]]], "std": [[[0.1618990003755027]], [[0.14296039088336998]], [[0.13867374390933238]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5524542116651348]], [[0.5178266685336244]], [[0.4468947592342601]]], "std": [[[0.24450240771555107]], [[0.20908513412794016]], [[0.18956583760595616]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5454454399557674]], [[0.5151056291168811]], [[0.4508560629451976]]], "std": [[[0.24196316007218896]], [[0.21114767321794212]], [[0.1937522203508197]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [335]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [335]}, "observation.state": {"min": [1.6750423707297875, -0.8801803515915729, 0.6999116671607771, 0.0, 0.0, 0.7069210410118103, 0.7069522142410278, -0.1857895213169639, -0.3373822662490453, 0.42228238758856695, -0.9957286715507507, -0.3808937668800354, -0.7908501029014587, 0.0015000870916992426, -0.0012006914447907976, -0.026940164687129935], "max": [1.6754604546528282, -0.8793566303671918, 0.7008424024883624, 0.0, 0.0, 0.707261323928833, 0.7072924375534058, 0.45907116932159797, 0.43172610938873723, 0.8768745203137611, 0.9957399368286133, 0.6296283602714539, 0.8334538340568542, 0.7620323896408081, 0.02712129980740997, 0.0026014150429490303], "mean": [1.6752858978243803, -0.8794037078148352, 0.7000829167052084, 0.0, 0.0, 0.7070515856814029, 0.7071619515988364, 0.22686520942989472, 0.040001405001612866, 0.7585695174279155, -0.22155937223292108, 0.11161558310042566, -0.19481208709193698, 0.4170979446648106, 0.0015624420050806929, -0.0015300368331840613], "std": [4.322848597995542e-05, 8.06167929088085e-05, 0.00022172752463050642, 0.0, 0.0, 4.0335833807421226e-05, 4.0346155159596566e-05, 0.17854591170999434, 0.2090672276980116, 0.13285928555655746, 0.5515775060980677, 0.2835509995663598, 0.5494609066957669, 0.19996190328667024, 0.00389342520381966, 0.004239006210615271], "count": [335]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6285714285714287, -0.4, -0.46857142857142864, -0.5171428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.8714285714285716, 0.2542857142857143, 0.4228571428571429, 0.46857142857142864, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.11125799573560766, 0.009168443496801649, 0.1277398720682303, 0.03378251599147125, 0.004545842217484022, 0.029927505330490354, 0.982089552238806], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.640008829629355, 0.5181952884242536, 0.30366490714315475, 0.1302154646349652, 0.2093592605666093, 0.17182183281404437, 0.18841473239474038], "count": [335]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04776119440793991], "std": [0.21326051652431488], "count": [335]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029850746268656717], "std": [0.05455422949999124], "count": [335]}, "timestamp": {"min": [0.0], "max": [16.7], "mean": [8.35], "std": [4.835286961494633], "count": [335]}, "frame_index": {"min": [0], "max": [334], "mean": [167.0], "std": [96.70573922989266], "count": [335]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [335]}, "index": {"min": [2332], "max": [2666], "mean": [2499.0], "std": [96.70573922989266], "count": [335]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [335]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.027450980392156862]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5390876602472043]], [[0.5306649217792585]], [[0.4794973216337316]]], "std": [[[0.1448917916840877]], [[0.1344697465386501]], [[0.130387599352884]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5455391073787914]], [[0.5436443409639247]], [[0.5058484227797565]]], "std": [[[0.20546151926887285]], [[0.1925908993290723]], [[0.18202917016116105]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5812380041982613]], [[0.5690075276692709]], [[0.5147104450300628]]], "std": [[[0.17943726625166115]], [[0.16954678922642136]], [[0.17063821427746004]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [299]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [299]}, "observation.state": {"min": [2.1005651011563122, -0.8115550191402436, 0.6999416171314289, 0.0, 0.0, 0.7069889903068542, 0.7069679498672485, -0.16487003894744345, -0.34215622353118613, 0.5970260587534717, -0.9905728697776794, -0.5944110155105591, -0.8664363622665405, 0.006482238881289959, -0.00038924298132865005, -0.039637355298754846], "max": [2.1008605785753716, -0.8113301308705493, 0.7000505723932922, 0.0, 0.0, 0.7072456479072571, 0.7072246074676514, 0.452929391685162, 0.3677938295094818, 1.0538847019960584, 0.8050230741500854, 0.6903438568115234, 0.772476077079773, 0.7458137273788452, 0.039830981472134076, 4.157782042396341e-05], "mean": [2.1007065333064867, -0.8113518797919395, 0.7000015936050864, 0.0, 0.0, 0.7071145774927426, 0.7070989391476813, 0.1311017105635798, 0.031855586314922205, 0.823460154891478, -0.16798402757748312, 0.20701874877298157, -0.3037099095745118, 0.42899081509647563, 0.007448030620500893, -0.0068550962260560434], "std": [2.4033640661760132e-05, 2.6257655376759612e-05, 1.6731661768438137e-05, 0.0, 0.0, 2.697673403620391e-05, 2.6969604419921026e-05, 0.17291322597883327, 0.20923486067428246, 0.09070711721932928, 0.5989988122410235, 0.25395835325863214, 0.4205881467922298, 0.22904796622657075, 0.013652595294693676, 0.013763270681516025], "count": [299]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5714285714285715, -0.54, -0.6742857142857143, -0.62, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.37142857142857144, 0.21714285714285717, 0.32285714285714284, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.025513616817964612, -0.018800764452938334, 0.12353081700907792, -0.05310081223124703, -0.12336359292881025, -0.07716196846631634, 0.705685618729097], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.769115509522121, 0.4867960908442615, 0.35189990599952775, 0.21031255770127882, 0.1750022167318612, 0.2130708026152159, 0.7085250930764108], "count": [299]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05351170524954796], "std": [0.22505153715610504], "count": [299]}, "next.done": {"min": [false], "max": [true], "mean": [0.0033444816053511705], "std": [0.057734704018836354], "count": [299]}, "timestamp": {"min": [0.0], "max": [14.9], "mean": [7.45], "std": [4.315669125408017], "count": [299]}, "frame_index": {"min": [0], "max": [298], "mean": [149.0], "std": [86.31338250816034], "count": [299]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [299]}, "index": {"min": [2667], "max": [2965], "mean": [2816.0], "std": [86.31338250816034], "count": [299]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [299]}}} +{"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": [[[0.4057580440745634]], [[0.40050592041015626]], [[0.3985514316932828]]], "std": [[[0.20517415486972093]], [[0.20549815512160585]], [[0.207539662615495]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4524167163325291]], [[0.44551352467256433]], [[0.4425676233628217]]], "std": [[[0.2581714475080867]], [[0.2589120933381324]], [[0.2591411251457267]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47450124344171263]], [[0.4666968204273897]], [[0.4631779755237056]]], "std": [[[0.260818528712666]], [[0.26226433419362927]], [[0.26278017622159333]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [292]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [292]}, "observation.state": {"min": [4.934261466304595, -4.3047452021029535, 0.6999066438718876, 0.0, 0.0, -0.00032606261083856225, 1.0, -0.11399361908689354, -0.39149041760827696, 0.5958082235684268, -0.9898880124092102, -0.2572656273841858, -0.768152117729187, 0.000272687611868605, 0.020524786003869252, -0.04073343098991977], "max": [4.935068146104072, -4.304508473312003, 0.7000701031275883, 0.0, 0.0, 0.00024469001800753176, 1.0, 0.42224453377563176, 0.4492420860667199, 0.9519549855659083, 0.9692093133926392, 0.2564443349838257, 0.9225550889968872, 0.6013901829719543, 0.040291272277220624, -0.020541773349879167], "mean": [4.935028311842648, -4.304653311758358, 0.700001686207972, 0.0, 0.0, -7.261488012897631e-05, 1.0, 0.14135450931749677, 0.02714229376542565, 0.7617017436319214, 0.1798484530555059, 0.004018356998081077, 0.19235822481855955, 0.2585333465070867, 0.0389464822518195, -0.037993004907753834], "std": [7.249136936850648e-05, 3.464036984115467e-05, 2.902666218792672e-05, 0.0, 0.0, 7.106135104387545e-05, 0.0, 0.16170735114982485, 0.24528209641985213, 0.06363765568320214, 0.6390705885569031, 0.13752323307468645, 0.6266436495631326, 0.2092632152487132, 0.002657974484301399, 0.004202275161184562], "count": [292]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9142857142857143, -0.39714285714285713, -0.4028571428571428, -0.32285714285714284, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.26571428571428574, 0.5628571428571428, 0.28, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04821428571428569, 0.07818003913894322, 0.11626712328767119, -0.013121330724070438, -0.0357045009784736, -0.043003913894324855, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7380414562555424, 0.6103622947489584, 0.3847651152992841, 0.11780402686431185, 0.18447948645275292, 0.1593708125644638, 0.0], "count": [292]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.054794520139694214], "std": [0.22757872939109802], "count": [292]}, "next.done": {"min": [false], "max": [true], "mean": [0.003424657534246575], "std": [0.058420281195999936], "count": [292]}, "timestamp": {"min": [0.0], "max": [14.55], "mean": [7.275], "std": [4.214632249674934], "count": [292]}, "frame_index": {"min": [0], "max": [291], "mean": [145.5], "std": [84.2926449934987], "count": [292]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [292]}, "index": {"min": [2966], "max": [3257], "mean": [3111.5], "std": [84.2926449934987], "count": [292]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [292]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5505725331025966]], [[0.4219815548167509]], [[0.34666678275314033]]], "std": [[[0.14667302359553597]], [[0.1754037669049713]], [[0.20485124714193492]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5972826155120251]], [[0.4705264784869026]], [[0.38991115375593594]]], "std": [[[0.19099658011586237]], [[0.22588218432730456]], [[0.24573299885500904]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5826059695973116]], [[0.47490995758655025]], [[0.40993150778377757]]], "std": [[[0.22235757215818922]], [[0.24605326457668902]], [[0.26277656629334684]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [143]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [143]}, "observation.state": {"min": [0.8163851172345891, -2.954456097791962, 0.6999635380369585, 0.0, 0.0, -1.0, 0.0, -0.15098594015986744, -0.33923178848736235, 0.6052171548056255, -0.9867367148399353, -0.04632622003555298, -0.8326791524887085, 0.029695846140384674, -0.001380914831144672, -0.0394474965056567], "max": [0.8176272929441081, -2.954097011713664, 0.7001559922310001, 0.0, 0.0, 1.0, 0.0003444149624556303, 0.3968829988411333, 0.07228743201406518, 0.8494887063869621, -0.4458099603652954, 0.5301240682601929, -0.15369367599487305, 0.7787134051322937, 0.03994100238769651, 0.0005263890110087453], "mean": [0.8164328746097809, -2.9542023645221134, 0.7000125734726302, 0.0, 0.0, 0.16083916083916083, 3.293567081701039e-05, 0.116361015027989, -0.11815194266908895, 0.783337482859501, -0.6267596795842364, 0.20891743210645822, -0.5245051839343318, 0.34913460398418505, 0.013942734217835002, -0.01280638203549413], "std": [0.00010441023974631052, 5.116053783927426e-05, 3.799960788781991e-05, 0.0, 0.0, 0.9869806301749566, 5.266501872862833e-05, 0.15813448245828254, 0.14376239204853195, 0.0658759902605115, 0.1602857457037921, 0.18953092184641246, 0.191466111514743, 0.26125155670173383, 0.0166145735679297, 0.01718814540273148], "count": [143]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.7857142857142857, -0.07857142857142858, -0.16857142857142857, -0.5228571428571429, -0.6285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.942857142857143, 1.0, 0.7071428571428572, 0.4628571428571429, 0.04285714285714286, 0.38857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.048601398601398574, 0.12407592407592408, 0.13551448551448556, 0.08615384615384615, -0.1692907092907093, -0.1020979020979021, 0.42657342657342656], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6241221943214305, 0.600925549345982, 0.19356890166474805, 0.15909523970913936, 0.1577581156905864, 0.2911912514445093, 0.9044529350615222], "count": [143]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.1118881106376648], "std": [0.31522876024246216], "count": [143]}, "next.done": {"min": [false], "max": [true], "mean": [0.006993006993006993], "std": [0.08333129571897192], "count": [143]}, "timestamp": {"min": [0.0], "max": [7.1], "mean": [3.5500000000000003], "std": [2.0639767440550294], "count": [143]}, "frame_index": {"min": [0], "max": [142], "mean": [71.0], "std": [41.27953488110059], "count": [143]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [143]}, "index": {"min": [3258], "max": [3400], "mean": [3329.0], "std": [41.27953488110059], "count": [143]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [143]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5602939153933058]], [[0.44136350624234066]], [[0.36749430697571994]]], "std": [[[0.16605361156031828]], [[0.16283965020917288]], [[0.18381695959229932]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6285837827196308]], [[0.5225585045908011]], [[0.4579405433804381]]], "std": [[[0.1701394711713136]], [[0.21718008093366012]], [[0.2571951845170537]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5911913470099953]], [[0.49384773224475337]], [[0.433732146618413]]], "std": [[[0.2147949837024322]], [[0.22885872638519225]], [[0.2540953124437669]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [316]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [316]}, "observation.state": {"min": [5.853039661732404, -0.5537859126005382, 0.6998982943093829, 0.0, 0.0, -5.544701252802042e-06, 1.0, -0.24994182849022728, -0.5654412196773596, 0.4618748029323019, -0.986567497253418, -0.18864721059799194, -0.8293054699897766, 0.0005331315333023667, -0.0017953334475318832, -0.039727274345180974], "max": [5.853582946222867, -0.5535469959677164, 0.7000397756864115, 0.0, 0.0, 0.000336704048095271, 1.0, 0.4012252435145376, 0.602838207243579, 0.9057044317040253, 0.9801045656204224, 0.442688524723053, 0.8404492735862732, 0.804149866104126, 0.03940701245933397, 6.231526998558244e-05], "mean": [5.853553064548076, -0.5536633345138846, 0.6999992995498817, 0.0, 0.0, 0.00015670862956229236, 1.0, 0.09288734378346, 0.002998509701120973, 0.7646452163726617, 0.1868120622408541, 0.1252041291209716, 0.09456486603881739, 0.34236037882989495, 0.004737542574394935, -0.006048371676857736], "std": [5.009261376265732e-05, 2.9450194536872425e-05, 2.091013655667314e-05, 0.0, 0.0, 4.9264553418816234e-05, 0.0, 0.1724908003753642, 0.34008212740165217, 0.1390237964703441, 0.6473503718390933, 0.1390635773831321, 0.574428492470289, 0.23431338081376893, 0.012103819012983732, 0.011742010737309037], "count": [316]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5142857142857143, -0.44285714285714284, -0.36, -0.18285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.8285714285714285, 0.26571428571428574, 0.2057142857142857, 0.4657142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.09287974683544302, -0.06387884267631104, 0.06699819168173597, 0.008001808318264, -0.03932188065099461, 0.037197106690777554, 0.7911392405063291], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6622271420422842, 0.7010762032205142, 0.2862840246163599, 0.17783220882133774, 0.09683271405984392, 0.1392885089046809, 0.6116360863545139], "count": [316]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.050632912665605545], "std": [0.21924692392349243], "count": [316]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031645569620253164], "std": [0.05616531439651534], "count": [316]}, "timestamp": {"min": [0.0], "max": [15.75], "mean": [7.875], "std": [4.561044288318191], "count": [316]}, "frame_index": {"min": [0], "max": [315], "mean": [157.5], "std": [91.22088576636384], "count": [316]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [316]}, "index": {"min": [3401], "max": [3716], "mean": [3558.5], "std": [91.22088576636384], "count": [316]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [316]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5571085665833716]], [[0.43099894145890777]], [[0.3551418103984758]]], "std": [[[0.14166796602462006]], [[0.17540370251668408]], [[0.21156799702647786]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.047058823529411764]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5808016507017846]], [[0.45949714152018234]], [[0.3879254569259344]]], "std": [[[0.18710207486166722]], [[0.21837906731491552]], [[0.24330311290756973]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5743552018707874]], [[0.44612592031441484]], [[0.37184207691865806]]], "std": [[[0.176445108475291]], [[0.20831005939976624]], [[0.23151623947082436]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [278]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [278]}, "observation.state": {"min": [0.8462634966060513, -3.8493944042630868, 0.6999313457522692, 0.0, 0.0, -1.0, 8.144684215949383e-08, -0.15051700091821407, -0.2803303551878389, 0.6008210040492292, -0.9903742074966431, -0.3082605004310608, -0.8457950949668884, 0.0015595662407577038, -0.000167574808726515, -0.039293572830898606], "max": [0.8465807997457073, -3.8491624915418474, 0.7000298745080108, 0.0, 0.0, 1.0, 0.00027381200925447047, 0.4372734038249599, 0.5690256919996517, 0.86117068648771, 0.7710673213005066, 0.3588775396347046, 0.7492542266845703, 0.661325991153717, 0.03935712427954883, 0.0017123828101130616], "mean": [0.846292088287561, -3.849277403321408, 0.6999922227201207, 0.0, 0.0, -0.1223021582733813, 3.689518797040505e-05, 0.15865757130639857, 0.12058285195399925, 0.7607283762723683, -0.21346947432850763, 0.05684927647276748, -0.1352603546471047, 0.3039715820404185, 0.005433575872708356, -0.0040785557871097404], "std": [3.9293006889307536e-05, 3.272638990666369e-05, 1.5804338222121117e-05, 0.0, 0.0, 0.9924929128621907, 5.145438279156733e-05, 0.1657355411331932, 0.24609648212612859, 0.06166066757726209, 0.6190475741558643, 0.15773892767903944, 0.6269884952838729, 0.19821401779647294, 0.010623939812916958, 0.010949987189946395], "count": [278]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.46428571428571436, -0.26, -0.3742857142857143, -0.3857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5214285714285715, 0.38, 0.32571428571428573, 0.35428571428571426, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.07011819116135656, 0.07684994861253859, 0.08206577595066807, 0.005580678314491281, -0.041264131551901374, -0.019609455292908546, 0.8345323741007195], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7378046869657748, 0.6023596196506067, 0.22226967346499765, 0.1360348776913655, 0.1416332546839891, 0.18980867320975237, 0.5509589064329737], "count": [278]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.057553958147764206], "std": [0.2328980416059494], "count": [278]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035971223021582736], "std": [0.05986804668019151], "count": [278]}, "timestamp": {"min": [0.0], "max": [13.85], "mean": [6.925000000000001], "std": [4.012558410789804], "count": [278]}, "frame_index": {"min": [0], "max": [277], "mean": [138.5], "std": [80.25116821579608], "count": [278]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [278]}, "index": {"min": [3717], "max": [3994], "mean": [3855.5], "std": [80.25116821579608], "count": [278]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [278]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.585314042633655]], [[0.47213327983781406]], [[0.40074515129538146]]], "std": [[[0.14727279328363427]], [[0.1671618815052406]], [[0.1955144860875472]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.023529411764705882]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6142765000287225]], [[0.5256828774844898]], [[0.47002485387465537]]], "std": [[[0.19027546630947484]], [[0.2169750821283695]], [[0.2485626647481578]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5583976745605469]], [[0.4795881664799709]], [[0.42797442626953125]]], "std": [[[0.21301856243377507]], [[0.22874853881181265]], [[0.25458268605419354]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [362]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [362]}, "observation.state": {"min": [4.145322369227814, -0.7775463528259609, 0.6999355094946986, 0.0, 0.0, 0.7069794535636902, 0.7070532441139221, -0.24663959968579097, -0.3899089138107623, 0.5722910199392778, -0.8947016000747681, -0.6312348246574402, -0.7552290558815002, 0.00012864332529716194, -0.0005683862806854374, -0.039047144218403364], "max": [4.145581275382757, -0.7773203223709467, 0.7012854052129722, 0.0, 0.0, 0.707160234451294, 0.7072340846061707, 0.37205042549084705, 0.7294197362731754, 0.9211183019596756, 0.9916018843650818, 0.6311403512954712, 0.797127902507782, 0.7318421602249146, 0.03911927019002555, 0.0003314993465092125], "mean": [4.145477280935795, -0.777358069667465, 0.7002183282159866, 0.0, 0.0, 0.7070933063385895, 0.7071202155305536, 0.06301961042579408, 0.09804507684456774, 0.7929101266696554, 0.1037064333400015, -0.048402806713106886, 0.18488666129128709, 0.28606403446590684, 0.003486623549064613, -0.0037196942783720437], "std": [2.5672878448240463e-05, 3.786372838742907e-05, 0.00042109211715054157, 0.0, 0.0, 3.242316237796391e-05, 3.24428060226095e-05, 0.18631413887566492, 0.3206400343585808, 0.1159167156385725, 0.6799835382183526, 0.25242416938214157, 0.5297275152182184, 0.25333697339231903, 0.008423273491832134, 0.008699639111023241], "count": [362]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.41428571428571426, -0.34, -0.39714285714285713, -0.23714285714285716, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5928571428571429, 0.43428571428571433, 0.15714285714285714, 0.46857142857142864, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.13131412786108915, -0.009826361483820049, 0.02038279400157856, 0.04815311760063136, -0.07814522494080513, 0.04373322809786902, 0.9116022099447514], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6797548799317618, 0.5860925427488103, 0.23197363157797934, 0.17617906462033756, 0.1233351363689596, 0.17956707211497455, 0.4110734859168703], "count": [362]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0441988967359066], "std": [0.20553675293922424], "count": [362]}, "next.done": {"min": [false], "max": [true], "mean": [0.0027624309392265192], "std": [0.052486187845303865], "count": [362]}, "timestamp": {"min": [0.0], "max": [18.05], "mean": [9.024999999999999], "std": [5.2250000000000005], "count": [362]}, "frame_index": {"min": [0], "max": [361], "mean": [180.5], "std": [104.5], "count": [362]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [362]}, "index": {"min": [3995], "max": [4356], "mean": [4175.5], "std": [104.5], "count": [362]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [362]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.984313725490196]]], "mean": [[[0.5653698538985907]], [[0.3616483040603937]], [[0.3278905346440334]]], "std": [[[0.14315419589502523]], [[0.22056868700008528]], [[0.2275620211403576]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6032153278425628]], [[0.4270393634870941]], [[0.3793019379260493]]], "std": [[[0.1936939422380396]], [[0.2580348149782469]], [[0.250861101501799]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6250816405053232]], [[0.4564090773638557]], [[0.4088954796884574]]], "std": [[[0.18809859774125617]], [[0.26162941820193714]], [[0.25947799993498316]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [188]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [188]}, "observation.state": {"min": [5.004102703121523, -4.583819009279076, 0.6998744723847754, 0.0, 0.0, -0.0004057119076605886, 1.0, -0.27897352424639, -0.6138571216515665, 0.5957911192149832, -0.9889470338821411, -0.41692036390304565, -0.7943949699401855, 0.00044552123290486634, -0.0016723178701326395, -0.02053260262909122], "max": [5.005667138939575, -4.5814762837648315, 0.7003382917142965, 0.0, 0.0, 1.208828962262487e-05, 1.0, 0.3532695243272306, -0.004353767702395039, 0.8130384897566506, 0.904435932636261, 0.32089757919311523, 0.7885881662368774, 0.385859876871109, 0.02053395672864796, -8.189430752875333e-05], "mean": [5.0052137168617445, -4.583678592838539, 0.7000336885717444, 0.0, 0.0, -0.00012380462384440916, 1.0, -0.030692854672415355, -0.29975240736706976, 0.7603036697218832, -0.2665287730224589, -0.11139415608758622, -0.18219959299932134, 0.14119805857998027, 0.0005404336469555513, -0.0015268947054914318], "std": [0.00010608815108838856, 0.00017001234039717807, 0.00010066572076069672, 0.0, 0.0, 9.700758066400375e-05, 0.0, 0.20114207729993994, 0.20413993868968017, 0.053801454076883984, 0.6662415199858281, 0.19323268624874596, 0.6068263653714565, 0.11817490567818385, 0.002808632084633764, 0.0026085283312902796], "count": [188]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9857142857142858, -1.0, -0.5928571428571429, -0.18857142857142858, -0.4228571428571429, -0.30857142857142855, 1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.942857142857143, 0.4, 0.17714285714285713, 0.07428571428571429, 0.4371428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.21185410334346502, -0.09015957446808497, 0.029711246200607867, -0.0028571428571428615, -0.10965045592705161, 0.013951367781155005, 1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7603494588674125, 0.6000927581926404, 0.18189103872662502, 0.07406795298039522, 0.14368849076461054, 0.18529452509580055, 0.0], "count": [188]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08510638028383255], "std": [0.2790399491786957], "count": [188]}, "next.done": {"min": [false], "max": [true], "mean": [0.005319148936170213], "std": [0.07273826771902842], "count": [188]}, "timestamp": {"min": [0.0], "max": [9.35], "mean": [4.675], "std": [2.7135078772688312], "count": [188]}, "frame_index": {"min": [0], "max": [187], "mean": [93.5], "std": [54.270157545376634], "count": [188]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [188]}, "index": {"min": [4357], "max": [4544], "mean": [4450.5], "std": [54.270157545376634], "count": [188]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [188]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5394550332462087]], [[0.380545664469401]], [[0.2952072987275965]]], "std": [[[0.16242991897126818]], [[0.2136556957160298]], [[0.24994818274372194]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5912605513030408]], [[0.45541375193876377]], [[0.3737794925465303]]], "std": [[[0.22249038270883642]], [[0.27682711431690493]], [[0.30740223828333507]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.043137254901960784]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5915522054036458]], [[0.4689508840523514]], [[0.3944250201056985]]], "std": [[[0.21521936727452337]], [[0.2652620572340327]], [[0.2947939940967046]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [350]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [350]}, "observation.state": {"min": [0.7908283877919278, -3.216533420129577, 0.6998959452964519, 0.0, 0.0, -1.0, 1.2584265505211079e-06, -0.3274178746255778, -0.4186788837222366, 0.6037155473741378, -0.9889256954193115, -0.3316430449485779, -0.7679239511489868, 0.0003118314198218286, 0.02056653091473931, -0.040276982463648164], "max": [0.7916562574297369, -3.216163703966925, 0.7000400075258684, 0.0, 0.0, 1.0, 0.00036355896736495197, 0.349227169782948, 0.5645969122274637, 0.8942891057786119, 0.7548803091049194, 0.43080562353134155, 0.7964627146720886, 0.6075196862220764, 0.040199431562672305, -0.020500028499912684], "mean": [0.7908600507219937, -3.216259479775712, 0.6999985772569575, 0.0, 0.0, 0.8114285714285714, 0.00014956689794579298, -0.011785504544501436, 0.021390691991891326, 0.8007058666993776, -0.1894693319286619, 0.1136909402694021, -0.12332842026438032, 0.2450757684830543, 0.03872854241673886, -0.03888257980734901], "std": [6.816491053422614e-05, 4.8623553387421755e-05, 2.1123528365521895e-05, 0.0, 0.0, 0.5844516006218032, 4.723062060798336e-05, 0.2160925003825864, 0.28604860285535616, 0.07448845253735926, 0.6511849233294233, 0.2003038558508281, 0.6139907261494169, 0.18642870861477834, 0.00309947717655826, 0.0027403826542830006], "count": [350]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9071428571428573, -0.6357142857142857, -0.44285714285714284, -0.52, -0.22, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5, 0.2142857142857143, 0.28285714285714286, 0.35428571428571426, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.13169387755102033, -0.009693877551020476, 0.024408163265306128, 7.346938775508864e-05, -0.05337142857142857, -0.012783673469387755, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7665064168335862, 0.5627849271427546, 0.2035290314399904, 0.14154027899833116, 0.14560269116149413, 0.13455199552666705, 0.0], "count": [350]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04571428522467613], "std": [0.20886477828025818], "count": [350]}, "next.done": {"min": [false], "max": [true], "mean": [0.002857142857142857], "std": [0.05337583340648401], "count": [350]}, "timestamp": {"min": [0.0], "max": [17.45], "mean": [8.725], "std": [5.051794235714673], "count": [350]}, "frame_index": {"min": [0], "max": [349], "mean": [174.5], "std": [101.03588471429346], "count": [350]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [350]}, "index": {"min": [4545], "max": [4894], "mean": [4719.5], "std": [101.03588471429346], "count": [350]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [350]}}} +{"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": [[[0.6944387039483763]], [[0.513371405508004]], [[0.32375393257889096]]], "std": [[[0.16181275716574564]], [[0.13030715535459564]], [[0.1987104676011928]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6974560588761872]], [[0.5544599776922489]], [[0.4173658297669654]]], "std": [[[0.19782253262156327]], [[0.18634393552684198]], [[0.24345449885539638]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6686943221746706]], [[0.5545418772977941]], [[0.446731315463197]]], "std": [[[0.2129975817255228]], [[0.1998366333753379]], [[0.24708807266266083]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [336]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [336]}, "observation.state": {"min": [2.2092471051294402, -1.7045422319272963, 0.6999050921613379, 0.0, 0.0, -0.00021560156892519444, 1.0, -0.013841175384092796, -0.33484534914250585, 0.6021970451167792, -0.9889979362487793, -0.3446674346923828, -0.8544633388519287, 0.00038005405804142356, -0.0007691945568283246, -0.039284672121149486], "max": [2.209537642932982, -1.7040842829013776, 0.7009220478922445, 0.0, 0.0, 0.00037367804907262325, 1.0, 0.4343023365990897, 0.49537671533327976, 0.94934381591767, 0.6784539222717285, 0.44045209884643555, 0.8052963018417358, 0.7519968152046204, 0.03918461512495815, 0.0014713310139643201], "mean": [2.2095016901290587, -1.7043486727959614, 0.7000764135815692, 0.0, 0.0, 4.768554998693003e-05, 1.0, 0.24893342247049888, 0.060440486568683005, 0.7915758639194134, -0.46577382229623343, 0.07264502444082782, -0.391109840855712, 0.31894189479620155, 0.0041668484937139125, -0.003379328527698861], "std": [4.205130347390658e-05, 7.91335002826073e-05, 0.0002340174389367495, 0.0, 0.0, 0.00010924858315458903, 0.0, 0.14454215241112123, 0.2045484279116282, 0.07402332561108586, 0.44555907894769986, 0.19652586768318864, 0.48909529379673117, 0.21616449560808207, 0.009285003186248423, 0.00943632604553151], "count": [336]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.007142857142857143, -0.26857142857142857, -0.40857142857142864, -0.8342857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6785714285714286, 0.40571428571428575, 0.3742857142857143, 0.24, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03556547619047616, 0.009056122448979591, 0.2525085034013607, 0.06989795918367345, 0.000161564625850324, -0.09505952380952377, 0.8809523809523809], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5573451651387482, 0.6053537430995805, 0.18961615983750188, 0.1464548318437239, 0.1480078207553351, 0.2672557127367791, 0.4732049265321822], "count": [336]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0476190485060215], "std": [0.21295885741710663], "count": [336]}, "next.done": {"min": [false], "max": [true], "mean": [0.002976190476190476], "std": [0.05447322981465216], "count": [336]}, "timestamp": {"min": [0.0], "max": [16.75], "mean": [8.375000000000002], "std": [4.849720782340635], "count": [336]}, "frame_index": {"min": [0], "max": [335], "mean": [167.5], "std": [96.99441564681271], "count": [336]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [336]}, "index": {"min": [4895], "max": [5230], "mean": [5062.5], "std": [96.99441564681271], "count": [336]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [336]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48439362769033395]], [[0.4682209053787531]], [[0.4494702704934513]]], "std": [[[0.1315494944635138]], [[0.12661525497009632]], [[0.13795340872125939]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48727820901309743]], [[0.4808135034897748]], [[0.45524081061868105]]], "std": [[[0.1904257973961532]], [[0.1861791102315022]], [[0.19984222814192354]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4847142944335937]], [[0.48395044184666053]], [[0.46588435872395834]]], "std": [[[0.15292390093652888]], [[0.15275456300480933]], [[0.15924846134659448]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [281]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [281]}, "observation.state": {"min": [5.9974990723820625, -0.9655765834191471, 0.6998998485901807, 0.0, 0.0, 0.7069764137268066, 0.706823468208313, -0.18301845256269922, -0.24144581117129515, 0.6068451550552375, -0.98982834815979, -0.4171709418296814, -0.7779987454414368, 6.235044565983117e-05, -0.0005257986669871139, -0.039297475193578825], "max": [5.997841894275333, -0.9637980588073805, 0.700041367423899, 0.0, 0.0, 0.7073898911476135, 0.7072371244430542, 0.4435741330335944, 0.5522472622945891, 0.9377794319518646, 0.9727558493614197, 0.47920823097229004, 0.8256099820137024, 0.42671096324920654, 0.03929188713671168, 0.002209466277579241], "mean": [5.9977467581352135, -0.9638503183128204, 0.6999936988032684, 0.0, 0.0, 0.7070716059504879, 0.7071419197045187, 0.12562854618506875, 0.13814520683839682, 0.7977918547240607, -0.043172115320836944, 0.08140373792088329, 0.05912928383969752, 0.19002539909476235, 0.005147969978840833, -0.004032243598290497], "std": [3.991364616548341e-05, 0.00016714319897801218, 2.2437069128608066e-05, 0.0, 0.0, 5.456974568730831e-05, 5.4578154063816336e-05, 0.17977688237782083, 0.22657170587801226, 0.0700272423476669, 0.6361854262198195, 0.2743818263601351, 0.6717752005796706, 0.14354266345983757, 0.010433912220929362, 0.01070050361155503], "count": [281]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.8785714285714286, -0.4285714285714286, -0.5714285714285714, -0.26571428571428574, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.9857142857142858, 0.2571428571428571, 0.2285714285714286, 0.2742857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1703101169293341, -0.019598373157092064, 0.004982206405693917, 0.002989323843416359, -0.08283680732079311, -0.002226741230299945, 0.8434163701067615], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7473446725170361, 0.5460724674751913, 0.295458300899926, 0.1388650549312245, 0.16430231217542224, 0.1369185931439308, 0.5372604830395943], "count": [281]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0569395013153553], "std": [0.2317269891500473], "count": [281]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035587188612099642], "std": [0.059548756336944876], "count": [281]}, "timestamp": {"min": [0.0], "max": [14.0], "mean": [7.0], "std": [4.055859958134649], "count": [281]}, "frame_index": {"min": [0], "max": [280], "mean": [140.0], "std": [81.11719916269298], "count": [281]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [281]}, "index": {"min": [5231], "max": [5511], "mean": [5371.0], "std": [81.11719916269298], "count": [281]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [281]}}} +{"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": [[[0.4174291387819777]], [[0.4202299685010723]], [[0.41811337998334097]]], "std": [[[0.1833679895697707]], [[0.1774476776642422]], [[0.1782728576991701]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48305322145948226]], [[0.5004851211847043]], [[0.5021044862036611]]], "std": [[[0.2583341233092473]], [[0.2379630600778282]], [[0.23562792736751492]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4738592104444317]], [[0.4800637075386795]], [[0.4790085150026807]]], "std": [[[0.2673428813821778]], [[0.25883722765034256]], [[0.2589708831477099]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [317]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [317]}, "observation.state": {"min": [3.974690789348749, -0.805280488168706, 0.6999163726331756, 0.0, 0.0, 0.7069159746170044, 0.7070008516311646, -0.22218869308760436, -0.4462411123039347, 0.6032768888617032, -0.9871687889099121, -0.46712106466293335, -0.68222576379776, 0.0006702656392008066, -0.0009491149356669571, -0.039093353878473326], "max": [3.974844847107492, -0.8037813813800467, 0.7018285927820338, 0.0, 0.0, 0.7072126865386963, 0.7072975635528564, 0.4034919025573233, 0.44945915739887976, 0.8863290662741004, 0.9326364994049072, 0.4900912046432495, 0.7776615619659424, 0.4955196678638458, 0.039297952564762394, 0.0018265574518349047], "mean": [3.9747634532975167, -0.8038253376914382, 0.7002595102549356, 0.0, 0.0, 0.7070953629746421, 0.7071181595889552, 0.05107083405333371, -0.021701617858562817, 0.7997560536007111, -0.017992941363000718, -0.014208436905397602, 0.19082569718736955, 0.19324561087131847, 0.0035866627792004524, -0.004105603959501297], "std": [1.99210485111368e-05, 0.00012429593528314535, 0.0005514992667001257, 0.0, 0.0, 4.690283916897185e-05, 4.6903586289631706e-05, 0.19272006385505883, 0.2609632736219032, 0.0773167211109453, 0.7471072041199286, 0.19585918843917016, 0.5547546415003931, 0.14640131069763823, 0.009428082700786754, 0.009631621104283835], "count": [317]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7071428571428572, -0.20857142857142857, -0.6514285714285715, -0.22285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.7000000000000001, 0.2542857142857143, 0.2485714285714286, 0.3485714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.19698062190175752, -0.030126182965299553, -0.037764758900405614, 0.02112663361874718, -0.07534925642181164, 0.021153672825597117, 0.8801261829652997], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7760656863964248, 0.5346269543746118, 0.23836637306295147, 0.08740641735222972, 0.17873249703659466, 0.13424249402343877, 0.474739825650775], "count": [317]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05047318711876869], "std": [0.21891924738883972], "count": [317]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031545741324921135], "std": [0.056076936386849144], "count": [317]}, "timestamp": {"min": [0.0], "max": [15.8], "mean": [7.9], "std": [4.575478117093338], "count": [317]}, "frame_index": {"min": [0], "max": [316], "mean": [158.0], "std": [91.50956234186677], "count": [317]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [317]}, "index": {"min": [5512], "max": [5828], "mean": [5670.0], "std": [91.50956234186677], "count": [317]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [317]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.0392156862745098]]], "max": [[[0.984313725490196]], [[0.9725490196078431]], [[0.9882352941176471]]], "mean": [[[0.6058343781115962]], [[0.5090700522030102]], [[0.44053315824620864]]], "std": [[[0.1646025882605418]], [[0.1771413616593308]], [[0.16977757430168533]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5394062823127298]], [[0.49623400699391085]], [[0.467214121500651]]], "std": [[[0.20845522663513183]], [[0.2095832417212459]], [[0.20880638533894716]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.03529411764705882]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6030218194699755]], [[0.5009078195609299]], [[0.45667223941578583]]], "std": [[[0.18471484562518228]], [[0.23094283460229437]], [[0.2366299620368737]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [230]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [230]}, "observation.state": {"min": [1.9815370112299597, -0.8269078211948804, 0.6998914949672955, 0.0, 0.0, 0.7069200873374939, 0.7070078253746033, -0.022033666277287867, -0.34345261168528696, 0.5911163385879036, -0.9888004660606384, 0.0066606998443603516, -0.7628785967826843, 0.006224705372005701, 0.0010242530175307559, -0.03959282936957628], "max": [1.981734227334281, -0.8261345054834177, 0.7000359927491842, 0.0, 0.0, 0.7072057127952576, 0.7072934508323669, 0.41475954442570495, 0.26548428302227767, 0.9570961954476179, -0.407964289188385, 0.5820539593696594, -0.1487676501274109, 0.68926602602005, 0.03964562902595214, 0.0021599413029755434], "mean": [1.9816000930217894, -0.8261821151069391, 0.6999886218135408, 0.0, 0.0, 0.7070897872033326, 0.7071237457835156, 0.1910806954738638, -0.012961527344795564, 0.8005369562154728, -0.6011363814706387, 0.263252996167411, -0.5172716739385025, 0.427009070235426, 0.009352313960551493, -0.0067958306074320084], "std": [4.531200772124937e-05, 7.943193995775237e-05, 3.005672210047348e-05, 0.0, 0.0, 4.7659950495817225e-05, 4.7670073749406155e-05, 0.13194991331331823, 0.17699735837138938, 0.07674369103886046, 0.14340295981893134, 0.18966652179737709, 0.15953278939786922, 0.19348820535140193, 0.013365579400732798, 0.014373920085964106], "count": [230]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.95, -0.4785714285714286, -0.27714285714285714, -0.5342857142857143, -0.3171428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.4228571428571429, 0.26285714285714284, 0.32, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1308695652173913, 0.09018633540372678, 0.08795031055900628, 0.06003726708074535, -0.04249689440993788, 0.0013664596273291886, 0.6869565217391305], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7346890570121639, 0.5355510814502759, 0.27953467040537844, 0.13870141318112317, 0.189312241758005, 0.1412776522458938, 0.7266985188096093], "count": [230]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06956521421670914], "std": [0.25441285967826843], "count": [230]}, "next.done": {"min": [false], "max": [true], "mean": [0.004347826086956522], "std": [0.06579454761052851], "count": [230]}, "timestamp": {"min": [0.0], "max": [11.45], "mean": [5.725], "std": [3.319732669960038], "count": [230]}, "frame_index": {"min": [0], "max": [229], "mean": [114.5], "std": [66.39465339920075], "count": [230]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [230]}, "index": {"min": [5829], "max": [6058], "mean": [5943.5], "std": [66.39465339920075], "count": [230]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [230]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9568627450980393]], [[0.9411764705882353]], [[0.9372549019607843]]], "mean": [[[0.4558622915230546]], [[0.4261119677973728]], [[0.427547311221852]]], "std": [[[0.15642920833848895]], [[0.14627996455057787]], [[0.1437694728658051]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.542508976356656]], [[0.4916761947332644]], [[0.4677641176709942]]], "std": [[[0.2351861666656234]], [[0.21065867088218307]], [[0.19265971692850006]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5345065744437424]], [[0.4833225899490656]], [[0.45981035419538907]]], "std": [[[0.22813112283635975]], [[0.20455268925159664]], [[0.1891229373272566]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [261]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [261]}, "observation.state": {"min": [2.2897972408961884, -1.6221401295460893, 0.6998978920790881, 0.0, 0.0, -0.00028362637385725975, 1.0, -0.14040297145558123, -0.43522156608121754, 0.610998834824264, -0.9893577098846436, 0.013299033045768738, -0.8200656175613403, 0.006470807362347841, 0.020538556321192808, -0.040845159859053626], "max": [2.2900404421707554, -1.6217549113887744, 0.7001401044963241, 0.0, 0.0, 0.0002816547348629683, 1.0, 0.3690645421445051, 0.4216814057636096, 0.8646814680111098, -0.349977046251297, 0.5579880475997925, -0.14285700023174286, 0.7248587012290955, 0.04045516243120304, 0.00027431508389257926], "mean": [2.2900096249281385, -1.6219540646998836, 0.7000022795745724, 0.0, 0.0, -1.6632953118676187e-05, 1.0, 0.12063084858459715, -0.015947107446282686, 0.7569313597074298, -0.5749628135070947, 0.3207298502383104, -0.5802196059875562, 0.3134043066587542, 0.03960533227029289, -0.03749578501232448], "std": [4.7159473588592706e-05, 6.802718141966284e-05, 4.035257041405491e-05, 0.0, 0.0, 9.607175409214028e-05, 0.0, 0.15556607732658959, 0.2555437555793937, 0.057197391997222256, 0.16245287012499812, 0.13698618367450982, 0.16870396382700514, 0.2409478960415533, 0.002261614435805103, 0.006138999105672788], "count": [261]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.40714285714285714, -0.22285714285714286, -0.5771428571428572, -0.2885714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.8571428571428572, 0.29428571428571426, 0.44857142857142857, 0.32857142857142857, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.07597153804050358, 0.05903119868637098, 0.07257799671592778, 0.025561029009304858, -0.05103448275862071, -0.0014449917898193645, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7388354280834227, 0.6903534173478307, 0.19443004383600043, 0.12221778994343689, 0.20354747624922034, 0.14112416210783185, 0.0], "count": [261]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.061302680522203445], "std": [0.23988470435142517], "count": [261]}, "next.done": {"min": [false], "max": [true], "mean": [0.0038314176245210726], "std": [0.06177975286052528], "count": [261]}, "timestamp": {"min": [0.0], "max": [13.0], "mean": [6.5], "std": [3.7671828554858693], "count": [261]}, "frame_index": {"min": [0], "max": [260], "mean": [130.0], "std": [75.34365710971738], "count": [261]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [261]}, "index": {"min": [6059], "max": [6319], "mean": [6189.0], "std": [75.34365710971738], "count": [261]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [261]}}} +{"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": [[[0.44676555439070165]], [[0.43387673950195316]], [[0.41162224504059436]]], "std": [[[0.1368081503374433]], [[0.13626066183161284]], [[0.13826855205573596]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4725883382161458]], [[0.47921014464135264]], [[0.44611245368508734]]], "std": [[[0.18145729553910553]], [[0.18105950186031947]], [[0.18942065844045822]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4477780821557138]], [[0.46369458067650887]], [[0.4246683086320466]]], "std": [[[0.21255420308186848]], [[0.21200516039715522]], [[0.2165045314234287]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [139]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [139]}, "observation.state": {"min": [2.73218000244366, -0.9638283692253846, 0.6998026901199792, 0.0, 0.0, 0.7068621516227722, 0.7065737843513489, -0.20741126544696142, -0.34170447247112623, 0.5848768945080292, -0.9915035963058472, -0.06359720230102539, -0.7639520764350891, 0.0014764503575861454, -0.0003837872502748009, -0.039703740837031105], "max": [2.7328919860156295, -0.9585879449796932, 0.7000346379187982, 0.0, 0.0, 0.7076393961906433, 0.7073513269424438, 0.5640407135391947, 0.13160945941964552, 0.8901873220932551, 0.8856407999992371, 0.5121164917945862, 0.6790395975112915, 0.8583441972732544, 0.03959866816602691, 0.002078379252619688], "mean": [2.7326606485844462, -0.9588919685780802, 0.6999812777727255, 0.0, 0.0, 0.7070870232239044, 0.7071265025104551, 0.13814291660747652, -0.10029805950834088, 0.7885752385617315, -0.415811426562371, 0.16716731077046704, -0.2812688871682119, 0.4538583875677327, 0.014070055066384623, -0.012359390272781405], "std": [8.690296708390484e-05, 0.0010368105167786101, 4.7415476342606736e-05, 0.0, 0.0, 9.144674849329988e-05, 9.149164889495603e-05, 0.23533111284310312, 0.15700545243079853, 0.07453685512911377, 0.47341036902626554, 0.14229498183220954, 0.3817003416147678, 0.352130545725942, 0.016618486938544525, 0.01700064325417462], "count": [139]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8714285714285716, -0.0, -0.002857142857142857, -0.6314285714285715, -0.6457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5428571428571429, 0.43428571428571433, -0.0, 0.37714285714285717, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3291366906474821, 0.20611510791366913, 0.08535457348406994, 0.11897225077081194, -0.13537512846865365, 0.00890030832476877, 0.45323741007194246], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7941267229190687, 0.6409006204618488, 0.15592427579900378, 0.1541745277848345, 0.20422073889853903, 0.26828505410360454, 0.8913898418263932], "count": [139]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.11510791629552841], "std": [0.3191521465778351], "count": [139]}, "next.done": {"min": [false], "max": [true], "mean": [0.007194244604316547], "std": [0.08451323830554483], "count": [139]}, "timestamp": {"min": [0.0], "max": [6.9], "mean": [3.45], "std": [2.0062402647738877], "count": [139]}, "frame_index": {"min": [0], "max": [138], "mean": [69.0], "std": [40.124805295477756], "count": [139]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [139]}, "index": {"min": [6320], "max": [6458], "mean": [6389.0], "std": [40.124805295477756], "count": [139]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [139]}}} +{"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": [[[0.41080879241344975]], [[0.4087190156824449]], [[0.4193841582653569]]], "std": [[[0.25858848245036326]], [[0.259094825794128]], [[0.252557447512484]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.050980392156862744]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.495134843414905]], [[0.492790298761106]], [[0.49905749272365196]]], "std": [[[0.30684319546023026]], [[0.3069680755889866]], [[0.30141485330307516]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.047058823529411764]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48177803548177084]], [[0.4784782511393229]], [[0.4857551461014093]]], "std": [[[0.2905596337253347]], [[0.2892298170284233]], [[0.2817244289676507]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [284]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [284]}, "observation.state": {"min": [0.8276528146147928, -2.284888183768694, 0.6999425202013162, 0.0, 0.0, -1.0, 0.0, 0.04244870078988228, -0.6297755674725873, 0.48590337742048606, -0.9947115182876587, -0.42800372838974, -0.8255793452262878, 0.0005874380003660917, -0.0007228400048836614, -0.039003219069601615], "max": [0.827903211116862, -2.2844375882546637, 0.7000358729894933, 0.0, 0.0, 1.0, 0.0004451330751180649, 0.420180900355311, 0.3503199164133619, 0.7961326814328242, 0.9946504831314087, 0.35376620292663574, 0.8293687701225281, 0.7520698308944702, 0.03910341754643753, 0.0002825359073893741], "mean": [0.8276843753822338, -2.284592032507046, 0.6999935748864357, 0.0, 0.0, -0.17605633718866698, 4.2818913207521364e-05, 0.19279877006487794, -0.17141396903498018, 0.6525858075431665, 0.09509801854130248, -0.0006966411962475575, 0.010553846844065358, 0.3991711977992246, 0.0033036691138692144, -0.003998450462834746], "std": [3.4553456282364606e-05, 6.611291913948325e-05, 2.226920146225655e-05, 0.0, 0.0, 0.9843800914569067, 7.522922699876924e-05, 0.11396031618558465, 0.3191438081899447, 0.08869413611002555, 0.6707952605692797, 0.19704980884498116, 0.5396487301581099, 0.2269167103108762, 0.00896512988944276, 0.00901986532636246], "count": [284]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7428571428571429, -0.26857142857142857, -0.42, -0.6457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9928571428571428, 1.0, 0.7785714285714286, 0.36, 0.15142857142857147, 0.24, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.06833501006036219, -0.029325955734406446, 0.10752012072434607, 0.03469818913480883, -0.11571428571428577, -0.06005030181086521, 0.8943661971830986], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5363469987424276, 0.7043709302677162, 0.2890959980249288, 0.16760225787117483, 0.1281108450421696, 0.20543568435730325, 0.4473355623424593], "count": [284]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.056338027119636536], "std": [0.23057332634925842], "count": [284]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035211267605633804], "std": [0.05923452056781944], "count": [284]}, "timestamp": {"min": [0.0], "max": [14.15], "mean": [7.075000000000001], "std": [4.099161499624039], "count": [284]}, "frame_index": {"min": [0], "max": [283], "mean": [141.5], "std": [81.98322999248077], "count": [284]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [284]}, "index": {"min": [6459], "max": [6742], "mean": [6600.5], "std": [81.98322999248077], "count": [284]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [284]}}} +{"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": [[[0.33613584510952815]], [[0.2849873555501302]], [[0.26456166106579354]]], "std": [[[0.13300143960973343]], [[0.1516459921480972]], [[0.16122792893650414]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.050980392156862744]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3405127090753293]], [[0.28235142187978707]], [[0.258436128504136]]], "std": [[[0.18989182035687677]], [[0.20468444161705762]], [[0.21188134013676835]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32395122931985293]], [[0.27545488185508576]], [[0.2546247121773514]]], "std": [[[0.1904518529631962]], [[0.1964988275516863]], [[0.20081271353115263]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [345]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [345]}, "observation.state": {"min": [1.5479877824374797, -2.357706255345743, 0.699920889741761, 0.0, 0.0, -0.7139625549316406, 0.7001838088035583, -0.29536657082092965, -0.427521226956564, 0.5296395328133996, -0.9899569153785706, -0.2633592486381531, -0.7708202600479126, 0.00020583336299750954, -0.0009141766357652701, -0.03984990395723653], "max": [1.553126267753867, -2.0471161002167846, 0.7000559141284082, 0.0, 0.0, -0.7069216370582581, 0.707291841506958, 0.5111357761440107, 0.636980914418986, 0.9002294671871732, 0.8640443086624146, 0.5169219970703125, 0.7753300666809082, 0.6112486124038696, 0.039819039860906756, 0.0015057407909296017], "mean": [1.549952423368448, -2.0640100433680266, 0.6999999190985896, 0.0, 0.0, -0.7116080349770145, 0.7025655943414439, 0.1282564017279572, 0.09751345634681982, 0.6905645959974827, -0.08973330147024514, 0.21168266120164292, -0.05735786945923515, 0.2972358702081745, 0.007948970260624402, -0.007137945671141983], "std": [0.0021143381766951658, 0.049318771375199945, 1.7601459164251986e-05, 0.0, 0.0, 0.0027783289319475222, 0.0028056227138936727, 0.22894753783574243, 0.301325169032023, 0.11512299248401645, 0.6864000688883599, 0.172940949643102, 0.5621232889312082, 0.19612008648541246, 0.014032109091234797, 0.014308996761895492], "count": [345]}, "action": {"min": [-1.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9785714285714284, -0.7071428571428572, -0.38, -0.4828571428571429, -0.3657142857142857, -1.0], "max": [0.0, 0.05, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.38857142857142857, 0.18, 0.18571428571428572, 1.0], "mean": [-0.029109730848861277, 0.0008695652173913043, 0.0, 0.0, -0.8898550724637682, 0.1055693581780539, 0.09629399585921328, -0.00532091097308491, -0.02603726708074534, -0.059975155279503145, -0.016596273291925458, 0.6811594202898551], "std": [0.1440129437824512, 0.005637251933730658, 0.0, 0.0, 0.4562433013321986, 0.7863617939853028, 0.5720467835394742, 0.328754461942563, 0.1476956663224859, 0.1634123675466821, 0.11464863431460971, 0.7321351269747866], "count": [345]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04637681320309639], "std": [0.2102997899055481], "count": [345]}, "next.done": {"min": [false], "max": [true], "mean": [0.002898550724637681], "std": [0.053760107220264954], "count": [345]}, "timestamp": {"min": [0.0], "max": [17.2], "mean": [8.6], "std": [4.979625153228571], "count": [345]}, "frame_index": {"min": [0], "max": [344], "mean": [172.0], "std": [99.59250306457142], "count": [345]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [345]}, "index": {"min": [6743], "max": [7087], "mean": [6915.0], "std": [99.59250306457142], "count": [345]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [345]}}} +{"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": [[[0.48447475717581956]], [[0.46141622984643077]], [[0.44343507654526654]]], "std": [[[0.11989058777546606]], [[0.12552442517201778]], [[0.1308313825079893]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47820844463273593]], [[0.45004028080958947]], [[0.42644060561236213]]], "std": [[[0.15837564239354301]], [[0.1584869082183843]], [[0.16315599233168707]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4576873611749387]], [[0.4446087263518689]], [[0.4182068242091759]]], "std": [[[0.17065928782046016]], [[0.17051823570464786]], [[0.17424247272690122]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [283]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [283]}, "observation.state": {"min": [1.1978805439720026, -0.8743247641784158, 0.6998426124851033, 0.0, 0.0, 0.7069593667984009, 0.7067441344261169, -0.34618975189872014, -0.3019042240890222, 0.5922200223392949, -0.9889425039291382, -0.29400068521499634, -0.7123389840126038, 0.0009768264135345817, 0.0205629672032161, -0.040199922036971904], "max": [1.1984401335237878, -0.8738353211308665, 0.7000464336692152, 0.0, 0.0, 0.7074693441390991, 0.7072541117668152, 0.2508071238133919, 0.5451695881303014, 0.8851333319285412, 0.9165461659431458, 0.32543307542800903, 0.7315681576728821, 0.7369294762611389, 0.04077842767155264, -0.020503593338294945], "mean": [1.1983070581389126, -0.8738719129785235, 0.6999873564972904, 0.0, 0.0, 0.7071371638732749, 0.7070763544985768, -0.09132719101051158, 0.07788439149635243, 0.7120611922414694, -0.07685805199003051, 0.004585811506311801, 0.0026780477998113463, 0.3523074585192445, 0.03838476137593876, -0.03910280938081921], "std": [8.400281879849363e-05, 5.810160569619084e-05, 3.9677318099329687e-05, 0.0, 0.0, 8.121919842151351e-05, 8.122926625784874e-05, 0.163447622628013, 0.2249661503031999, 0.08063458922276867, 0.6941136240191447, 0.15294548584003642, 0.5609010493804395, 0.22393761303309473, 0.003369211119157351, 0.002175597880487722], "count": [283]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4571428571428572, -0.5514285714285714, -0.34, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.807142857142857, 0.29428571428571426, 0.2914285714285714, 0.24, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.17122665320545177, -0.03927309439676933, -0.016355376072690567, -0.028430085815244834, -0.09169106511862693, -0.01840484603735487, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7861111124304737, 0.6525408882112992, 0.31081218040512626, 0.16080091847957598, 0.16699565618053197, 0.1540900088057477, 0.0], "count": [283]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05653710290789604], "std": [0.23095597326755524], "count": [283]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035335689045936395], "std": [0.05933871245140164], "count": [283]}, "timestamp": {"min": [0.0], "max": [14.1], "mean": [7.050000000000001], "std": [4.08472765310002], "count": [283]}, "frame_index": {"min": [0], "max": [282], "mean": [141.0], "std": [81.69455306200041], "count": [283]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [283]}, "index": {"min": [7088], "max": [7370], "mean": [7229.0], "std": [81.69455306200041], "count": [283]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [283]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7030339810240502]], [[0.5287380999396829]], [[0.3450548813763787]]], "std": [[[0.18883761195837037]], [[0.16925063422528006]], [[0.22283969586683602]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7425455358168659]], [[0.5850365732230393]], [[0.42780571372836246]]], "std": [[[0.18131128933032908]], [[0.20285745087897797]], [[0.2650148317144362]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7599916651108686]], [[0.6206689315496706]], [[0.47858123420266546]]], "std": [[[0.1851248995928212]], [[0.20781270002211924]], [[0.27100012522682104]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [285]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [285]}, "observation.state": {"min": [-0.8488108506175357, -1.3572400231854138, 0.6998823260003482, 0.0, 0.0, -0.00015332004113588482, 0.9999974966049194, -0.14556000780072376, -0.40846377210949614, 0.6175351896237626, -0.9851182103157043, -0.1958673596382141, -0.7256537675857544, 0.0012060661101713777, 0.016638444423450645, -0.04051253114099061], "max": [-0.8471232766065173, -1.3555000287345857, 0.7000396984222382, 0.0, 0.0, 0.0022321834694594145, 1.0, 0.43927194774997264, 0.45487249004387753, 0.9223542414640629, 0.960902988910675, 0.4501047730445862, 0.7052038908004761, 0.572615385055542, 0.04034310294567818, -0.018228477642024312], "mean": [-0.8479999595918438, -1.3561579708876281, 0.699992967888794, 0.0, 0.0, 0.00127556885154263, 0.9999986987364919, 0.1161952712243654, -0.008833255627393486, 0.7865863899035297, -0.0746470480634455, 0.11335913397763905, -0.06281339735315557, 0.27029669424927416, 0.038747833526289105, -0.038523679325117625], "std": [0.0006581210702395621, 0.0007460707927264103, 2.2376771477189075e-05, 0.0, 0.0, 0.0010012303857047451, 1.0233348846541448e-06, 0.17587205384071802, 0.23920765332075655, 0.0716099048493302, 0.6910393924036441, 0.18709764515102537, 0.603232049998802, 0.16775523477925822, 0.0041587226713763435, 0.0037681904928566433], "count": [285]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.4928571428571429, -0.19142857142857142, -0.5, -0.13142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.9714285714285714, 0.24, 0.16285714285714287, 0.24571428571428575, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1370175438596491, 0.013934837092731757, 0.061453634085213066, 0.022025062656641614, -0.062416040100250605, 0.009353383458646607, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7308689647667861, 0.6111886888427039, 0.2375010869220525, 0.10163727028117721, 0.12325635518976867, 0.06244124258611966, 0.0], "count": [285]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05614035204052925], "std": [0.23019254207611084], "count": [285]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035087719298245615], "std": [0.05913087560123761], "count": [285]}, "timestamp": {"min": [0.0], "max": [14.2], "mean": [7.1], "std": [4.113595345517916], "count": [285]}, "frame_index": {"min": [0], "max": [284], "mean": [142.0], "std": [82.27190691035833], "count": [285]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [285]}, "index": {"min": [7371], "max": [7655], "mean": [7513.0], "std": [82.27190691035833], "count": [285]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [285]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4532861262302773]], [[0.434833823409735]], [[0.44471063651290593]]], "std": [[[0.14828305599853178]], [[0.1443643078587834]], [[0.1378046600173877]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5251714088589537]], [[0.47829356833065256]], [[0.45898253078086704]]], "std": [[[0.23767453356982843]], [[0.21485092496938024]], [[0.19815684799055266]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5227905632467831]], [[0.47184856459673713]], [[0.4529065342323453]]], "std": [[[0.20313399283520964]], [[0.18194978961914415]], [[0.16755171446760037]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [345]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [345]}, "observation.state": {"min": [2.4514396238800726, -0.9326285395285064, 0.6999221464233709, 0.0, 0.0, -0.0003510021779220551, 0.9999998807907104, -0.10691651048169915, -0.331584158475412, 0.5758322126064909, -0.9945704340934753, -0.3091384768486023, -0.7659353017807007, 0.0006920943269506097, 0.02053458910890799, -0.04143299345202194], "max": [2.4524586169038427, -0.9320258471290088, 0.7007457647645354, 0.0, 0.0, 0.0005110649508424103, 1.0, 0.4482573237918066, 0.46542196753683435, 0.7910876436713011, 0.7833533883094788, 0.41306209564208984, 0.8981156349182129, 0.6631488800048828, 0.041354840596564316, -0.017455621969992417], "mean": [2.4523984910634824, -0.9324060601865378, 0.7003102730907665, 0.0, 0.0, 2.8077438777591337e-05, 0.9999999948169874, 0.15024738418475816, 0.08233034046569211, 0.7430949690244375, 0.13402399653973787, 0.11686080998700599, 0.32960562241682106, 0.18675913657534166, 0.038898676387610166, -0.038737025376283346], "std": [8.045171264223603e-05, 9.800865087238634e-05, 0.0003195009644252113, 0.0, 0.0, 0.00016201096536268088, 2.4310483931580007e-08, 0.1672275643455386, 0.22236832121218608, 0.05114891800847987, 0.5932650106478562, 0.196593719236679, 0.638418211369657, 0.16331566538996603, 0.003147847105337496, 0.004522345589299098], "count": [345]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9785714285714284, -0.22142857142857142, -0.23142857142857146, -0.5, -0.6371428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.8214285714285715, 0.35428571428571426, 0.30857142857142855, 0.43428571428571433, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1361283643892339, 0.20720496894409923, 0.06888198757763966, 0.03760662525879917, -0.05055072463768107, -0.13038509316770194, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.659185416014002, 0.519376826941057, 0.19120221925038286, 0.13863925770668503, 0.1715307791850932, 0.23756598647992214, 0.0], "count": [345]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04637681320309639], "std": [0.2102997899055481], "count": [345]}, "next.done": {"min": [false], "max": [true], "mean": [0.002898550724637681], "std": [0.053760107220264954], "count": [345]}, "timestamp": {"min": [0.0], "max": [17.2], "mean": [8.6], "std": [4.979625153228571], "count": [345]}, "frame_index": {"min": [0], "max": [344], "mean": [172.0], "std": [99.59250306457142], "count": [345]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [345]}, "index": {"min": [7656], "max": [8000], "mean": [7828.0], "std": [99.59250306457142], "count": [345]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [345]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4575308520747166]], [[0.4297336623247932]], [[0.4274507757448683]]], "std": [[[0.17431278744316256]], [[0.15242079148264795]], [[0.134537292333746]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44592188756606155]], [[0.40290244068818937]], [[0.38296569165996475]]], "std": [[[0.24951439171020337]], [[0.22035898854388655]], [[0.20505524555065935]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5350840938792509]], [[0.49010104429955575]], [[0.46961649696499697]]], "std": [[[0.24666538033120328]], [[0.22299179559663093]], [[0.20515357470210993]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [335]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [335]}, "observation.state": {"min": [3.8149159945103537, -0.8088869469554101, 0.6999157012476014, 0.0, 0.0, 0.7069621682167053, 0.7070469856262207, -0.2546271555734322, -0.4521589840891789, 0.5813403252000658, -0.9900824427604675, -0.2491391897201538, -0.7864251136779785, 0.00040502907359041274, -0.0006710965571981677, -0.03989164398718679], "max": [3.8151267476147313, -0.8080887792667346, 0.7007809588957186, 0.0, 0.0, 0.7071665525436401, 0.7072513699531555, 0.32689071359370864, 0.33796491108548343, 0.8840503303279481, 0.9409611225128174, 0.6669350266456604, 0.7853502035140991, 0.46470925211906433, 0.03979774896965515, 0.001618269063543891], "mean": [3.8150023810592737, -0.8081192100547815, 0.7000777194010507, 0.0, 0.0, 0.7070936163859581, 0.7071199029239256, 0.006538809640819805, -0.09689662719870265, 0.7926405898041289, -0.2121552572321536, 0.17591959789617737, -0.0874110091533234, 0.1869637122208343, 0.007946370433514217, -0.007535820659700003], "std": [2.665229777438412e-05, 5.9015441061282376e-05, 0.00020324914348247245, 0.0, 0.0, 3.4514851274994494e-05, 3.453128522132738e-05, 0.1739040322700813, 0.2136278669500601, 0.08143641620293143, 0.6640763733942087, 0.2639461586462347, 0.5963071607778584, 0.12328458809977182, 0.014368095933734159, 0.014570722319063836], "count": [335]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.4, -0.32, -0.5371428571428571, -0.2742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6714285714285714, 0.19714285714285715, 0.3514285714285714, 0.3857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.14313432835820894, -0.012835820895522456, -0.006929637526652427, 0.015147121535181251, -0.0840767590618337, 0.032136460554371006, 0.6656716417910448], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.705588683815407, 0.4443077893402634, 0.21495761806717614, 0.11215677522895763, 0.20369908215224458, 0.155610550984582, 0.7462447757372969], "count": [335]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04776119440793991], "std": [0.21326051652431488], "count": [335]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029850746268656717], "std": [0.05455422949999124], "count": [335]}, "timestamp": {"min": [0.0], "max": [16.7], "mean": [8.35], "std": [4.835286961494633], "count": [335]}, "frame_index": {"min": [0], "max": [334], "mean": [167.0], "std": [96.70573922989266], "count": [335]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [335]}, "index": {"min": [8001], "max": [8335], "mean": [8168.0], "std": [96.70573922989266], "count": [335]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [335]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.06274509803921569]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4520235487994026]], [[0.445355193493413]], [[0.4384359124875536]]], "std": [[[0.1668740876819605]], [[0.16815323215484793]], [[0.16685209562760273]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.043137254901960784]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4921277238434436]], [[0.4869007735906863]], [[0.48026456705729165]]], "std": [[[0.2049905474238731]], [[0.2052361781618137]], [[0.20116348632762976]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5118803375842524]], [[0.5048962916953891]], [[0.4951076307109758]]], "std": [[[0.23587976161189614]], [[0.23685582713097303]], [[0.2322588794962831]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [256]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [256]}, "observation.state": {"min": [0.8171547397923942, -2.086132667789921, 0.6999092204545228, 0.0, 0.0, -1.0, 9.701151526542162e-08, -0.04532469177507947, -0.47104798348823684, 0.58735120742623, -0.9917376637458801, -0.25317835807800293, -0.8021914958953857, 0.0013642850099131465, 0.020557292424456496, -0.04075546104740584], "max": [0.8173390686089153, -2.085860393056276, 0.7003593253152341, 0.0, 0.0, 1.0, 0.0003541256592143327, 0.4163550117536195, 0.28440743590543427, 0.9023495736304651, 0.6906648874282837, 0.16855233907699585, 0.7993403673171997, 0.6161938905715942, 0.04038458677272219, -0.0205092668626486], "mean": [0.8171876890575712, -2.086045222010608, 0.7000796990425795, 0.0, 0.0, 0.1015625, 4.448391772426952e-05, 0.17509120188787677, -0.061227592197762123, 0.7829378395458558, -0.6004084158921614, -0.03254585945978761, -0.5714613736490719, 0.20804050918513894, 0.03894042081584172, -0.037911158510360476], "std": [3.613007118517148e-05, 5.1565221692939124e-05, 0.00012018546582924061, 0.0, 0.0, 0.9948291605063404, 7.216569188947518e-05, 0.13970263444299152, 0.2205178850482252, 0.06283612005171368, 0.31372692581211203, 0.13730079694531697, 0.34165269009738297, 0.18600779854005056, 0.0034033631249538484, 0.00397021018787028], "count": [256]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.17714285714285713, -0.5657142857142857, -0.2914285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.26285714285714284, 0.3942857142857143, 0.16857142857142857, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.12193080357142856, 0.027092633928571388, 0.03643973214285718, 0.025290178571428554, -0.07101562500000001, 0.0038727678571428502, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6361788428455505, 0.6169193872152312, 0.37894643219375657, 0.10237367143225418, 0.1847436561992304, 0.11827397235432492, 0.0], "count": [256]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0625], "std": [0.24206146597862244], "count": [256]}, "next.done": {"min": [false], "max": [true], "mean": [0.00390625], "std": [0.06237781024480981], "count": [256]}, "timestamp": {"min": [0.0], "max": [12.75], "mean": [6.375], "std": [3.6950135317749515], "count": [256]}, "frame_index": {"min": [0], "max": [255], "mean": [127.5], "std": [73.90027063549903], "count": [256]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [256]}, "index": {"min": [8336], "max": [8591], "mean": [8463.5], "std": [73.90027063549903], "count": [256]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [256]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.06274509803921569]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48836136821672027]], [[0.398330176858341]], [[0.3320629057042739]]], "std": [[[0.18458739281216127]], [[0.22367245072905742]], [[0.2614705449739468]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5565806735169654]], [[0.4783507750268076]], [[0.4178254358628217]]], "std": [[[0.23313543596292516]], [[0.2700926213687229]], [[0.2936757273274746]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5568764133827359]], [[0.4759023192162607]], [[0.4116742703306909]]], "std": [[[0.2288507582086674]], [[0.26891194445378475]], [[0.29658059095371514]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [318]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [318]}, "observation.state": {"min": [0.1613109604359859, -5.258123798864439, 0.6998934717617996, 0.0, 0.0, -1.0, 4.858528868112444e-08, -0.20663620154636655, -0.5151536738735905, 0.5976321860455488, -0.9896076917648315, -0.2942233085632324, -0.8243831992149353, 9.659258648753166e-05, -0.0008327980051393303, -0.03921169373725031], "max": [0.16156364333651227, -5.257667180062474, 0.7000390974983035, 0.0, 0.0, 1.0, 0.0003922355826944113, 0.4193263667448509, 0.4401802418406069, 0.9560168026710307, 0.969528079032898, 0.13394218683242798, 0.8418353199958801, 0.5295535922050476, 0.039380911522735824, 0.00028219001793418407], "mean": [0.16133413475350894, -5.25782462396149, 0.6999963866087013, 0.0, 0.0, 0.27672955974842767, 2.7242456779475878e-05, 0.08510898468497188, -0.038376097314317285, 0.7819906083279938, -0.040744533516326044, 0.01263815295771233, 0.018639366909767845, 0.2520099956053163, 0.003904995514744845, -0.0038127187121610603], "std": [4.174746150837736e-05, 4.166156321178025e-05, 2.2045555958656126e-05, 0.0, 0.0, 0.9609478397714633, 5.7663536957435614e-05, 0.18729009414242814, 0.26898928206951217, 0.08292642802728768, 0.6570231419466275, 0.11759621254048525, 0.6805505874069245, 0.16020710302434807, 0.010035314850554667, 0.010000788622113817], "count": [318]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.21142857142857144, -0.4571428571428572, -0.4542857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.2142857142857143, 0.5028571428571429, 0.2571428571428571, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.07234950584007188, 0.019429469901168, 0.06866576819407005, 0.012623539982030536, -0.06624438454627132, -0.000943396226415099, 0.8616352201257862], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6760101700461708, 0.5660577126960161, 0.32610588694587345, 0.1045568573518739, 0.17678833415497233, 0.1279225244234791, 0.507528075517781], "count": [318]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.050314463675022125], "std": [0.21859301626682281], "count": [318]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031446540880503146], "std": [0.05598897426026684], "count": [318]}, "timestamp": {"min": [0.0], "max": [15.85], "mean": [7.924999999999999], "std": [4.589911945415365], "count": [318]}, "frame_index": {"min": [0], "max": [317], "mean": [158.5], "std": [91.79823890830731], "count": [318]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [318]}, "index": {"min": [8592], "max": [8909], "mean": [8750.5], "std": [91.79823890830731], "count": [318]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [318]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.0196078431372549]], [[0.0]]], "max": [[[0.9803921568627451]], [[1.0]], [[0.996078431372549]]], "mean": [[[0.5124615412693397]], [[0.41188030287798716]], [[0.35875963278377754]]], "std": [[[0.2269217223569956]], [[0.2670214587638755]], [[0.275811698735464]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.047058823529411764]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5674428734872856]], [[0.49747189510569856]], [[0.44978448486328126]]], "std": [[[0.2509418146983822]], [[0.27070994569382073]], [[0.2769620210181895]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.054901960784313725]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5710095508051853]], [[0.490351926317402]], [[0.4344656198538986]]], "std": [[[0.24940744773278548]], [[0.2702469429329527]], [[0.2723327176672701]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [161]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [161]}, "observation.state": {"min": [4.5144594250003784, -0.7919394191293596, 0.6998678411697773, 0.0, 0.0, 0.707017183303833, 0.7068356275558472, -0.34292562333782595, -0.3223608750064644, 0.6081505598141251, -0.9893240332603455, -0.1646287441253662, -0.8605491518974304, 3.1058436434250325e-05, -0.000388756544382403, -0.03969910157382898], "max": [4.5147016189847085, -0.7899278939768243, 0.7001187907456939, 0.0, 0.0, 0.7073777914047241, 0.7071963548660278, 0.3791256627926524, 0.18280382308722665, 0.8567605975744732, 0.8720718622207642, 0.45411938428878784, 0.9201270341873169, 0.7579181790351868, 0.03960229128551528, 0.0016679441676175188], "mean": [4.5146633274200365, -0.7899949133495198, 0.7000034097884728, 0.0, 0.0, 0.7070736918390167, 0.7071398407776163, -0.014853206996310302, -0.06653525704492019, 0.7882260706263212, -0.21869392942938004, 0.06578513665228897, -0.19611601124268882, 0.26982909809541855, 0.011132555537078008, -0.011834823974240715], "std": [4.7809902414442775e-05, 0.0002712814368430897, 4.066498872071121e-05, 0.0, 0.0, 6.635674054101126e-05, 6.636545427543065e-05, 0.21420901437277334, 0.1662271117001391, 0.07264320151556096, 0.5593390289490919, 0.19940023613828367, 0.6394946673057393, 0.2738649596816312, 0.016073561538746756, 0.01598738461720963], "count": [161]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5642857142857142, -0.36857142857142855, -0.6628571428571428, -0.5885714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.7000000000000001, 0.40857142857142864, 0.23428571428571432, 0.22285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.08744454303460508, 0.144276841171251, 0.07608695652173914, 0.057675244010647775, -0.17043478260869557, -0.07794143744454306, 0.5279503105590062], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.772936257301423, 0.5786712807652699, 0.3063481608119829, 0.21029775171194506, 0.2486433741957654, 0.2277158368185039, 0.8492752613732766], "count": [161]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09937888383865356], "std": [0.29917004704475403], "count": [161]}, "next.done": {"min": [false], "max": [true], "mean": [0.006211180124223602], "std": [0.07856590460045662], "count": [161]}, "timestamp": {"min": [0.0], "max": [8.0], "mean": [4.0], "std": [2.32379000772445], "count": [161]}, "frame_index": {"min": [0], "max": [160], "mean": [80.0], "std": [46.475800154489], "count": [161]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [161]}, "index": {"min": [8910], "max": [9070], "mean": [8990.0], "std": [46.475800154489], "count": [161]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [161]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.01568627450980392]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4642994558296951]], [[0.47992485255821077]], [[0.48038791671453734]]], "std": [[[0.17906550515936445]], [[0.16762028149549535]], [[0.16357438535328697]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.03137254901960784]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5176846786199831]], [[0.5253670851763557]], [[0.5194876068713619]]], "std": [[[0.2564607397540791]], [[0.2440562082582132]], [[0.2292247405666866]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5255636524873621]], [[0.535145933861826]], [[0.5299919080547258]]], "std": [[[0.2534343562497691]], [[0.2401693239474646]], [[0.22720326958858592]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [335]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [335]}, "observation.state": {"min": [3.071910635890695, -0.8000736156125801, 0.6999282238377589, 0.0, 0.0, 0.7069377303123474, 0.7070550322532654, -0.314237185909245, -0.5233623217200973, 0.43032811252565784, -0.9918177723884583, -0.3014201521873474, -0.8754855394363403, 0.0017978476826101542, -0.0008839535305498763, -0.039006233898699755], "max": [3.0720681982857974, -0.7998542801477122, 0.7001515955001442, 0.0, 0.0, 0.7071585059165955, 0.7072757482528687, 0.39483077916414533, 0.5425508046860954, 0.9170850892077973, 0.991834819316864, 0.16439908742904663, 0.875670850276947, 0.5853273272514343, 0.039392588088645944, 0.0006417932352281632], "mean": [3.071972118814111, -0.7998822491444095, 0.7000078662204303, 0.0, 0.0, 0.7070935631865886, 0.7071199555895222, 0.06842347280711575, -0.00021608211782586783, 0.7671248174770158, -0.21605142977700303, -0.04428868952082164, -0.2052431079433925, 0.271074099316081, 0.0034151343342064097, -0.0035366974351674647], "std": [2.2767112545889055e-05, 3.009418826598089e-05, 3.602846525155386e-05, 0.0, 0.0, 3.058069728656646e-05, 3.05945493618987e-05, 0.1933161200630759, 0.3209551300758925, 0.14184896743188008, 0.6600392032665239, 0.12698904768806, 0.5945093616184657, 0.17474286016501092, 0.009261886908483537, 0.009101874996083038], "count": [335]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.55, -0.3457142857142857, -0.5, -0.23142857142857146, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6571428571428571, 0.14857142857142858, 0.26, 0.45999999999999996, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.09701492537313437, -0.021492537313432817, 0.06918976545842213, -0.016631130063965896, -0.04278891257995745, 0.04667803837953094, 0.8865671641791045], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6431439176203526, 0.6405403613222509, 0.2533936851299935, 0.10331658272105276, 0.15118674087778264, 0.16594769853655328, 0.4625998955895013], "count": [335]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04776119440793991], "std": [0.21326051652431488], "count": [335]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029850746268656717], "std": [0.05455422949999124], "count": [335]}, "timestamp": {"min": [0.0], "max": [16.7], "mean": [8.35], "std": [4.835286961494633], "count": [335]}, "frame_index": {"min": [0], "max": [334], "mean": [167.0], "std": [96.70573922989266], "count": [335]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [335]}, "index": {"min": [9071], "max": [9405], "mean": [9238.0], "std": [96.70573922989266], "count": [335]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [335]}}} +{"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": [[[0.5325770413267846]], [[0.464945390289905]], [[0.4333944702148438]]], "std": [[[0.1604990738172199]], [[0.18106645277871522]], [[0.20327243297594694]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5614795586081113]], [[0.5012077241785385]], [[0.469574836880553]]], "std": [[[0.2178626007298354]], [[0.23633579656497491]], [[0.2516100275418027]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5416101008396522]], [[0.49108536544500614]], [[0.4663589256137025]]], "std": [[[0.2149613103933724]], [[0.2250815803097218]], [[0.23545463583301918]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [374]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [374]}, "observation.state": {"min": [2.1521027073819647, -2.452141351692702, 0.6999192523119387, 0.0, 0.0, 2.697259515116457e-05, 0.9999997615814209, -0.23131468836924673, -0.403929478812711, 0.5868119668628, -0.9908458590507507, -0.361020028591156, -0.8107872009277344, 0.004327059723436832, -0.00056762833191058, -0.039373337596101794], "max": [2.152641451580631, -2.4517904754808235, 0.7005034873346649, 0.0, 0.0, 0.0006777048110961914, 1.0, 0.4088871346836469, 0.6093484492342274, 0.8133544982942166, 0.782664954662323, 0.4551779627799988, 0.8148438334465027, 0.6970498561859131, 0.03944290502899099, 0.0007179289449005925], "mean": [2.1526183241899433, -2.452009506762096, 0.7000351653619883, 0.0, 0.0, 0.00017364838993885582, 0.9999999929876888, 0.05353879003476581, 0.08779509288663086, 0.7455731716442311, -0.060954139592813296, 0.11338726558627929, -0.06213839435800512, 0.3500939748078126, 0.004639777798871446, -0.0035364744149907683], "std": [4.221102571585973e-05, 5.8292307010663206e-05, 0.00011311858478522244, 0.0, 0.0, 9.211960357441221e-05, 3.185501136537284e-08, 0.18487604406201924, 0.29462050068808465, 0.04708842745111535, 0.6167667990623076, 0.21158496454831435, 0.6248452658833458, 0.20346959267319523, 0.009938502686185409, 0.010079204076101916], "count": [374]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6071428571428572, -0.28, -0.5285714285714286, -0.16285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6142857142857143, 0.3142857142857143, 0.4314285714285714, 0.2285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04597020626432391, -0.0017952635599694606, 0.0007639419404125105, -0.01590527119938882, -0.039763177998472114, -0.0070817417876241524, 0.8609625668449198], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7071254907441736, 0.5848579952390576, 0.258861743417637, 0.13385557859143624, 0.18387242198002224, 0.08976491164231291, 0.5086683187419966], "count": [374]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04278074949979782], "std": [0.20236243307590485], "count": [374]}, "next.done": {"min": [false], "max": [true], "mean": [0.00267379679144385], "std": [0.05163959335782878], "count": [374]}, "timestamp": {"min": [0.0], "max": [18.65], "mean": [9.325000000000001], "std": [5.398205720422296], "count": [374]}, "frame_index": {"min": [0], "max": [373], "mean": [186.5], "std": [107.96411440844592], "count": [374]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [374]}, "index": {"min": [9406], "max": [9779], "mean": [9592.5], "std": [107.96411440844592], "count": [374]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [374]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.058823529411764705]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46545274861653646]], [[0.5045553852156097]], [[0.4942591409122242]]], "std": [[[0.16251873859747207]], [[0.1309507354059591]], [[0.12291775401238506]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4955608101639093]], [[0.5384050663966758]], [[0.5437380622414981]]], "std": [[[0.22505879241072693]], [[0.17622454282151195]], [[0.16201354274493363]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5066844727759268]], [[0.5291667815563725]], [[0.5150142750459559]]], "std": [[[0.24609579487373154]], [[0.2108047891491954]], [[0.19679797702233398]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [277]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [277]}, "observation.state": {"min": [3.630459190558729, -0.9747061914383375, 0.699859017022955, 0.0, 0.0, 0.7067143321037292, 0.7070136666297913, -0.009452859712328898, -0.5029714509795093, 0.5974176690703895, -0.9894120097160339, -0.3096161484718323, -0.5238743424415588, 0.0007900763303041458, -0.0033286619451399985, -0.041793253538549], "max": [3.6309320447300335, -0.9677826182245938, 0.7001204719559547, 0.0, 0.0, 0.7071999311447144, 0.7074990272521973, 0.4846078946367001, 0.3573565616436798, 0.7719294820552015, 0.9873114824295044, 0.11231780052185059, 0.8413081169128418, 0.4289286434650421, 0.042971258116693015, -0.020509322450431484], "mean": [3.630713271385592, -0.9678923288128114, 0.6999963675255841, 0.0, 0.0, 0.7070267482354753, 0.7071867641128788, 0.2044685731208991, -0.08977683403429038, 0.7210041426209558, 0.5959027878644234, -0.08679661057916359, 0.5843894942142472, 0.20536154005188992, 0.03659449335137517, -0.03963958287630073], "std": [6.290063836039217e-05, 0.0005663117149076925, 3.85242671642275e-05, 0.0, 0.0, 9.003040781665714e-05, 9.000854308812548e-05, 0.14054535769474197, 0.23245783352662056, 0.037995491617014154, 0.38871371473464544, 0.12233686768668572, 0.2669375937179546, 0.127911827792555, 0.009108197050621818, 0.0022219933965567876], "count": [277]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.13571428571428573, -0.24, -0.38285714285714284, -0.23428571428571432, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.27142857142857146, 0.09142857142857143, 0.40571428571428575, 0.30285714285714294, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.15551830840639505, -0.06309953584321813, 0.05562145435791644, -0.03955647240845796, -0.01907168643630736, 0.015296544610624041, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6335058021193029, 0.6840571616734096, 0.09293192649828491, 0.0814660346327491, 0.1623511005608492, 0.13501893779865765, 0.0], "count": [277]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05776173248887062], "std": [0.2332923263311386], "count": [277]}, "next.done": {"min": [false], "max": [true], "mean": [0.0036101083032490976], "std": [0.05997562355897527], "count": [277]}, "timestamp": {"min": [0.0], "max": [13.8], "mean": [6.8999999999999995], "std": [3.9981245603407602], "count": [277]}, "frame_index": {"min": [0], "max": [276], "mean": [138.0], "std": [79.96249120681522], "count": [277]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [277]}, "index": {"min": [9780], "max": [10056], "mean": [9918.0], "std": [79.96249120681522], "count": [277]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [277]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9764705882352941]], [[0.996078431372549]]], "mean": [[[0.4025053639131434]], [[0.378279052734375]], [[0.36198944750019146]]], "std": [[[0.18062063983561075]], [[0.18126694215652234]], [[0.18670908457618746]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38520173974130667]], [[0.3580514023724724]], [[0.3406471186619179]]], "std": [[[0.19952524675565705]], [[0.19356174207423968]], [[0.19153166020884058]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39521664787741273]], [[0.3663116137934666]], [[0.3478812495212929]]], "std": [[[0.21081990182343038]], [[0.2043306931880061]], [[0.20162637064198277]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [393]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [393]}, "observation.state": {"min": [3.4916721139950306, -1.1253473500052513, 0.6996869596338959, 0.0, 0.0, 0.7067276239395142, 0.7069620490074158, -0.05350552368337658, -0.7048487205414151, 0.4884451290837716, -0.9852761030197144, -0.38918113708496094, -0.9153684377670288, 0.0005972228827886283, 0.020558660338249077, -0.04004728228310256], "max": [3.492060403074218, -1.121484491538364, 0.7001937144242825, 0.0, 0.0, 0.7072514295578003, 0.7074858546257019, 0.5281157921928511, 0.5652327471138339, 0.715445418727867, 0.9438113570213318, 0.5126473903656006, 0.9900747537612915, 0.7646225094795227, 0.04286949497055158, -0.020507900405523808], "mean": [3.4918001812235566, -1.1216191943454639, 0.7000044956684776, 0.0, 0.0, 0.7070527648501117, 0.7071607611864881, 0.1376229375750125, -0.16265420980783193, 0.6352940024501291, 0.39416055526328453, 0.18605215388703286, 0.29236988437482875, 0.32120042087011985, 0.03919376690804874, -0.039649614780154], "std": [4.722392711109751e-05, 0.00029484820356820435, 7.913147538547617e-05, 0.0, 0.0, 6.240669598412511e-05, 6.240225354385657e-05, 0.1268455060615345, 0.366211203866186, 0.06821800621161077, 0.4743302713783366, 0.22957058105772415, 0.53938808911637, 0.22965372465227532, 0.0021615737868826653, 0.0018536468697480895], "count": [393]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6142857142857143, -0.7828571428571428, -0.8971428571428571, -0.19142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.30285714285714294, 0.4371428571428572, 0.35714285714285715, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.00172664485641585, 0.016303162486368573, 0.03475099963649581, -0.13514358415121772, -0.17031624863685926, 0.05009814612868048, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6019901342853877, 0.6737521039691191, 0.25904418755644687, 0.28648085351438024, 0.2900417976448325, 0.09718110161485828, 0.0], "count": [393]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.040712468326091766], "std": [0.19762328267097473], "count": [393]}, "next.done": {"min": [false], "max": [true], "mean": [0.002544529262086514], "std": [0.05037910909217133], "count": [393]}, "timestamp": {"min": [0.0], "max": [19.6], "mean": [9.799999999999999], "std": [5.672448031200169], "count": [393]}, "frame_index": {"min": [0], "max": [392], "mean": [196.0], "std": [113.44896062400336], "count": [393]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [393]}, "index": {"min": [10057], "max": [10449], "mean": [10253.0], "std": [113.44896062400336], "count": [393]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [393]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.07450980392156863]], [[0.0]]], "max": [[[1.0]], [[0.9764705882352941]], [[0.996078431372549]]], "mean": [[[0.6574935727586932]], [[0.5909236958821615]], [[0.49970639935661765]]], "std": [[[0.17863411745164992]], [[0.16227898301552718]], [[0.16843775022165877]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6594621228984758]], [[0.6119559840782016]], [[0.5482988083783318]]], "std": [[[0.23638811203386398]], [[0.22980175672797223]], [[0.23840294446590676]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6967006165747549]], [[0.6450252541934743]], [[0.5745487072514553]]], "std": [[[0.19171140878125023]], [[0.19508073391040057]], [[0.2202044876320217]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [310]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [310]}, "observation.state": {"min": [0.7771043447565221, -4.825272090106365, 0.6999303399222612, 0.0, 0.0, -1.0, 7.642294264087468e-08, -0.21089207312679903, -0.41228876948118565, 0.590332979528939, -0.989387571811676, -0.3841347098350525, -0.9121788144111633, 0.00031698905513621867, 0.020551913190228848, -0.04084098384246306], "max": [0.7785221717487968, -4.825074365123175, 0.7000832009838938, 0.0, 0.0, 1.0, 0.00019075826276093721, 0.3781293579175611, 0.48649445877186537, 0.8902764705353606, 0.9371278285980225, 0.4464019536972046, 0.8608548045158386, 0.7403578758239746, 0.04006654218103447, -0.020514646032197156], "mean": [0.7771397748728908, -4.825197343327686, 0.6999975276545213, 0.0, 0.0, -0.1032258064516129, 2.606574128321423e-05, 0.11516699782749916, 0.007994016473755684, 0.7703777023555568, 0.07143857229140498, 0.15073584894980155, -0.06131901303606649, 0.3661545006213747, 0.03899292128286543, -0.03956481407867002], "std": [0.00010845939928668027, 2.8803682476780854e-05, 2.1445986807704936e-05, 0.0, 0.0, 0.9946579476797112, 3.2316784560825974e-05, 0.16763078803883047, 0.2410705658817587, 0.05289886586214485, 0.5428994941890333, 0.22222081737902277, 0.6585533698951774, 0.23776374611141105, 0.002221389171418265, 0.0020945090771517802], "count": [310]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5642857142857142, -0.3514285714285714, -0.5657142857142857, -0.5571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.4928571428571429, 0.36857142857142855, 0.12857142857142856, 0.3057142857142857, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.049377880184331834, 0.022327188940092117, 0.017488479262672767, -0.0175852534562212, -0.09180645161290321, -0.047188940092165926, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6978119485466071, 0.6263064152091402, 0.1902454472077317, 0.15825518078308123, 0.14374613506960232, 0.19573150177263476, 0.0], "count": [310]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08709677308797836], "std": [0.2819768488407135], "count": [310]}, "next.done": {"min": [false], "max": [true], "mean": [0.0032258064516129032], "std": [0.05670450268144177], "count": [310]}, "timestamp": {"min": [0.0], "max": [15.45], "mean": [7.725], "std": [4.474441305906247], "count": [310]}, "frame_index": {"min": [0], "max": [309], "mean": [154.5], "std": [89.48882611812493], "count": [310]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [310]}, "index": {"min": [10450], "max": [10759], "mean": [10604.5], "std": [89.48882611812493], "count": [310]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [310]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.054901960784313725]], [[0.011764705882352941]]], "max": [[[0.9725490196078431]], [[0.9019607843137255]], [[0.8705882352941177]]], "mean": [[[0.6009651130227481]], [[0.5581307073854932]], [[0.4694322665345435]]], "std": [[[0.18232266946980044]], [[0.13098666600816988]], [[0.10993661104846915]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.06666666666666667]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6091906361299403]], [[0.5636932756012561]], [[0.47822935635435815]]], "std": [[[0.213253193224895]], [[0.17140241962781824]], [[0.16111940431792482]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6338315908394608]], [[0.5731871110504749]], [[0.4737015931372549]]], "std": [[[0.24607832283525338]], [[0.1868929761418835]], [[0.16817219966847807]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [105]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [105]}, "observation.state": {"min": [1.8157554125813522, -0.7920283222240525, 0.6999411979862319, 0.0, 0.0, 0.7069944739341736, 0.707096517086029, -0.1574428538760687, -0.24845068067045672, 0.6016184622700428, -0.988794207572937, -0.04440221190452576, -0.7475193738937378, 0.0009531211107969284, 0.020556023146531172, -0.03972232968207795], "max": [1.8159391685017892, -0.7917918837442592, 0.7000379601886572, 0.0, 0.0, 0.7071170210838318, 0.7072190642356873, 0.3770232928479735, 0.13930463290029094, 0.8380812895036613, 0.9176908135414124, 0.2861364483833313, 0.5416643023490906, 0.595197856426239, 0.0405785920215726, -0.020510537539309173], "mean": [1.8157955508191979, -0.7918161157825462, 0.6999973152310959, 0.0, 0.0, 0.707088954108102, 0.7071245670318603, 0.12339419568189769, -0.040447231177171555, 0.7609838901907418, -0.5172926863034566, 0.08353721002737681, -0.43193264390741076, 0.28237267968000934, 0.03875573505627136, -0.0382053353735923], "std": [4.383586291444057e-05, 3.501746786484221e-05, 1.705550241766525e-05, 0.0, 0.0, 2.818188612810857e-05, 2.8208138721104545e-05, 0.16423320786409945, 0.12203217093460156, 0.0727020512244621, 0.5174347586220774, 0.08839641117720688, 0.36427492439799375, 0.22556771608284096, 0.00346866703330061, 0.0033228967117506667], "count": [105]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.0, -0.09142857142857143, -0.5685714285714286, -0.27714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5071428571428571, 0.39714285714285713, -0.0, 0.29714285714285715, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.05496598639455787, 0.15408163265306124, 0.11170068027210882, 0.07654421768707481, -0.15975510204081628, -0.001551020408163258, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.8527057055180614, 0.6510542076398671, 0.1459665810013255, 0.1392221597131527, 0.199988382280925, 0.16532726496187825, 0.0], "count": [105]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.15238095819950104], "std": [0.3593897521495819], "count": [105]}, "next.done": {"min": [false], "max": [true], "mean": [0.009523809523809525], "std": [0.09712418121129114], "count": [105]}, "timestamp": {"min": [0.0], "max": [5.2], "mean": [2.5999999999999996], "std": [1.5154757228892406], "count": [105]}, "frame_index": {"min": [0], "max": [104], "mean": [52.0], "std": [30.309514457784815], "count": [105]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [105]}, "index": {"min": [10760], "max": [10864], "mean": [10812.0], "std": [30.309514457784815], "count": [105]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [105]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.439896484375]], [[0.43366102091471354]], [[0.4286187397077972]]], "std": [[[0.2188449847139445]], [[0.2195613434050487]], [[0.2251776774582951]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38591962687174475]], [[0.38055611105526194]], [[0.371955275591682]]], "std": [[[0.2517958474148216]], [[0.24463221642126506]], [[0.23609359614609385]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37234179747338386]], [[0.3673381874234069]], [[0.35869239358340993]]], "std": [[[0.25309716694969814]], [[0.2440435202015829]], [[0.23322695434191026]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [245]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [245]}, "observation.state": {"min": [4.580290503186579, -0.8094091478471015, 0.6999077859161633, 0.0, 0.0, 0.7069123983383179, 0.7068873643875122, -0.10408849369852036, -0.3736780048734527, 0.6043146728347064, -0.9886701107025146, -0.4001821279525757, -0.9702260494232178, 0.00034833556856028736, -0.00047769915838005207, -0.03959372485577677], "max": [4.580682060043779, -0.8092066484929228, 0.7000454141852706, 0.0, 0.0, 0.7073261737823486, 0.7073010802268982, 0.4106096879597903, 0.5668801026128678, 1.0081325903052136, 0.8924631476402283, 0.47093266248703003, 0.9823108911514282, 0.7534925937652588, 0.03957197701441561, 0.0010189834712797702], "mean": [4.580467739293694, -0.8092394384779682, 0.6999882775929602, 0.0, 0.0, 0.7071121106342394, 0.707101419750525, 0.16082220731236235, 0.09258390327238562, 0.8080121448237713, -0.039479398149616866, 0.029308714185442244, 0.08548611919490659, 0.24086589157327115, 0.006917570103016658, -0.006872778684357535], "std": [6.278023457159332e-05, 3.2072078998385796e-05, 3.117653412637138e-05, 0.0, 0.0, 6.815204378954762e-05, 6.815986659517963e-05, 0.14212685589588697, 0.2750195401666041, 0.08373208232509603, 0.5610787737443086, 0.1972736078775809, 0.720775976411294, 0.24292768502776066, 0.013363342025084686, 0.013399287660780468], "count": [245]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7714285714285714, -0.26285714285714284, -0.5514285714285714, -0.5257142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9928571428571428, 1.0, 1.0, 0.5857142857142857, 0.17142857142857143, 0.58, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.07676384839650144, 0.08714285714285716, 0.08725947521865887, 0.06621574344023323, -0.13555685131195336, -0.044583090379008775, 0.7224489795918367], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.637251606997915, 0.7761655662651664, 0.3508327496404797, 0.20375904734056674, 0.18122508789407185, 0.2882391410725816, 0.6914242343790964], "count": [245]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06530611962080002], "std": [0.2470652312040329], "count": [245]}, "next.done": {"min": [false], "max": [true], "mean": [0.004081632653061225], "std": [0.06375714021148289], "count": [245]}, "timestamp": {"min": [0.0], "max": [12.2], "mean": [6.1], "std": [3.5362409420173844], "count": [245]}, "frame_index": {"min": [0], "max": [244], "mean": [122.0], "std": [70.7248188403477], "count": [245]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [245]}, "index": {"min": [10865], "max": [11109], "mean": [10987.0], "std": [70.7248188403477], "count": [245]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [245]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4216333725873162]], [[0.419164259966682]], [[0.4159750964594822]]], "std": [[[0.15469504697518935]], [[0.14683572158151165]], [[0.14713413407130602]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4268273423138787]], [[0.4306668455834482]], [[0.42927519435508577]]], "std": [[[0.21058694029984978]], [[0.20150186469301315]], [[0.2002163321898152]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40293886970071235]], [[0.40638339353075215]], [[0.40978678505093447]]], "std": [[[0.18096044991993215]], [[0.17307163193702035]], [[0.16922216734025505]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [298]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [298]}, "observation.state": {"min": [0.8340021607219282, -0.3088547657058454, 0.6999092191819557, 0.0, 0.0, -1.0, 6.787767148352941e-08, -0.13397555069719735, -0.35548565883571537, 0.6054075788372698, -0.8536568284034729, -0.2023959755897522, -0.8267742395401001, 2.8085165467928164e-05, 0.020540098441594157, -0.04024444455565502], "max": [0.9986006575745375, -0.2678373296291865, 0.7000607611016011, 0.0, 0.0, 1.0, 0.003093974431976676, 0.3999290179378491, 0.48136750631690733, 0.9383160187269978, 0.9906580448150635, 0.18083089590072632, 0.8496685028076172, 0.6457008719444275, 0.04034060974302716, 0.001572382896019422], "mean": [0.9880399316967888, -0.30636521446873366, 0.7000005677279022, 0.0, 0.0, 0.993285630773378, 0.002324001325234541, 0.13803313577719747, 0.04612717110041595, 0.7231324004419664, 0.08301897376975757, 0.027794071541936607, 0.0031208478464376205, 0.2278550253219002, 0.03888623738653858, -0.03755655582163315], "std": [0.03140353362533369, 0.006633348093976703, 1.9839283361049127e-05, 0.0, 0.0, 0.11566216342724504, 0.0007636618158905501, 0.1506355443433946, 0.23860757652868553, 0.0700731522198281, 0.7075400286376786, 0.10062384766631247, 0.6241560641689126, 0.20024695414218455, 0.002723139029818648, 0.006837262104085645], "count": [298]}, "action": {"min": [-0.6714285714285714, 0.0, -0.03142857142857143, 0.0, -1.0, -1.0, -1.0, -0.9357142857142857, -0.29714285714285715, -0.4914285714285715, -0.35428571428571426, -1.0], "max": [0.0, 0.41428571428571426, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.2057142857142857, 0.48571428571428577, 0.5314285714285715, -1.0], "mean": [-0.0238255033557047, 0.010786193672099712, -0.00030680728667305853, 0.0, -0.87248322147651, 0.004913710450623221, 0.04808245445829339, 0.08990891658676894, -0.004860977948226264, -0.042310642377756474, -0.0187823585810163, -1.0], "std": [0.10746869832281063, 0.059440374280044256, 0.0027623972326854536, 0.0, 0.4886440711212697, 0.6874702838157093, 0.575716254925796, 0.3783611256581886, 0.11117191715552407, 0.15358654275246184, 0.1728939348845759, 0.0], "count": [298]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05369127541780472], "std": [0.2254074662923813], "count": [298]}, "next.done": {"min": [false], "max": [true], "mean": [0.003355704697986577], "std": [0.057831167582597605], "count": [298]}, "timestamp": {"min": [0.0], "max": [14.85], "mean": [7.424999999999999], "std": [4.301235287681901], "count": [298]}, "frame_index": {"min": [0], "max": [297], "mean": [148.5], "std": [86.024705753638], "count": [298]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [298]}, "index": {"min": [11110], "max": [11407], "mean": [11258.5], "std": [86.024705753638], "count": [298]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [298]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32826314469879747]], [[0.323821159213197]], [[0.31200869810814946]]], "std": [[[0.26520630149029945]], [[0.266145067778914]], [[0.27570815982740654]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4077396958295037]], [[0.3978842665728401]], [[0.3804567535998774]]], "std": [[[0.278033770424689]], [[0.27766336501770184]], [[0.28106180317964113]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3815533884085861]], [[0.3722430156632966]], [[0.35598732802447147]]], "std": [[[0.27241012575913337]], [[0.27246374746563745]], [[0.2763841566524659]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [250]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [250]}, "observation.state": {"min": [4.364334593526141, -1.1395133963467947, 0.6998423153469118, 0.0, 0.0, -3.233501411159523e-05, 0.9999998807907104, -0.03605597473736122, -0.42348960826914284, 0.5900940122189007, -0.991863489151001, -0.23157429695129395, -0.9693701863288879, 0.00024845049483701587, -0.0001859130274567418, -0.039504075127247254], "max": [4.364762844119431, -1.1391543711811254, 0.7000368966695688, 0.0, 0.0, 0.0005416632629930973, 1.0, 0.43024009945562014, 0.302844038510661, 0.8532859746830495, 0.9294227361679077, 0.37864768505096436, 0.9434468150138855, 0.7195033431053162, 0.039463817101856126, 0.0008250822842939718], "mean": [4.364727382398215, -1.1394127755418848, 0.6999925853559303, 0.0, 0.0, 0.0001615646502141317, 0.999999997138977, 0.16905184144231963, -0.06395015386604543, 0.7966618278328808, -0.17001409322023392, 0.06538992029428482, -0.24364361479878427, 0.24878513039811515, 0.006557085590209817, -0.005569359044214557], "std": [5.828785716399334e-05, 5.06979965563798e-05, 2.9265275736565764e-05, 0.0, 0.0, 7.832068201861062e-05, 1.8244863958081235e-08, 0.13680552269982404, 0.19705779679499258, 0.05467008637415921, 0.591160130155049, 0.17348099814383675, 0.6520605773196683, 0.20202513943810724, 0.012227539550833671, 0.012597896800905844], "count": [250]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.17857142857142858, -0.3457142857142857, -0.6314285714285715, -0.6457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.8642857142857142, 0.4542857142857143, 0.5028571428571429, 0.4285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.009942857142857175, 0.0909142857142857, 0.08711428571428578, 0.038057142857142845, -0.06586285714285711, -0.06610285714285713, 0.768], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7390567049024215, 0.6845203152871479, 0.19421290442423783, 0.14956529118258213, 0.24095214693005768, 0.25268758647623296, 0.6404498419080179], "count": [250]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06400000303983688], "std": [0.2447529286146164], "count": [250]}, "next.done": {"min": [false], "max": [true], "mean": [0.004], "std": [0.063118935352238], "count": [250]}, "timestamp": {"min": [0.0], "max": [12.45], "mean": [6.225], "std": [3.6084103148062305], "count": [250]}, "frame_index": {"min": [0], "max": [249], "mean": [124.5], "std": [72.16820629612461], "count": [250]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [250]}, "index": {"min": [11408], "max": [11657], "mean": [11532.5], "std": [72.16820629612461], "count": [250]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [250]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.027450980392156862]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36930343268899357]], [[0.35675571097579656]], [[0.3457266749961703]]], "std": [[[0.2389689558836671]], [[0.23283523998516298]], [[0.23883949874958849]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0784313725490196]], [[0.050980392156862744]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46236076265222886]], [[0.4350761868345971]], [[0.4179713667327283]]], "std": [[[0.2926543050729753]], [[0.2903553840572632]], [[0.29527751864585455]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4365338410022212]], [[0.4124710029153263]], [[0.39702238793466604]]], "std": [[[0.29343764115971444]], [[0.28907489922863927]], [[0.29246893845556643]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [326]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [326]}, "observation.state": {"min": [5.90860003315842, -1.6283622717465978, 0.6998924659370688, 0.0, 0.0, -0.0008490073378197849, 0.9999996423721313, -0.26060957518812966, -0.6079188073377189, 0.5323461989473334, -0.9891495704650879, -0.20355623960494995, -0.7672765254974365, 0.0008933932986110449, -0.0011163212761651322, -0.03941908677117181], "max": [5.911329320342802, -1.6279808627609573, 0.7002808234346578, 0.0, 0.0, 4.757302303914912e-05, 1.0, 0.49030788455304286, 0.5158892435601112, 0.87257829757368, 0.9733723998069763, 0.32157284021377563, 0.6701781749725342, 0.7237798571586609, 0.039297052433459406, 0.00024665982506793404], "mean": [5.911238162725771, -1.6280808762001253, 0.7000286525898785, 0.0, 0.0, -0.00010853760576861376, 0.999999995611928, 0.1323557853225187, -0.03971713775407416, 0.7195505199641845, -0.240200746095985, 0.07215238860779745, -0.1936965953627247, 0.3333629866843426, 0.004182426740965846, -0.0041768554825707], "std": [0.0003581304917766607, 3.458568655855554e-05, 8.07622325419292e-05, 0.0, 0.0, 9.428707049169691e-05, 3.337852415788106e-08, 0.20177624303072675, 0.3111361635020947, 0.09525167659422751, 0.6325634663153153, 0.12057789349604577, 0.5749694700935153, 0.20780502007868867, 0.010317381229607911, 0.010264826983057949], "count": [326]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5928571428571429, -0.35714285714285715, -0.34285714285714286, -0.1, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.38857142857142857, 0.26285714285714284, 0.4314285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.09176161262050832, -0.07552585451358447, 0.11297107800175293, 0.022576687116564426, -0.03437335670464503, 0.04829973707274319, 0.852760736196319], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.742762366207637, 0.6168291784878214, 0.3309120412675291, 0.17598565073592823, 0.1279842168625022, 0.12893415113378612, 0.5223017583752856], "count": [326]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04907975345849991], "std": [0.21603456139564514], "count": [326]}, "next.done": {"min": [false], "max": [true], "mean": [0.003067484662576687], "std": [0.055299866188098], "count": [326]}, "timestamp": {"min": [0.0], "max": [16.25], "mean": [8.125], "std": [4.705382556179678], "count": [326]}, "frame_index": {"min": [0], "max": [325], "mean": [162.5], "std": [94.10765112359356], "count": [326]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [326]}, "index": {"min": [11658], "max": [11983], "mean": [11820.5], "std": [94.10765112359356], "count": [326]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [326]}}} +{"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": [[[0.6081662232642081]], [[0.38286303172392]], [[0.3473920443665747]]], "std": [[[0.13141279165416075]], [[0.2316489994803248]], [[0.24298874371996404]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6411831288057215]], [[0.49908703673119637]], [[0.45718317906996786]]], "std": [[[0.17538183838144594]], [[0.2595319642794702]], [[0.2609664933657923]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6401303890452665]], [[0.4622392177207797]], [[0.41642751656326593]]], "std": [[[0.1643481859473479]], [[0.2675859221507299]], [[0.26767202593206274]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [292]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [292]}, "observation.state": {"min": [4.856378103096248, -5.588476302022669, 0.6998949648229255, 0.0, 0.0, -0.0001179996324935928, 0.9999998807907104, -0.15307498507701833, -0.5742343934990641, 0.5744890067216906, -0.9947205185890198, -0.38656651973724365, -0.7782126665115356, 0.0014088177122175694, 0.02054637907699415, -0.04133835729848501], "max": [4.857086349398368, -5.5880684760784, 0.7000930103223051, 0.0, 0.0, 0.0005405730335041881, 1.0, 0.4241805759730788, 0.4045034072602336, 0.9557962415027959, 0.9752391576766968, 0.1560085415840149, 0.8654574155807495, 0.4754447937011719, 0.040107780272186054, 0.0005501896209765724], "mean": [4.857048273697554, -5.588353267211343, 0.6999971441510808, 0.0, 0.0, 0.00014540953419897698, 0.999999998366996, 0.12758721949482746, -0.09583236049451414, 0.793320244003672, 0.1328202059415922, -0.1179796573642182, 0.21397305634638217, 0.1735797246155801, 0.0384547453895242, -0.03795212476765241], "std": [7.648743037182283e-05, 5.560714068949309e-05, 2.765183942299717e-05, 0.0, 0.0, 8.428309846071504e-05, 1.3856498140567899e-08, 0.17529779496832043, 0.2691134399456449, 0.07624505532296617, 0.6557439471096421, 0.1409732570816916, 0.6507627147778905, 0.13841786807691323, 0.0031941811324898393, 0.007420468201383028], "count": [292]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7142857142857143, -0.20285714285714287, -0.5085714285714286, -0.3, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6285714285714287, 0.2542857142857143, 0.08857142857142856, 0.29714285714285715, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1202544031311154, -0.023361056751467688, 0.051418786692759316, 0.009589041095890408, -0.0739041095890411, -0.0073091976516633855, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.727234166350192, 0.7176361766596342, 0.26107776964976054, 0.09010461395867984, 0.13222973196501905, 0.15370387591916476, 0.0], "count": [292]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.054794520139694214], "std": [0.22757872939109802], "count": [292]}, "next.done": {"min": [false], "max": [true], "mean": [0.003424657534246575], "std": [0.058420281195999936], "count": [292]}, "timestamp": {"min": [0.0], "max": [14.55], "mean": [7.275], "std": [4.214632249674934], "count": [292]}, "frame_index": {"min": [0], "max": [291], "mean": [145.5], "std": [84.2926449934987], "count": [292]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [292]}, "index": {"min": [11984], "max": [12275], "mean": [12129.5], "std": [84.2926449934987], "count": [292]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [292]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4482000768324908]], [[0.4778672778559666]], [[0.4656687460506664]]], "std": [[[0.1750089568089773]], [[0.16085975214506157]], [[0.16035518508575852]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5089955599915748]], [[0.5217325612984451]], [[0.49844922054515167]]], "std": [[[0.2480879726263154]], [[0.21763284725210835]], [[0.2015372167057312]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4099776575425092]], [[0.4298428913191253]], [[0.42291230085784315]]], "std": [[[0.2413445676724666]], [[0.22688313573824095]], [[0.21816182527368433]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [296]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [296]}, "observation.state": {"min": [2.4757731945723007, -0.8474089467350744, 0.6998943447871008, 0.0, 0.0, 0.707004725933075, 0.7069768905639648, -0.1895251871756023, -0.3423554462444689, 0.48792370281272623, -0.9890217185020447, -0.30523884296417236, -0.8527868390083313, 0.0015326521825045347, -0.0003027485007293497, -0.021377128404061946], "max": [2.476038665233865, -0.8470092642993607, 0.7001637546959173, 0.0, 0.0, 0.7072367072105408, 0.7072089314460754, 0.3653877024895584, 0.5236899996583899, 0.8824450216802101, 0.9897701144218445, 0.1947830319404602, 0.8093108534812927, 0.745391309261322, 0.021400410129383683, 0.0013913460060781732], "mean": [2.4759070704434416, -0.8470545872287165, 0.7000126250989996, 0.0, 0.0, 0.7071098379186682, 0.7071036855513985, 0.16279462729534638, 0.09177075499139874, 0.7346702309364348, 0.13212065655436064, -0.0014007181633968612, 0.1349658591521753, 0.3633363638600221, 0.0014619814031768925, -0.0009964825652643192], "std": [4.228737669090913e-05, 4.7907452632384516e-05, 5.061777661240558e-05, 0.0, 0.0, 3.5694613502895676e-05, 3.568800249323905e-05, 0.1314704084475552, 0.260991507986268, 0.11275461644227723, 0.595841008987875, 0.11762101770710563, 0.6319699843197677, 0.2531122205018379, 0.003252389613778816, 0.0027876945436279147], "count": [296]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.8142857142857143, -0.34, -0.4742857142857143, -0.58, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6714285714285714, 0.3, 0.38857142857142857, 0.3457142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.055308880308880315, 0.008035714285714236, 0.09708011583011582, 0.022857142857142864, -0.0561293436293436, 0.01656370656370655, 0.9932432432432432], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6081765681265737, 0.6430169759208487, 0.3185503744650148, 0.17089895667372473, 0.18600880665965, 0.19613627517645685, 0.1160511083602548], "count": [296]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.054054055362939835], "std": [0.2261243313550949], "count": [296]}, "next.done": {"min": [false], "max": [true], "mean": [0.0033783783783783786], "std": [0.05802555418012725], "count": [296]}, "timestamp": {"min": [0.0], "max": [14.75], "mean": [7.375], "std": [4.272367610587834], "count": [296]}, "frame_index": {"min": [0], "max": [295], "mean": [147.5], "std": [85.44735221175668], "count": [296]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [296]}, "index": {"min": [12276], "max": [12571], "mean": [12423.5], "std": [85.44735221175668], "count": [296]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [296]}}} +{"episode_index": 45, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.054901960784313725]], [[0.10588235294117647]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6574590226715686]], [[0.5986044263652727]], [[0.51769848094267]]], "std": [[[0.17255445255176802]], [[0.15323371469369648]], [[0.1565651145359535]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6811370544433594]], [[0.6383723359949448]], [[0.5833563788918888]]], "std": [[[0.1927616708213278]], [[0.19610496453216483]], [[0.2157086197763999]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6480711340810739]], [[0.6092256080777038]], [[0.5578673053816253]]], "std": [[[0.1959942431159246]], [[0.18797392522658904]], [[0.19749455552918196]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [239]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [239]}, "observation.state": {"min": [0.7882986831481534, -0.42441228758178196, 0.6999011852354029, 0.0, 0.0, -1.0, 9.069731277122628e-08, -0.13274016936271282, -0.43963267057422883, 0.587392359074835, -0.9922593235969543, -0.18708646297454834, -0.6334596872329712, 0.0009658909984864295, -0.00013045320020142634, -0.03931577619302119], "max": [0.7891006209925896, -0.4241095523551236, 0.7000269352988051, 0.0, 0.0, 1.0, 0.00040474600973539054, 0.3900193869414258, 0.35690369716403303, 0.8479816390067527, 0.9835288524627686, 0.4642859697341919, 0.7291033267974854, 0.5337041020393372, 0.03933720256363353, 0.0018713390909314356], "mean": [0.7883388445829365, -0.4241761172775871, 0.6999921379828886, 0.0, 0.0, 0.05439330543933055, 3.69218772757649e-05, 0.1356651717475481, -0.043701318408748774, 0.7584889955548072, 0.01283924562162934, 0.19000414076210564, 0.05419348641668902, 0.3293148229255684, 0.00579801060059921, -0.00565267590320317], "std": [8.019222979767937e-05, 4.5241449456769636e-05, 2.2692369161811355e-05, 0.0, 0.0, 0.9985195883523682, 6.416387726034819e-05, 0.14773145053792694, 0.24286352736854455, 0.07055980247873712, 0.6802837028741968, 0.20542248038132996, 0.5594720973527236, 0.1853511949105098, 0.011489995542660407, 0.0115826155267175], "count": [239]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.40714285714285714, -0.28, -0.4742857142857143, -0.10857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5071428571428571, 0.2742857142857143, 0.16285714285714287, 0.20857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1035863717872086, -0.07934847579199032, 0.08308427973699933, 0.052504482964733985, -0.05982068141063952, 0.015218170950388524, 0.8075313807531381], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7186462460640085, 0.6166375785194051, 0.1758347367582198, 0.14446271789154982, 0.14239495569713573, 0.06343443641889579, 0.5898246087600336], "count": [239]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06694560497999191], "std": [0.24992775917053223], "count": [239]}, "next.done": {"min": [false], "max": [true], "mean": [0.0041841004184100415], "std": [0.06454915740812348], "count": [239]}, "timestamp": {"min": [0.0], "max": [11.9], "mean": [5.95], "std": [3.449637662132068], "count": [239]}, "frame_index": {"min": [0], "max": [238], "mean": [119.0], "std": [68.99275324264136], "count": [239]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [239]}, "index": {"min": [12572], "max": [12810], "mean": [12691.0], "std": [68.99275324264136], "count": [239]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [239]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46688205015893075]], [[0.462870397829542]], [[0.46002253394033393]]], "std": [[[0.19843225823194713]], [[0.19631261307097983]], [[0.19494131886839408]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4429918631759344]], [[0.4401747532264859]], [[0.4364641466327742]]], "std": [[[0.22256390780646432]], [[0.22073966123340474]], [[0.2176276305357962]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3738592427571615]], [[0.37122168028588387]], [[0.36765901034486065]]], "std": [[[0.2342244058729921]], [[0.2316859594264901]], [[0.22766783411774233]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [181]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [181]}, "observation.state": {"min": [4.822906645741424, -0.9177032329171345, 0.6998637023255464, 0.0, 0.0, 0.707041323184967, 0.7069990038871765, -0.35020903385106994, -0.012276032788460789, 0.5733268115524588, -0.9918809533119202, -0.13320457935333252, -0.7717159390449524, 0.00040796236135065556, 2.5896786703634566e-05, -0.0397686416814997], "max": [4.8230878750916615, -0.9164375559111325, 0.7000421039121509, 0.0, 0.0, 0.7072145938873291, 0.7071722745895386, 0.3489707418369413, 0.49844439236006455, 0.7854512656403919, 0.8779492974281311, 0.17069488763809204, 0.9086019396781921, 0.3698941469192505, 0.03987063288292367, 0.0014727507282208516], "mean": [4.823049145768508, -0.9165029914293847, 0.6999859295615174, 0.0, 0.0, 0.7070842872667049, 0.7071292331205548, -0.03227366241527681, 0.19922698741894704, 0.7379825345996518, 0.3556142054210052, 0.0017355696931069728, 0.4810739438260458, 0.15046862906484365, 0.0145214389535677, -0.013165421493596383], "std": [3.501736083852531e-05, 0.00017132505515624476, 2.9594880303037664e-05, 0.0, 0.0, 5.227570472604844e-05, 5.2254741019474126e-05, 0.21934789775461777, 0.17615967560112852, 0.05713552419344299, 0.630936751811465, 0.07240043572475226, 0.4506435357153897, 0.11428028262215235, 0.01694852329801395, 0.017259804197743357], "count": [181]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.15, -0.16, -0.5457142857142857, -0.26, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6642857142857144, 0.15714285714285714, 0.32, 0.05428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.24285714285714297, 0.0028808208366219177, 0.04794790844514601, 0.023741120757695338, -0.11703235990528804, -0.0269455406471981, 0.4143646408839779], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7902473811669357, 0.554272745662698, 0.1233220457750604, 0.08050485475911212, 0.2517163748220569, 0.06426436082796909, 0.9101109516894597], "count": [181]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0883977934718132], "std": [0.2838725447654724], "count": [181]}, "next.done": {"min": [false], "max": [true], "mean": [0.0055248618784530384], "std": [0.07412380035910905], "count": [181]}, "timestamp": {"min": [0.0], "max": [9.0], "mean": [4.5], "std": [2.6124700955226263], "count": [181]}, "frame_index": {"min": [0], "max": [180], "mean": [90.0], "std": [52.24940191045253], "count": [181]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [181]}, "index": {"min": [12811], "max": [12991], "mean": [12901.0], "std": [52.24940191045253], "count": [181]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [181]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46363319307215073]], [[0.4779052566827512]], [[0.47519789392807904]]], "std": [[[0.18841186621570727]], [[0.1752171521919157]], [[0.16432153436211566]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5690346542059207]], [[0.576973736332912]], [[0.5707869322533702]]], "std": [[[0.2299528476664166]], [[0.21460999100078593]], [[0.20143682909843022]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.047058823529411764]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5486151625689337]], [[0.5571587608187807]], [[0.5513562843472349]]], "std": [[[0.23800400375245057]], [[0.22398116598068743]], [[0.21215284826724765]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [247]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [247]}, "observation.state": {"min": [0.8260513307315266, -3.5763417754560773, 0.6998823326933048, 0.0, 0.0, -1.0, 5.586546691915828e-08, -0.10321468479630735, -0.5446266673859643, 0.5958465759262958, -0.9898840188980103, -0.21711742877960205, -0.7598956823348999, 0.00045732740545645356, -0.0006118369383752933, -0.03904321886477806], "max": [0.8275678007746843, -3.575730524119151, 0.7000378201443123, 0.0, 0.0, 1.0, 0.0005172052187845111, 0.4236380816303986, 0.2989813462008861, 0.8584972879686434, 0.9201816916465759, 0.45360565185546875, 0.7315033674240112, 0.6212937235832214, 0.0391217741090893, 0.0037443692833445882], "mean": [0.8260993683580696, -3.5761020641047527, 0.6999901936168833, 0.0, 0.0, 0.31983805571490453, 6.18275148964596e-05, 0.14757638596475336, -0.09425667128167715, 0.756641751232192, -0.05077500104421546, 0.0920530236684359, -0.06034963466377876, 0.24936013359897902, 0.004613033195675291, -0.004362541416915853], "std": [0.00013116721234859993, 7.110376636572878e-05, 3.118194449108548e-05, 0.0, 0.0, 0.9474722244931458, 8.784616986596908e-05, 0.1529134746383501, 0.23789677730903874, 0.053331303800705054, 0.6611341434147641, 0.17715456585874326, 0.6479894384903807, 0.18642204478770066, 0.009728956803773644, 0.009851444288164675], "count": [247]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6500000000000001, -0.1657142857142857, -0.4942857142857143, -0.3, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.7142857142857143, 0.23714285714285716, 0.17714285714285713, 0.2542857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1700115673799885, 0.0018507807981492299, 0.05454019664545979, 0.031093117408906894, -0.08857142857142851, -0.0008906882591093047, 0.8704453441295547], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7388795610466632, 0.6833835063965543, 0.23945202669605561, 0.10942883798261738, 0.14387790319806096, 0.11537207728698304, 0.4922650737998599], "count": [247]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06477732956409454], "std": [0.24613253772258759], "count": [247]}, "next.done": {"min": [false], "max": [true], "mean": [0.004048582995951417], "std": [0.06349954308242155], "count": [247]}, "timestamp": {"min": [0.0], "max": [12.3], "mean": [6.1499999999999995], "std": [3.5651086939951773], "count": [247]}, "frame_index": {"min": [0], "max": [246], "mean": [123.0], "std": [71.30217387990355], "count": [247]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [247]}, "index": {"min": [12992], "max": [13238], "mean": [13115.0], "std": [71.30217387990355], "count": [247]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [247]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9764705882352941]], [[0.996078431372549]]], "mean": [[[0.461492764342065]], [[0.45376353903377753]], [[0.44713140450271904]]], "std": [[[0.21319904531211042]], [[0.2132983084939753]], [[0.21762739580665294]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3878211388681449]], [[0.37960369992723647]], [[0.3708820687088312]]], "std": [[[0.24468640712732023]], [[0.2373030686708514]], [[0.22997955057002212]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39849594415402884]], [[0.3918501293705959]], [[0.3855487222110524]]], "std": [[[0.23919452040781472]], [[0.2325744386494171]], [[0.22584145771607536]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [265]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [265]}, "observation.state": {"min": [2.2766445131891393, -1.6082105841394456, 0.6999004496704413, 0.0, 0.0, -0.00019118397904094309, 1.0, -0.1403531902822337, -0.3806252701584245, 0.5882656575512789, -0.9904642701148987, -0.24814045429229736, -0.7916194796562195, 0.0003606574609875679, -0.0009687042361118782, -0.039074166058739715], "max": [2.277108373876484, -1.6079330309462279, 0.7003583287822148, 0.0, 0.0, 0.000277434621239081, 1.0, 0.3670879579848698, 0.38395344209539006, 0.8590325254464684, 0.8659630417823792, 0.4197700023651123, 0.9591168165206909, 0.7082359194755554, 0.039092411923172664, 0.00033128296909929454], "mean": [2.2770686359912857, -1.6080947498719278, 0.7000201798550322, 0.0, 0.0, 6.052756836324216e-06, 1.0, 0.1125808356688665, -0.032830286001880184, 0.7763127741652209, 0.041713188616734634, 0.06199543318658505, 0.21101176693754375, 0.2960590957866033, 0.0037240346791284334, -0.004375575629052215], "std": [5.6920426095821784e-05, 4.620876523262879e-05, 9.434472355269018e-05, 0.0, 0.0, 7.652603567746214e-05, 0.0, 0.14877416669831814, 0.21309293007435723, 0.053463441435409216, 0.5417366326701245, 0.20037563642029504, 0.6869141521695307, 0.23824273522812986, 0.00947476650053235, 0.009460977965605568], "count": [265]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.41428571428571426, -0.24, -0.56, -0.7657142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6142857142857143, 0.24285714285714288, 0.62, 0.35714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04256064690026957, 0.1801347708894878, 0.12274932614555244, 0.003946091644204854, -0.03764959568733154, -0.127622641509434, 0.879245283018868], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7685381288435678, 0.6214249009496553, 0.21416076304118944, 0.10809948578350263, 0.20232888693292098, 0.27575531599002334, 0.4763693234131176], "count": [265]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06037735939025879], "std": [0.23818464577198029], "count": [265]}, "next.done": {"min": [false], "max": [true], "mean": [0.0037735849056603774], "std": [0.061313497393478945], "count": [265]}, "timestamp": {"min": [0.0], "max": [13.2], "mean": [6.6], "std": [3.8249182997810554], "count": [265]}, "frame_index": {"min": [0], "max": [264], "mean": [132.0], "std": [76.49836599562111], "count": [265]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [265]}, "index": {"min": [13239], "max": [13503], "mean": [13371.0], "std": [76.49836599562111], "count": [265]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [265]}}} +{"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": [[[0.46668088785807293]], [[0.4368791174795113]], [[0.40892275941138173]]], "std": [[[0.16854394343433002]], [[0.1827951285646148]], [[0.1927184868859041]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5476900491153492]], [[0.520383160161037]], [[0.492333786908318]]], "std": [[[0.2084105384334218]], [[0.2259207821316766]], [[0.2398150901298231]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5284364941166896]], [[0.5030682020000383]], [[0.47607773246017154]]], "std": [[[0.22762815285634974]], [[0.24184912842951536]], [[0.25292912388865557]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [172]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [172]}, "observation.state": {"min": [-0.8660021858268733, -0.8236509120196852, 0.6999198235848769, 0.0, 0.0, 0.7068520784378052, 0.7071330547332764, -0.0474141453519894, -0.4275712683592755, 0.5990224451738361, -0.9885813593864441, -0.5660191774368286, -0.7030881643295288, 0.00030674354638904333, 0.0005724836728271702, -0.02696776788411407], "max": [-0.8657927738934678, -0.8234177029259634, 0.7000426669291547, 0.0, 0.0, 0.7070804238319397, 0.7073613405227661, 0.4060555135562717, -0.0046815516910028165, 0.7955547201351989, 0.8946684002876282, 0.7375829815864563, 0.7033296227455139, 0.4337165653705597, 0.02709633797375505, 0.0014137057390742748], "mean": [-0.8658993614776157, -0.8234624754916273, 0.699993730223072, 0.0, 0.0, 0.7070227151000222, 0.7071908164856046, 0.10418187458130344, -0.19727581655097265, 0.760699214942702, -0.3232665223091148, 0.3606713914074177, -0.23710067396940188, 0.24909613203043443, 0.0027581303641856575, -0.0014123314157017408], "std": [2.8195123885364132e-05, 4.749007495791133e-05, 2.1199021535985728e-05, 0.0, 0.0, 5.2882452112390006e-05, 5.287732659062647e-05, 0.14081330991474147, 0.14732311495552888, 0.057899154632699984, 0.5202130522019659, 0.4003772570300935, 0.4348798726001406, 0.16463662016314767, 0.005085950394204069, 0.005396407014973372], "count": [172]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8928571428571429, -0.16428571428571428, -0.05714285714285715, -0.5228571428571429, -0.4228571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.4857142857142857, 0.23428571428571432, 0.20857142857142857, 0.35428571428571426, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.2516196013289037, -0.02981727574750838, 0.021802325581395363, 0.05131229235880397, -0.11873754152823916, 0.008255813953488362, 0.9651162790697675], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6371638250614976, 0.45234543002461003, 0.15197104092501088, 0.08385319372327292, 0.19748326557096416, 0.18210717534188742, 0.26182163370227346], "count": [172]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09302325546741486], "std": [0.2904650568962097], "count": [172]}, "next.done": {"min": [false], "max": [true], "mean": [0.005813953488372093], "std": [0.07602730715477919], "count": [172]}, "timestamp": {"min": [0.0], "max": [8.55], "mean": [4.2749999999999995], "std": [2.4825641985656683], "count": [172]}, "frame_index": {"min": [0], "max": [171], "mean": [85.5], "std": [49.65128397131337], "count": [172]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [172]}, "index": {"min": [13504], "max": [13675], "mean": [13589.5], "std": [49.65128397131337], "count": [172]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [172]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.054901960784313725]], [[0.043137254901960784]]], "max": [[[0.996078431372549]], [[0.996078431372549]], [[1.0]]], "mean": [[[0.45329250619925704]], [[0.42629237036611517]], [[0.4036593400543811]]], "std": [[[0.205811725302222]], [[0.21836753945097445]], [[0.22967743349004824]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.050980392156862744]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4153599967208563]], [[0.4210504509420956]], [[0.42061852787990195]]], "std": [[[0.20495984790598618]], [[0.19733908177641069]], [[0.19568533370746935]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5479337535184973]], [[0.5288344768449372]], [[0.5062349530388327]]], "std": [[[0.26135703027310064]], [[0.27256538652754725]], [[0.2833704701001245]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [235]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [235]}, "observation.state": {"min": [1.9581583326015313, -0.7789472138665445, 0.699856670753072, 0.0, 0.0, 0.7068230509757996, 0.7070591449737549, -0.017447877466046036, -0.4279151204203504, 0.595861030975376, -0.9887108206748962, -0.6691520810127258, -0.7458951473236084, 0.00034785058232955635, -0.0013814447807555875, -0.03910916067653861], "max": [1.9584219790714565, -0.7780351735163252, 0.7004406288922069, 0.0, 0.0, 0.707154393196106, 0.7073903679847717, 0.37895825901175845, 0.25615424365790873, 0.8878709853696762, 0.5340476036071777, 0.7481268644332886, 0.5036972761154175, 0.7359820008277893, 0.03906348214921336, 0.0002617451206557589], "mean": [1.958217872436337, -0.778089879197511, 0.7000553662156335, 0.0, 0.0, 0.7070793725074606, 0.7071341377623538, 0.1761199260321024, -0.052886544382935295, 0.80320297845814, -0.3017203612530485, 0.22137143624589797, -0.2048972375215368, 0.3960668513183532, 0.0049314196736073125, -0.005206296886068501], "std": [6.171051795708837e-05, 9.784390165955941e-05, 0.00014700233441722172, 0.0, 0.0, 7.149537636217812e-05, 7.148758948218533e-05, 0.11908079155558673, 0.2198206833289344, 0.07795633070365497, 0.4943301689033767, 0.38218725398767744, 0.4676721158038249, 0.227949671675442, 0.010129843899370662, 0.00996901001164827], "count": [235]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5785714285714286, -0.4114285714285714, -0.5542857142857143, -0.3628571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6571428571428571, 0.3342857142857143, -0.0, 0.24285714285714288, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.17963525835866262, 0.09823708206686925, 0.07626139817629177, -0.05747112462006077, -0.15231610942249232, -0.001069908814589669, 0.8638297872340426], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6207593061756362, 0.6792606778050335, 0.28085588950972, 0.2173248236015539, 0.13568735274640747, 0.11890644389143123, 0.5037837816833591], "count": [235]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06808510422706604], "std": [0.2518919110298157], "count": [235]}, "next.done": {"min": [false], "max": [true], "mean": [0.00425531914893617], "std": [0.06509386613097172], "count": [235]}, "timestamp": {"min": [0.0], "max": [11.7], "mean": [5.85], "std": [3.391902121229326], "count": [235]}, "frame_index": {"min": [0], "max": [234], "mean": [117.0], "std": [67.83804242458652], "count": [235]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [235]}, "index": {"min": [13676], "max": [13910], "mean": [13793.0], "std": [67.83804242458652], "count": [235]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [235]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.03137254901960784]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47507630770814185]], [[0.4478533815870098]], [[0.4369308417825138]]], "std": [[[0.27571026620332306]], [[0.279089923602382]], [[0.2857118641606128]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.043137254901960784]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4498288221172258]], [[0.36162879854090074]], [[0.3268561772365196]]], "std": [[[0.25777609700600795]], [[0.2391277929156347]], [[0.2409397168236882]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.06274509803921569]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4725569188735064]], [[0.43047907870423563]], [[0.4110512288411458]]], "std": [[[0.28533025492132913]], [[0.2850399471437536]], [[0.29091574378054186]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [171]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [171]}, "observation.state": {"min": [0.24959459685456648, -0.8268804840025579, 0.6999503818693062, 0.0, 0.0, 0.7070415019989014, 0.7070724964141846, -0.013329672360763989, -0.14386726820400325, 0.4246470918120395, -0.9898383617401123, -0.1914961338043213, -0.16701343655586243, 0.002101600170135498, -0.0021093810966633635, -0.040999719994849644], "max": [0.24975225024654504, -0.8266168518558022, 0.7001072578691366, 0.0, 0.0, 0.7071410417556763, 0.707172155380249, 0.419142936998075, 0.22040311534798177, 0.7627009383825097, 0.9847753643989563, 0.7485195994377136, 0.35203322768211365, 0.9498781561851501, 0.040031404264578435, -0.02051098701526423], "mean": [0.2497016580852352, -0.8266772251861071, 0.7000056703690497, 0.0, 0.0, 0.7070949569083097, 0.7071185596505104, 0.1820701842747139, 0.002937952472615917, 0.6378888684596972, 0.4169486478755349, 0.20752031987870645, 0.146581269279347, 0.5328236425333597, 0.03608689317900437, -0.03942344294011612], "std": [2.159116358495906e-05, 3.95046124163196e-05, 2.667328958374167e-05, 0.0, 0.0, 2.0141923039124175e-05, 2.0144780708988816e-05, 0.12637688434386146, 0.11913878464718441, 0.11917688752502667, 0.4913794324191829, 0.3294638061619556, 0.14350203059254768, 0.3272752093097636, 0.008835998167121129, 0.0027875512622816405], "count": [171]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8785714285714286, -0.8928571428571429, -0.5428571428571429, -0.6171428571428571, -0.4542857142857143, -0.05714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.95, 0.9857142857142858, 0.38857142857142857, 0.5714285714285714, 0.4028571428571428, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.05492898913951545, -0.030868838763575605, 0.06591478696741852, -0.08624895572264003, 0.05939849624060149, 0.07029239766081873, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.549425095570364, 0.44378164675936455, 0.38456623339734713, 0.272299093128628, 0.24268640330150845, 0.1420214418396196, 0.0], "count": [171]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09356725215911865], "std": [0.29122570157051086], "count": [171]}, "next.done": {"min": [false], "max": [true], "mean": [0.005847953216374269], "std": [0.0762479813473994], "count": [171]}, "timestamp": {"min": [0.0], "max": [8.5], "mean": [4.25], "std": [2.468130196457769], "count": [171]}, "frame_index": {"min": [0], "max": [170], "mean": [85.0], "std": [49.362603929155384], "count": [171]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [171]}, "index": {"min": [13911], "max": [14081], "mean": [13996.0], "std": [49.362603929155384], "count": [171]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [171]}}} +{"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": [[[0.3293228233187806]], [[0.34388086835075826]], [[0.3674424629959406]]], "std": [[[0.24048526398310913]], [[0.22891448127889855]], [[0.2090188436543518]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4118160627776501]], [[0.422096373314951]], [[0.4370800350413603]]], "std": [[[0.30478794883117893]], [[0.2960426697726052]], [[0.28139382504926463]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3618506182502298]], [[0.3687379317938113]], [[0.37809937002144606]]], "std": [[[0.2661883816461277]], [[0.2590218074514434]], [[0.24802029062013806]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [207]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [207]}, "observation.state": {"min": [4.180487057457688, -0.9235926767031716, 0.6999203736232377, 0.0, 0.0, -3.498222940834239e-05, 1.0, -0.2542391470546761, -0.0014476462055831307, 0.5892940863477228, -0.991007387638092, -0.3933132290840149, -0.7533681988716125, 0.00021262260270304978, -0.00035350138623198307, -0.037267833227588774], "max": [4.181538783170997, -0.9234003086646503, 0.700417087019676, 0.0, 0.0, 0.000315172306727618, 1.0, 0.3753917955453199, 0.4654673547706482, 0.77583001669312, 0.8846529126167297, 0.550844669342041, 0.821488618850708, 0.43794870376586914, 0.03738969316577501, 0.0008259047751250617], "mean": [4.18148832642983, -0.9235128449114456, 0.7000484597520298, 0.0, 0.0, 5.734258121914737e-05, 1.0, -0.004823036408366906, 0.25796477521954486, 0.7284141070286112, 0.3388639813028096, 0.22332332474022096, 0.35092187777233586, 0.2551610909034284, 0.0031129703267154074, -0.0029587940687984117], "std": [0.00010142336581885266, 3.3640277205826934e-05, 0.00012389976349767075, 0.0, 0.0, 8.707676076565648e-05, 0.0, 0.19031408757936039, 0.1394516025809175, 0.05014720626935986, 0.6391318140024836, 0.2353217344879989, 0.3882984428712741, 0.18000848350864532, 0.007712286326186253, 0.0075371453931549265], "count": [207]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9857142857142858, -0.9142857142857143, -0.6357142857142857, -0.13428571428571429, -0.4542857142857143, -0.40571428571428575, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.35714285714285715, 0.2142857142857143, 0.34, 0.34285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.31794340924775716, 0.1197377501725328, -0.0009661835748792078, -0.03802622498274674, -0.10369910282953754, -0.03616287094547964, 0.9323671497584541], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.712525733695867, 0.4028212522881916, 0.17017036872583582, 0.06963863926931464, 0.22650907270554796, 0.1620248790015859, 0.3615127909926493], "count": [207]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07729468494653702], "std": [0.26705843210220337], "count": [207]}, "next.done": {"min": [false], "max": [true], "mean": [0.004830917874396135], "std": [0.06933671543191944], "count": [207]}, "timestamp": {"min": [0.0], "max": [10.3], "mean": [5.1499999999999995], "std": [2.987752778706208], "count": [207]}, "frame_index": {"min": [0], "max": [206], "mean": [103.0], "std": [59.75505557412416], "count": [207]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [207]}, "index": {"min": [14082], "max": [14288], "mean": [14185.0], "std": [59.75505557412416], "count": [207]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [207]}}} +{"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": [[[0.46950490973977477]], [[0.36226839551738665]], [[0.2797622782389323]]], "std": [[[0.1670730467641206]], [[0.20290289472217757]], [[0.2383251399908186]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5772618803136489]], [[0.4945536044251685]], [[0.42317477057961855]]], "std": [[[0.2398792057725202]], [[0.2808892335190218]], [[0.30998260591265936]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5702475119198069]], [[0.4886729209750307]], [[0.4213500725241268]]], "std": [[[0.23204295427830568]], [[0.2706761094968189]], [[0.297405020369441]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [315]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [315]}, "observation.state": {"min": [0.9733078863723135, -0.8123568197668062, 0.6999140638356367, 0.0, 0.0, 0.7069427967071533, 0.7069676518440247, -0.2917582054797869, -0.4319995149530179, 0.5836111523308265, -0.66725754737854, -0.17474210262298584, -0.7654983401298523, 0.0012100376188755035, -0.0006159505112466688, -0.039249086163417005], "max": [0.9735686740846838, -0.8107773908275671, 0.7003005950100197, 0.0, 0.0, 0.7072458863258362, 0.7072706818580627, 0.45715738669242234, 0.5191593689814675, 0.8669485531337991, 0.9908114671707153, 0.6483104825019836, 0.8369951844215393, 0.4902065694332123, 0.03921052690210157, 0.00023989356834251476], "mean": [0.9734657539367858, -0.8108256861926104, 0.7000230476776536, 0.0, 0.0, 0.7071009836499653, 0.7071125418420822, 0.05501434134251112, 0.07281800510502105, 0.7794796440122282, 0.34810563888814716, 0.21828584879163712, 0.3052864971615019, 0.23942883656404557, 0.003607461495808607, -0.004068365983932535], "std": [4.0426893729020765e-05, 0.0001371493904101796, 7.473967632723994e-05, 0.0, 0.0, 4.661607091612194e-05, 4.661999014647057e-05, 0.20834621840244671, 0.28856933212332203, 0.0589043486449997, 0.5538206686062395, 0.2553601261105629, 0.5340446638160281, 0.15335549843904245, 0.009726430877871653, 0.009544975768599473], "count": [315]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8714285714285716, -0.42142857142857143, -0.2914285714285714, -0.5228571428571429, -0.26, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.2257142857142857, 0.2, 0.5771428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.12566893424036277, 0.05233560090702939, 0.011904761904761904, 0.016190476190476196, -0.08599546485260769, -0.007800453514739222, 0.873015873015873], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7678003182371467, 0.5579982561592185, 0.24279044035297137, 0.1262891412510468, 0.17716274844112875, 0.16035610383975712, 0.4876917935154667], "count": [315]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05079365149140358], "std": [0.21957609057426453], "count": [315]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031746031746031746], "std": [0.0562541115767281], "count": [315]}, "timestamp": {"min": [0.0], "max": [15.7], "mean": [7.85], "std": [4.546610459085611], "count": [315]}, "frame_index": {"min": [0], "max": [314], "mean": [157.0], "std": [90.93220918171221], "count": [315]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [315]}, "index": {"min": [14289], "max": [14603], "mean": [14446.0], "std": [90.93220918171221], "count": [315]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [315]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.027450980392156862]], [[0.0]]], "max": [[[0.9921568627450981]], [[0.9882352941176471]], [[0.9803921568627451]]], "mean": [[[0.44940135821174176]], [[0.44327510998295805]], [[0.43569362505744486]]], "std": [[[0.16611929645915796]], [[0.16692279900025275]], [[0.16491717931215624]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.050980392156862744]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6011617497462852]], [[0.5937780606138939]], [[0.5781080202588849]]], "std": [[[0.21763591782318717]], [[0.21878432676421475]], [[0.21386529237144766]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5811722418093214]], [[0.5754866009880515]], [[0.5624427645814185]]], "std": [[[0.25474339942113133]], [[0.2555530114199054]], [[0.2505505543242264]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [304]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [304]}, "observation.state": {"min": [2.5064623440143943, -0.8778388280747387, 0.6999286006790667, 0.0, 0.0, -1.0, 2.5074541554204188e-05, -0.21636993114720982, -0.45971560084557184, 0.5716147594318419, -0.9929948449134827, -0.2671622037887573, -0.7657487988471985, 0.0019340863218531013, 0.00024719744658163305, -0.039589648263492636], "max": [2.506980169873643, -0.8774812768988695, 0.7003582136113994, 0.0, 0.0, 1.0, 0.0002989915374200791, 0.33863345610885354, 0.43867327620573493, 0.951732745746153, 0.9491462111473083, 0.6714944839477539, 0.8288578391075134, 0.44966432452201843, 0.04001730783111315, 0.0012932650900588916], "mean": [2.5064889519370492, -0.8775666287611416, 0.7000921489655925, 0.0, 0.0, 0.9802631578947368, 0.0001629455596409906, 0.024383566359010088, -0.07130621380196085, 0.8291081785260401, -0.17581151945418433, 0.22379743925442822, -0.13283589911205987, 0.23704225825579334, 0.008068783052359491, -0.0071752861998892045], "std": [4.343280596950558e-05, 3.382725561386803e-05, 0.00011215724410448729, 0.0, 0.0, 0.19769709475416736, 4.869934134768562e-05, 0.16487116018836306, 0.273709150445861, 0.09154084492789977, 0.5832162296145261, 0.3125162375325902, 0.6233591804566326, 0.13706332829204454, 0.013893029458951538, 0.014229985713329731], "count": [304]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.8714285714285716, -0.35428571428571426, -0.6457142857142857, -0.27714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.7000000000000001, 0.3142857142857143, 0.14857142857142858, 0.40857142857142864, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1188674812030075, -0.005686090225563926, -0.009328007518796965, 0.011907894736842131, -0.09614661654135331, 0.0022932330827067585, 0.6842105263157895], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7077546716498636, 0.626113314984371, 0.3410708256258948, 0.16412025372279332, 0.17960924284334748, 0.1501066715134074, 0.7292845505553219], "count": [304]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05263157933950424], "std": [0.2232968807220459], "count": [304]}, "next.done": {"min": [false], "max": [true], "mean": [0.003289473684210526], "std": [0.057259523636609244], "count": [304]}, "timestamp": {"min": [0.0], "max": [15.15], "mean": [7.575], "std": [4.387838306045472], "count": [304]}, "frame_index": {"min": [0], "max": [303], "mean": [151.5], "std": [87.75676612090945], "count": [304]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [304]}, "index": {"min": [14604], "max": [14907], "mean": [14755.5], "std": [87.75676612090945], "count": [304]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [304]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0784313725490196]], [[0.06274509803921569]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4876951976102941]], [[0.40989522836722575]], [[0.35031922344132965]]], "std": [[[0.19809809719020585]], [[0.22362737928572632]], [[0.24477496535158227]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5616878338982078]], [[0.48192134662702973]], [[0.4168740222407322]]], "std": [[[0.2327879134475071]], [[0.27562967306123914]], [[0.3021719876325389]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5550040450750613]], [[0.489684014413871]], [[0.44064020194259346]]], "std": [[[0.20536061978235423]], [[0.24071323002602021]], [[0.2660891961764531]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [148]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [148]}, "observation.state": {"min": [3.5778370389437315, -0.9013362621803994, 0.6999246407880494, 0.0, 0.0, -8.621672895969823e-05, 1.0, 0.07240145777786067, -0.0771884398554813, 0.38416096399464206, -0.9898809790611267, -0.011668398976325989, -0.15544503927230835, 0.002025143476203084, 0.014621027261434327, -0.04096399859650161], "max": [3.578362637729635, -0.9010450906915921, 0.7000517109695567, 0.0, 0.0, 0.00030921417055651546, 1.0, 0.38797532490627695, 0.3240874516189157, 0.735516357902827, 0.9913730621337891, 0.4937898516654968, 0.6139056086540222, 0.8469183444976807, 0.039254235112277366, -0.00026057651386014746], "mean": [3.5783160451266367, -0.9011884028444581, 0.7000001932894258, 0.0, 0.0, 0.00015400008873552292, 1.0, 0.1611172269081377, 0.07810344239169036, 0.5806466669133981, 0.5066867762723485, 0.15255456045269966, 0.16295296829697248, 0.5893998772418756, 0.03596375847205498, -0.037699731957194935], "std": [9.299985590130348e-05, 4.469775128125838e-05, 3.290197047071471e-05, 0.0, 0.0, 5.474450554171544e-05, 0.0, 0.10131363641523809, 0.14447190995616732, 0.12140976038513693, 0.47120862782802203, 0.15881402575875866, 0.1658556483167196, 0.266987198976829, 0.005203433204559974, 0.007266172145957344], "count": [148]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6571428571428571, -1.0, -0.8142857142857143, -0.5228571428571429, -0.15142857142857147, -0.08571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6214285714285714, 0.2142857142857143, 0.38, 0.42, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.13585907335907335, -0.05897683397683398, 0.1597490347490348, -0.08445945945945957, 0.06324324324324325, 0.04870656370656372, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.43152734620214567, 0.647343910072461, 0.43457201102848136, 0.21289101499077054, 0.11947007861994106, 0.12500119556381778, 0.0], "count": [148]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.10810811072587967], "std": [0.310516893863678], "count": [148]}, "next.done": {"min": [false], "max": [true], "mean": [0.006756756756756757], "std": [0.08192132197960905], "count": [148]}, "timestamp": {"min": [0.0], "max": [7.35], "mean": [3.675], "std": [2.1361472327533977], "count": [148]}, "frame_index": {"min": [0], "max": [147], "mean": [73.5], "std": [42.72294465506796], "count": [148]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [148]}, "index": {"min": [14908], "max": [15055], "mean": [14981.5], "std": [42.72294465506796], "count": [148]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [148]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0784313725490196]], [[0.03529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5104686063878676]], [[0.5036334473853018]], [[0.4928824887743183]]], "std": [[[0.1782775285079541]], [[0.17836849257449586]], [[0.174566762688389]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5688179428998161]], [[0.560870335597618]], [[0.5457358823290058]]], "std": [[[0.2254533538213093]], [[0.22662645650461352]], [[0.22371806549438653]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5059952099370021]], [[0.4982986898983226]], [[0.4873870023839614]]], "std": [[[0.19941339359361163]], [[0.20088775010908896]], [[0.19957567259394213]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [235]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [235]}, "observation.state": {"min": [2.90144648250883, -0.8282307560885944, 0.6999246353452854, 0.0, 0.0, 0.7069092988967896, 0.707085132598877, -0.16223484559786705, -0.26947679200888963, 0.6043676955093306, -0.9863422513008118, -0.5833909511566162, -0.5075969696044922, 0.0002747293037828058, 0.020554316028626913, -0.0409359888035401], "max": [2.901783107003144, -0.8280516579884809, 0.7000356849524864, 0.0, 0.0, 0.7071284055709839, 0.7073041796684265, 0.27639741555064645, 0.12890206068879317, 0.8203012296148517, 0.9746321439743042, 0.6210494041442871, 0.632222592830658, 0.4392823278903961, 0.0419492695001073, -0.02051224437848794], "mean": [2.9015292244431956, -0.8280791390480288, 0.6999943242577787, 0.0, 0.0, 0.7070800872559243, 0.7071334392466444, 0.02820142775818625, -0.0526119692476774, 0.7671140697420138, 0.4715983801699699, -0.0742205669905277, 0.35891313590901963, 0.21463488454576285, 0.037934774123578256, -0.03952265271937465], "std": [5.062227999043161e-05, 3.8880549354475207e-05, 1.9733871683513557e-05, 0.0, 0.0, 4.311177350347502e-05, 4.312740530188473e-05, 0.16274847463913877, 0.13268670087507345, 0.06104706180880054, 0.5653317011232457, 0.36729102964390065, 0.35293587259549175, 0.13465934173530208, 0.003772618281735264, 0.0023824169649813024], "count": [235]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7285714285714285, -0.55, -0.05, -0.34285714285714286, -0.44571428571428573, -0.30285714285714294, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.17857142857142858, -0.0, 0.31142857142857144, 0.4971428571428572, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.15878419452887546, 0.055501519756838875, 0.02477203647416412, -0.08391489361702126, -0.031063829787234005, 0.04784194528875379, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6027001033396672, 0.37556198777686434, 0.049091862808266495, 0.09053453296028255, 0.15557339156715935, 0.1824153744968817, 0.0], "count": [235]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.1319148987531662], "std": [0.3383982479572296], "count": [235]}, "next.done": {"min": [false], "max": [true], "mean": [0.00425531914893617], "std": [0.06509386613097172], "count": [235]}, "timestamp": {"min": [0.0], "max": [11.7], "mean": [5.85], "std": [3.391902121229326], "count": [235]}, "frame_index": {"min": [0], "max": [234], "mean": [117.0], "std": [67.83804242458652], "count": [235]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [235]}, "index": {"min": [15056], "max": [15290], "mean": [15173.0], "std": [67.83804242458652], "count": [235]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [235]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4054586067947687]], [[0.3186415746352252]], [[0.26720425594554226]]], "std": [[[0.16478432795963796]], [[0.18030696808331942]], [[0.20882270221504726]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3524507296693091]], [[0.2899641466327742]], [[0.25417415962967216]]], "std": [[[0.22307519454753655]], [[0.2218396609042803]], [[0.23686805856758328]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35917132388844214]], [[0.2869691006529565]], [[0.24470317287071078]]], "std": [[[0.2209724908779722]], [[0.21207887186797897]], [[0.22609214828821117]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [396]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [396]}, "observation.state": {"min": [4.833915323938486, -0.8681233725948428, 0.6999135665684808, 0.0, 0.0, -0.00035399573971517384, 1.0, -0.24017249188659306, -0.7018092857618168, 0.6050234971772713, -0.9910699725151062, -0.29620641469955444, -0.7620440721511841, 0.00016249390318989754, -0.0021356665861363843, -0.039163455259482886], "max": [4.836377593610073, -0.8679909566916044, 0.7000674111628253, 0.0, 0.0, 6.593268335564062e-05, 1.0, 0.4292677369572555, 0.40431574039054613, 0.8511047447447219, 0.976781964302063, 0.6250467896461487, 0.6870370507240295, 0.4912497103214264, 0.039156001797194515, 0.00030589856742412204], "mean": [4.836304523659409, -0.8680369025344276, 0.6999982875994148, 0.0, 0.0, -3.0016872965860927e-05, 1.0, 0.020957098768077418, -0.09750537697629685, 0.7435484714791546, 0.05706012836008361, 0.22623654688247527, 0.05623128261379521, 0.28477561414007196, 0.0022837663536896024, -0.00420614508399116], "std": [0.0002746794776435513, 2.225141445644595e-05, 2.704053978959826e-05, 0.0, 0.0, 7.41782989453062e-05, 0.0, 0.197623746211804, 0.3330882232773258, 0.05419575497092827, 0.6389186661980937, 0.28916773635227794, 0.5911753771327731, 0.14134599268963535, 0.00844941697712364, 0.008410751430104809], "count": [396]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6, -0.35428571428571426, -0.5314285714285715, -0.1657142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.8642857142857142, 0.6428571428571428, 0.34285714285714286, 0.34285714285714286, 0.3485714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.15488816738816738, -0.031114718614718623, 0.039375901875901884, 0.005331890331890341, -0.05248917748917746, -0.002063492063492063, 0.9090909090909091], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6793036930462478, 0.5010444146935352, 0.2266044675941952, 0.1526292556618592, 0.13344680019056457, 0.07790196817094627, 0.41659779045053263], "count": [396]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04040404036641121], "std": [0.19690492749214172], "count": [396]}, "next.done": {"min": [false], "max": [true], "mean": [0.0025252525252525255], "std": [0.05018840129886816], "count": [396]}, "timestamp": {"min": [0.0], "max": [19.75], "mean": [9.875], "std": [5.715749440507926], "count": [396]}, "frame_index": {"min": [0], "max": [395], "mean": [197.5], "std": [114.31498881015851], "count": [396]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [396]}, "index": {"min": [15291], "max": [15686], "mean": [15488.5], "std": [114.31498881015851], "count": [396]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [396]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07058823529411765]], [[0.07058823529411765]], [[0.011764705882352941]]], "max": [[[0.9333333333333333]], [[0.9294117647058824]], [[0.9490196078431372]]], "mean": [[[0.30702968103745404]], [[0.3000355416092218]], [[0.28478403846890316]]], "std": [[[0.21670210342678262]], [[0.2170274623033062]], [[0.22291281596779133]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3895172549977022]], [[0.3781141560872396]], [[0.3599737088072534]]], "std": [[[0.2617284438645841]], [[0.2639238358539151]], [[0.2690850358670704]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3839494425455729]], [[0.37575697536094516]], [[0.3596111282647825]]], "std": [[[0.27000565606905297]], [[0.2705035489880172]], [[0.274539232664713]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [274]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [274]}, "observation.state": {"min": [0.1551375320905873, -5.313899095927508, 0.6998768147374753, 0.0, 0.0, -1.0, 0.0, -0.18325264839556024, -0.5758751410315561, 0.6047762870717613, -0.9863492250442505, -0.3202592134475708, -0.7781408429145813, 1.23144309327472e-05, -0.001569458488729046, -0.03978048624211751], "max": [0.15715115927216838, -5.313564598762191, 0.7000395750632499, 0.0, 0.0, 1.0, 0.0003059122245758772, 0.4055191223318642, 0.42402502854548096, 0.8750944648491584, 0.9462266564369202, 0.32347679138183594, 0.8180418014526367, 0.7107012271881104, 0.04085592382753942, 0.0008815564684501414], "mean": [0.15518483794702714, -5.313658534617428, 0.6999924086431865, 0.0, 0.0, 0.0, 3.3623945909028784e-05, 0.07853403339746398, -0.05763750305480622, 0.7842962086986774, -0.17768502648729478, 0.10845233456496775, -0.10334856193648638, 0.28402453782740333, 0.00864522902772602, -0.006912996181682721], "std": [0.00020423804358432328, 4.22304730313149e-05, 2.318006300044647e-05, 0.0, 0.0, 1.0, 5.71842546903684e-05, 0.1830232196271326, 0.3005152348834837, 0.06228339657997377, 0.6428444639773602, 0.180515755658726, 0.6236642743971869, 0.1747088479099931, 0.014402266746060101, 0.01374110104103125], "count": [274]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.23571428571428574, -0.18857142857142858, -0.44, -0.34, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5071428571428571, 0.29428571428571426, 0.06285714285714286, 0.45999999999999996, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.08503649635036488, -0.06869134515119915, 0.05677789363920752, 0.03181438998957247, -0.0980187695516163, 0.007966631908237745, 0.708029197080292], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.772408370171567, 0.6673741042806318, 0.12192690838182073, 0.11818252283648507, 0.13155095269827027, 0.1558664363303103, 0.7061831604349111], "count": [274]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.058394160121679306], "std": [0.23448728024959564], "count": [274]}, "next.done": {"min": [false], "max": [true], "mean": [0.0036496350364963502], "std": [0.060301867306052206], "count": [274]}, "timestamp": {"min": [0.0], "max": [13.65], "mean": [6.825], "std": [3.9548230048890938], "count": [274]}, "frame_index": {"min": [0], "max": [273], "mean": [136.5], "std": [79.09646009778187], "count": [274]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [274]}, "index": {"min": [15687], "max": [15960], "mean": [15823.5], "std": [79.09646009778187], "count": [274]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [274]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9607843137254902]], [[0.9647058823529412]]], "mean": [[[0.39316219255036]], [[0.38559773942536]], [[0.37638859468347885]]], "std": [[[0.17699978328457194]], [[0.17605149485779353]], [[0.17532997124472097]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4049115630505132]], [[0.4019474074419807]], [[0.3976854762657016]]], "std": [[[0.20612994795053874]], [[0.20344945273073028]], [[0.2010680013873341]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3689076017491958]], [[0.3631094803155637]], [[0.3538497350356158]]], "std": [[[0.23977001125167344]], [[0.2336772064747718]], [[0.22678504704209715]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [343]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [343]}, "observation.state": {"min": [0.8125581669347003, -2.121037162119166, 0.6999241836238652, 0.0, 0.0, -1.0, 7.579852479011606e-08, -0.07743313299263899, -0.36839984363508105, 0.6073897605865773, -0.9861231446266174, -0.3115507960319519, -0.8405956029891968, 0.00033983265166170895, -0.0006622334997923799, -0.04001600417742012], "max": [0.8127492033493405, -2.1206680768382613, 0.7000340223424311, 0.0, 0.0, 1.0, 0.00031328864861279726, 0.4069277216203542, 0.22023856187054047, 0.9381706407734124, 0.7604115605354309, 0.40475988388061523, 0.876581072807312, 0.43121591210365295, 0.04002693609396141, -0.006750920659913016], "mean": [0.8125933638075087, -2.1208636573673414, 0.6999904915427113, 0.0, 0.0, -0.17784256559766765, 5.093656501814821e-05, 0.15927898366790919, -0.0007511566806148094, 0.8359046200170653, -0.5160763135109281, 0.02789586208999678, -0.3641396342578504, 0.1464497076291299, 0.03729078274539305, -0.037378021810432656], "std": [4.2204064067351153e-05, 5.635218980928564e-05, 2.4580417788396193e-05, 0.0, 0.0, 0.9840589524320384, 7.422036128204435e-05, 0.12121503359774646, 0.1727463752521439, 0.06614752759358776, 0.4813791191277775, 0.17371522485355395, 0.5505216540482065, 0.11774947502740166, 0.007600381698087158, 0.0059834585355755575], "count": [343]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.32857142857142857, -0.29428571428571426, -0.46857142857142864, -0.3914285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6428571428571428, 0.2914285714285714, 0.2857142857142857, 0.3171428571428571, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.14773011245314457, 0.03760932944606409, 0.0648896293211162, 0.01402748854643898, -0.018775510204081722, -0.02598917117867555, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.636888199323057, 0.559174211091076, 0.1935298970251494, 0.08884926372348223, 0.1546996468073476, 0.14962445402861207, 0.0], "count": [343]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04664723202586174], "std": [0.21088209748268127], "count": [343]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029154518950437317], "std": [0.053916157460370054], "count": [343]}, "timestamp": {"min": [0.0], "max": [17.1], "mean": [8.55], "std": [4.950757517794624], "count": [343]}, "frame_index": {"min": [0], "max": [342], "mean": [171.0], "std": [99.0151503558925], "count": [343]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [343]}, "index": {"min": [15961], "max": [16303], "mean": [16132.0], "std": [99.0151503558925], "count": [343]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [343]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3365568003934972]], [[0.33117842730353864]], [[0.3186695101868873]]], "std": [[[0.22641292141820957]], [[0.22611928520509458]], [[0.23119917555911018]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3789122111002604]], [[0.3631587105545343]], [[0.3439523943732766]]], "std": [[[0.2500318416449929]], [[0.24642289494170252]], [[0.24966120235726838]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.058823529411764705]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.376477180630553]], [[0.36197090896905637]], [[0.3447233246447993]]], "std": [[[0.2246926003992027]], [[0.22389358659700156]], [[0.2266541451025678]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [162]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [162]}, "observation.state": {"min": [4.755678156228141, -2.920714356501354, 0.6999175863687369, 0.0, 0.0, -7.898882904555649e-05, 1.0, -0.0340165767423839, -0.0002555529179315563, 0.41440169368261304, -0.9894882440567017, -0.10282117128372192, -0.14774483442306519, 0.0008376873447559774, 0.0054847739883338645, -0.040042221891247044], "max": [4.756557513192999, -2.9205137434126525, 0.7000183716242144, 0.0, 0.0, 0.0001723186142044142, 1.0, 0.3110167428222219, 0.495253581760005, 0.7476345430098628, 0.9893805980682373, 0.4987316131591797, 0.5532353520393372, 0.8352822661399841, 0.0395635897006665, -0.0205247700411809], "mean": [4.756532165743491, -2.9205330289378146, 0.6999967354226527, 0.0, 0.0, 0.00013918785768431534, 1.0, 0.13020481481777718, 0.21509064508496656, 0.60350223557656, 0.5414452440576789, 0.10439704082630298, 0.29633529640642214, 0.4864946003758239, 0.03552343856504782, -0.039320574149353964], "std": [8.48343807086616e-05, 2.862615101628082e-05, 1.6053842053334385e-05, 0.0, 0.0, 3.821126407464541e-05, 0.0, 0.09848224370146992, 0.17205928412909652, 0.1083267122458684, 0.47728825500346034, 0.17252997714981724, 0.18628979870967818, 0.28137547563502313, 0.007942587842187113, 0.002849927379445863], "count": [162]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6571428571428571, -1.0, -0.75, -0.4285714285714286, -0.36, -0.0, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.4928571428571429, 0.19142857142857142, 0.18, 0.5285714285714286, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.07671957671957672, 0.002292768959435723, 0.07861552028218698, -0.07074074074074073, -0.004320987654321003, 0.0923280423280423, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.49931078446516375, 0.5922989097056617, 0.30582187622176416, 0.19974632578398824, 0.12563739738429291, 0.14932027809194406, 0.0], "count": [162]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09876543283462524], "std": [0.29834678769111633], "count": [162]}, "next.done": {"min": [false], "max": [true], "mean": [0.006172839506172839], "std": [0.0783245527188242], "count": [162]}, "timestamp": {"min": [0.0], "max": [8.05], "mean": [4.0249999999999995], "std": [2.3382240411617246], "count": [162]}, "frame_index": {"min": [0], "max": [161], "mean": [80.5], "std": [46.76448082323449], "count": [162]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [162]}, "index": {"min": [16304], "max": [16465], "mean": [16384.5], "std": [46.76448082323449], "count": [162]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [162]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5837973602893306]], [[0.4034339450013404]], [[0.36542703067555143]]], "std": [[[0.1950793945707941]], [[0.2653499181518539]], [[0.29720601617348225]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5322547302246095]], [[0.39318011414770987]], [[0.36409978410309435]]], "std": [[[0.24790867180788637]], [[0.2755158370430911]], [[0.297338204328389]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5000249825271905]], [[0.384360969693053]], [[0.3599736663219975]]], "std": [[[0.23391068904332843]], [[0.24926237911880472]], [[0.2686612068710401]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [375]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [375]}, "observation.state": {"min": [4.117097733050246, -0.8111592360739416, 0.6999489990049887, 0.0, 0.0, 0.7069252133369446, 0.7068828344345093, -0.20448170390761156, -0.37307246125608984, 0.597383522115732, -0.9896863698959351, -0.4271164536476135, -0.6899628639221191, 9.486915951129049e-05, 0.01055953784727012, -0.040676005351353975], "max": [4.117412986569101, -0.8109281352341755, 0.7005378992823261, 0.0, 0.0, 0.7073306441307068, 0.7072882652282715, 0.4200000205326583, 0.657681716283427, 0.8171505281660162, 0.942061722278595, 0.4124388098716736, 0.907758355140686, 0.4595184028148651, 0.041329875182617264, 0.0008153761504065346], "mean": [4.117269345351065, -0.8109608046642729, 0.7001109095223177, 0.0, 0.0, 0.7071060964266459, 0.7071074272791544, 0.040017814260827844, 0.11906548163386212, 0.7674421382829244, 0.4245582046508789, -0.10663696229457856, 0.4752871687014898, 0.14528416831927218, 0.03842593228836308, -0.03730062990241955], "std": [3.137256520882378e-05, 3.2893329090686395e-05, 0.00012943263182753828, 0.0, 0.0, 5.5178147951351616e-05, 5.517610136213107e-05, 0.18866167588284033, 0.2940801709881973, 0.04860505388184715, 0.5566700164166765, 0.22243128966292625, 0.43447400093806504, 0.11510285771101543, 0.0045665047134294525, 0.0073699087193035894], "count": [375]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.4785714285714286, -0.2285714285714286, -0.4228571428571429, -0.3, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.4285714285714286, 0.27714285714285714, 0.14857142857142858, 0.36, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.17878095238095237, 0.02763809523809532, -0.016419047619047618, 0.002681904761904757, -0.052312380952380985, -0.0033980952380952586, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7007965028542148, 0.5487019434688012, 0.180016079906611, 0.09367264920977364, 0.11296919017300527, 0.15232043255335964, 0.0], "count": [375]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04266666620969772], "std": [0.20210446417331696], "count": [375]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026666666666666666], "std": [0.05157087894883657], "count": [375]}, "timestamp": {"min": [0.0], "max": [18.7], "mean": [9.35], "std": [5.412639528609555], "count": [375]}, "frame_index": {"min": [0], "max": [374], "mean": [187.0], "std": [108.2527905721911], "count": [375]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [375]}, "index": {"min": [16466], "max": [16840], "mean": [16653.0], "std": [108.2527905721911], "count": [375]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [375]}}} +{"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": [[[0.42893123432234226]], [[0.32277200796089917]], [[0.25932365686753217]]], "std": [[[0.1610765858662202]], [[0.1976780110464617]], [[0.23307623723474216]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3815642885694317]], [[0.30643076040230544]], [[0.26333763990215225]]], "std": [[[0.22541260648165978]], [[0.2325548273338703]], [[0.2525576002405079]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.03529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40298872046377143]], [[0.3001608874751072]], [[0.23943299596449907]]], "std": [[[0.20123311597663654]], [[0.21723901736225715]], [[0.24284015314810595]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [276]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [276]}, "observation.state": {"min": [2.8641502573265276, -0.8331905273433134, 0.6998815037666681, 0.0, 0.0, 0.707030713558197, 0.7069916725158691, -0.10443601388335999, -0.32723434522772576, 0.5890616499121144, -0.9918192028999329, -0.3277304172515869, -0.8456344604492188, 4.425039151101373e-05, -0.001713808668283658, -0.039703163770163405], "max": [2.864333555853686, -0.8329103488018241, 0.7001919726263218, 0.0, 0.0, 0.7072218656539917, 0.7071828842163086, 0.4317686546572805, 0.5374189924028765, 0.9363547099117869, 0.7410957217216492, 0.234704852104187, 0.85211580991745, 0.34953662753105164, 0.0396561050107444, 0.001152392045277185], "mean": [2.864244978141474, -0.832939244872766, 0.7000074505112824, 0.0, 0.0, 0.7071042622345082, 0.7071092584426852, 0.1593934141053174, 0.08316603367079782, 0.8010171848806028, -0.004103848143764164, -0.06756331193922223, 0.12680563711277817, 0.1536945060662628, 0.0068319218726073895, -0.0070369983283831644], "std": [2.5770856334594146e-05, 4.7427466270526785e-05, 4.68462212328345e-05, 0.0, 0.0, 2.6171995612345863e-05, 2.617429840759532e-05, 0.1473173503848923, 0.2467903982751598, 0.07604755448004683, 0.6236359959301421, 0.14862260221253598, 0.730056527281352, 0.10827569469509651, 0.013720050393613742, 0.013610505021608696], "count": [276]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9214285714285714, -0.24285714285714288, -0.4971428571428572, -0.29714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.8142857142857143, 0.15714285714285714, 0.30857142857142855, 0.38285714285714284, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.07965838509316771, 0.04451345755693579, 0.06814182194616977, 0.009968944099378884, -0.062432712215320894, 0.01791925465838509, 0.7101449275362319], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6920532796836997, 0.633811030630468, 0.3429386984594016, 0.08447814076504842, 0.18520529943972616, 0.15105648057703042, 0.7040555247241265], "count": [276]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05797101557254791], "std": [0.23368863761425018], "count": [276]}, "next.done": {"min": [false], "max": [true], "mean": [0.0036231884057971015], "std": [0.060083782433974636], "count": [276]}, "timestamp": {"min": [0.0], "max": [13.75], "mean": [6.875], "std": [3.983690709212585], "count": [276]}, "frame_index": {"min": [0], "max": [275], "mean": [137.5], "std": [79.6738141842517], "count": [276]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [276]}, "index": {"min": [16841], "max": [17116], "mean": [16978.5], "std": [79.6738141842517], "count": [276]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [276]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.01568627450980392]]], "max": [[[0.996078431372549]], [[0.996078431372549]], [[0.996078431372549]]], "mean": [[[0.5132431425206802]], [[0.4858999980851716]], [[0.4687712282666973]]], "std": [[[0.17427413804737327]], [[0.18387084620624577]], [[0.1940609844477418]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.050980392156862744]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5933842839259728]], [[0.5690467541264552]], [[0.5495475798962164]]], "std": [[[0.22748227549366024]], [[0.2358514932293952]], [[0.2420519686983585]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5816991930194929]], [[0.5565333652870328]], [[0.5372771037980622]]], "std": [[[0.22679170065611096]], [[0.23473191526612355]], [[0.23989432185562426]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [278]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [278]}, "observation.state": {"min": [0.8029591375256375, -3.9861353631531156, 0.6999319071414485, 0.0, 0.0, -1.0, 7.841944693609548e-08, -0.1968567085103523, -0.4253640129602343, 0.6063505928335022, -0.9880688786506653, -0.34599483013153076, -0.9598183035850525, 0.0011462902184575796, 0.017293360631299933, -0.04004248264267045], "max": [0.8031200747029308, -3.985949863807083, 0.7003063304151496, 0.0, 0.0, 1.0, 0.00013388266961555928, 0.3978896409566201, 0.4610708931796279, 1.003834491885888, 0.92934250831604, 0.47906768321990967, 0.8991534113883972, 0.7158799171447754, 0.04054462276612941, -0.02049831147011689], "mean": [0.8029801777372636, -3.986042245599282, 0.7000258308166961, 0.0, 0.0, 0.05755395683453238, 2.474312002223369e-05, 0.10508279762531482, 0.024274298909645307, 0.8126918954465505, 0.029972105950331517, 0.11348057286344844, -0.15611109093314024, 0.3327083015502866, 0.037852089459773836, -0.03897101018693062], "std": [2.3929356388184495e-05, 2.3081742948392618e-05, 7.528333478709318e-05, 0.0, 0.0, 0.9983423972028272, 2.3827247860257547e-05, 0.1730202303289804, 0.2611748793118886, 0.08390686988730515, 0.6123339649160421, 0.17264063973620877, 0.6284544692203011, 0.22681630774222653, 0.004402853075865054, 0.002303950427620773], "count": [278]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6428571428571428, -0.4, -0.5485714285714286, -0.72, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.4285714285714286, 0.2714285714285714, 0.54, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.016264131551901366, 0.03694758478931142, 0.04630010277492289, -0.009794450154162384, -0.07388489208633095, -0.04718396711202466, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7255197855043808, 0.6638103085379877, 0.36375921943500744, 0.16320512948480095, 0.17982581245240134, 0.2904815761805034, 0.0], "count": [278]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.057553958147764206], "std": [0.2328980416059494], "count": [278]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035971223021582736], "std": [0.05986804668019151], "count": [278]}, "timestamp": {"min": [0.0], "max": [13.85], "mean": [6.925000000000001], "std": [4.012558410789804], "count": [278]}, "frame_index": {"min": [0], "max": [277], "mean": [138.5], "std": [80.25116821579608], "count": [278]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [278]}, "index": {"min": [17117], "max": [17394], "mean": [17255.5], "std": [80.25116821579608], "count": [278]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [278]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[0.9686274509803922]], [[0.9647058823529412]], [[0.9647058823529412]]], "mean": [[[0.5389962224025353]], [[0.41219102567784927]], [[0.32790713381299785]]], "std": [[[0.15688004558263907]], [[0.18018024436944066]], [[0.21788004707200143]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4736049104578355]], [[0.3891256588206572]], [[0.33280517159256284]]], "std": [[[0.22857750639436003]], [[0.23141757016971723]], [[0.2537663621604683]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47130215334424785]], [[0.38634671618891697]], [[0.33108599195293353]]], "std": [[[0.23027061621058753]], [[0.23450062118167345]], [[0.2573233386102908]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [276]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [276]}, "observation.state": {"min": [1.2779923003265, -5.7095417843702245, 0.6999210442677896, 0.0, 0.0, -0.7072996497154236, 0.7069138884544373, -0.15472964904660724, -0.5657264112172551, 0.6183271392267764, -0.985373854637146, -0.23605167865753174, -0.8419834971427917, 0.0007363884360529482, 0.020537397132988893, -0.04039583055315151], "max": [1.2783097087712751, -5.70771770631588, 0.7000566796270026, 0.0, 0.0, -0.7069499492645264, 0.7072636485099792, 0.384309058835818, 0.3961849271601088, 0.9049301037585471, 0.8669732809066772, 0.47383928298950195, 0.7493940591812134, 0.7290704846382141, 0.041133723284916594, -0.02052916343563666], "mean": [1.278184171591649, -5.709488980157228, 0.6999954996681346, 0.0, 0.0, -0.7071200535781141, 0.7070934621320255, 0.11114027741303988, -0.058576042448538104, 0.7393078276771493, -0.2257314103021138, 0.11178665813328563, -0.19665210078591885, 0.2851494071641144, 0.03934178323308278, -0.038631423653275], "std": [4.759159771390713e-05, 0.00019794435108326112, 2.7292107425965566e-05, 0.0, 0.0, 4.591430383541009e-05, 4.590722643409253e-05, 0.15047328490106163, 0.27144594477002676, 0.06598474255375149, 0.608010683305487, 0.188248296612619, 0.6075662885227825, 0.2057076436838204, 0.0025285755045242474, 0.002462801287414179], "count": [276]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.22, -0.38857142857142857, -0.4314285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.26571428571428574, 0.23714285714285716, 0.4114285714285714, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.05168219461697722, 0.0006987577639751823, 0.08141821946169772, 0.03404761904761904, -0.06162525879917182, 0.007339544513457562, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.68642153345929, 0.6893880676181319, 0.3568037104569178, 0.09922460149554697, 0.1654977964084715, 0.18219143930741047, 0.0], "count": [276]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05797101557254791], "std": [0.23368863761425018], "count": [276]}, "next.done": {"min": [false], "max": [true], "mean": [0.0036231884057971015], "std": [0.060083782433974636], "count": [276]}, "timestamp": {"min": [0.0], "max": [13.75], "mean": [6.875], "std": [3.983690709212585], "count": [276]}, "frame_index": {"min": [0], "max": [275], "mean": [137.5], "std": [79.6738141842517], "count": [276]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [276]}, "index": {"min": [17395], "max": [17670], "mean": [17532.5], "std": [79.6738141842517], "count": [276]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [276]}}} +{"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": [[[0.46501214719286155]], [[0.46137076045017616]], [[0.45854585355870864]]], "std": [[[0.18508870637310978]], [[0.1802706763776077]], [[0.17887937831288636]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4100863402123545]], [[0.4039607801250383]], [[0.3991592125986137]]], "std": [[[0.2244688745601972]], [[0.2223331969231913]], [[0.22460632660168758]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4857921070772059]], [[0.4818151322907092]], [[0.4790553223853018]]], "std": [[[0.2239604496415771]], [[0.22042683336994234]], [[0.21979992280091087]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [135]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [135]}, "observation.state": {"min": [0.9683418621433088, -0.8239920425683315, 0.6999472831465472, 0.0, 0.0, 0.706641435623169, 0.7051671147346497, -0.23263569255498506, -0.2272082659697775, 0.6077571488622875, -0.9885789155960083, -0.11930564045906067, -0.24717052280902863, 0.005175760481506586, -0.00182654797981766, -0.04004738959756042], "max": [0.9728800522961364, -0.8206697307316418, 0.7000928470749177, 0.0, 0.0, 0.709041178226471, 0.7075718641281128, 0.41647854896060876, 0.26769062098306506, 0.7646155392583635, 0.9550305008888245, 0.5019821524620056, 0.43936070799827576, 0.5936973690986633, 0.03960866712896945, -0.020480066411299395], "mean": [0.971969455198829, -0.8210569012407282, 0.7000044053671918, 0.0, 0.0, 0.7073307571587739, 0.7068819862824899, 0.09253539517608309, -0.007677926075017593, 0.7109747128089428, 0.3662308379455849, 0.28930403821998174, 0.17927718786177813, 0.3881141272028563, 0.03285777744088707, -0.039140233410686606], "std": [0.0012997310575558715, 0.0008374593696352049, 1.8348100635293845e-05, 0.0, 0.0, 0.0007228697019605841, 0.0007243034044369181, 0.199932778640027, 0.142936350396681, 0.05454333106687962, 0.6941379734693579, 0.17042760444002736, 0.19976767012798963, 0.22051090623845693, 0.011489728800379568, 0.0031032275098194172], "count": [135]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.4, -0.5485714285714286, -0.32571428571428573, -0.34285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.9214285714285714, 0.1142857142857143, 0.11714285714285716, 0.38857142857142857, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.16402116402116398, -0.1876719576719577, 0.04444444444444447, -0.0860740740740741, -0.05100529100529099, 0.03140740740740744, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7845293650150906, 0.6484893951043721, 0.25715559443272334, 0.1608587798199263, 0.09448305051804251, 0.1557459785411862, 0.0], "count": [135]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.11851851642131805], "std": [0.3232211172580719], "count": [135]}, "next.done": {"min": [false], "max": [true], "mean": [0.007407407407407408], "std": [0.08574694002066834], "count": [135]}, "timestamp": {"min": [0.0], "max": [6.7], "mean": [3.35], "std": [1.948503699423398], "count": [135]}, "frame_index": {"min": [0], "max": [134], "mean": [67.0], "std": [38.97007398846795], "count": [135]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [135]}, "index": {"min": [17671], "max": [17805], "mean": [17738.0], "std": [38.97007398846795], "count": [135]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [135]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43482772827148436]], [[0.4480762873630898]], [[0.44765156884286916]]], "std": [[[0.22807989311581645]], [[0.2050796639961723]], [[0.202228426490592]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4003022341260723]], [[0.437146936154833]], [[0.44316518686331957]]], "std": [[[0.26305382377529646]], [[0.22464596936422745]], [[0.21697692117532216]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37211127127853094]], [[0.4104693657370175]], [[0.41651666678634347]]], "std": [[[0.25383516298066083]], [[0.22168974459422153]], [[0.2177002213060217]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [155]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [155]}, "observation.state": {"min": [4.688060187818151, -2.8966876361277354, 0.6999736005739693, 0.0, 0.0, 2.6427247576066293e-05, 1.0, -0.24823135082968495, -0.04182071985177638, 0.5852784012524538, -0.9917620420455933, -0.06695903837680817, -0.14121636748313904, 0.002070738235488534, 0.011156345962856527, -0.040044751303817905], "max": [4.688259250891372, -2.8965231720333287, 0.7002301172352682, 0.0, 0.0, 0.00021968214423395693, 1.0, 0.38075494323430803, 0.43821566917656884, 0.7270127797539954, 0.9910743832588196, 0.5126591920852661, 0.4419926702976227, 0.6443098187446594, 0.040181649638831814, -0.020527232184289042], "mean": [4.688234506833819, -2.896590554711415, 0.700030252998326, 0.0, 0.0, 0.0001492718384284789, 1.0, 0.06218384705792575, 0.13543930332236861, 0.6582268260691833, 0.5614614013702639, 0.25389901861067743, 0.2136571354443027, 0.3920280444781266, 0.0361564513303458, -0.039285277466614386], "std": [3.793382282567215e-05, 2.822171214413145e-05, 5.499102699741653e-05, 0.0, 0.0, 3.400915022745775e-05, 0.0, 0.19190011509126395, 0.1529888513176682, 0.04643041446654521, 0.5709464645181397, 0.16832341433359538, 0.1548954481725566, 0.20653278077664786, 0.005949710903836578, 0.0029038174299961896], "count": [155]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.4, -0.3742857142857143, -0.34285714285714286, -0.29428571428571426, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.45714285714285713, 0.2057142857142857, 0.10571428571428572, 0.4714285714285714, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.14410138248847912, -0.055898617511520685, 0.005115207373271883, -0.04129032258064519, -0.05611059907834104, 0.0176036866359447, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7255472377441881, 0.6226386060130638, 0.19322248181243012, 0.11729637846111617, 0.11138667952739584, 0.16885424494646753, 0.0], "count": [155]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.10322580486536026], "std": [0.30425357818603516], "count": [155]}, "next.done": {"min": [false], "max": [true], "mean": [0.0064516129032258064], "std": [0.08006241061929585], "count": [155]}, "timestamp": {"min": [0.0], "max": [7.7], "mean": [3.85], "std": [2.2371857321197095], "count": [155]}, "frame_index": {"min": [0], "max": [154], "mean": [77.0], "std": [44.74371464239419], "count": [155]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [155]}, "index": {"min": [17806], "max": [17960], "mean": [17883.0], "std": [44.74371464239419], "count": [155]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [155]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48411513743681067]], [[0.5165900286506204]], [[0.5048938137877221]]], "std": [[[0.1829552565616165]], [[0.14624329671596134]], [[0.14701146943628093]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45720802217371326]], [[0.4947350266400506]], [[0.4850786527745864]]], "std": [[[0.2201138776580019]], [[0.17963181278013496]], [[0.17492105455449733]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4991715913660386]], [[0.5208874062930836]], [[0.5020165483063342]]], "std": [[[0.22127099265426597]], [[0.1860566583573804]], [[0.18520700435072296]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [150]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [150]}, "observation.state": {"min": [1.03140240923018, -0.8422206009996428, 0.6999658273462056, 0.0, 0.0, 0.7069970369338989, 0.7070544362068176, -0.04576060933879578, -0.2677055285059313, 0.43613776458317055, -0.9936743974685669, -0.12251162528991699, -0.12506555020809174, 0.0013927534455433488, -0.002035063344636919, -0.04097071643329546], "max": [1.0315264399790482, -0.8420207193022267, 0.7001030685278727, 0.0, 0.0, 0.7071590423583984, 0.7072165608406067, 0.43068719618087037, 0.25879599827464916, 0.8135188554711638, 0.9938369393348694, 0.6605208516120911, 0.585870087146759, 0.7816347479820251, 0.040154933078551135, -0.020498823867798603], "mean": [1.0315050161429078, -0.8420638369919703, 0.7000037083763069, 0.0, 0.0, 0.7070995497703553, 0.7071139641602834, 0.17072610524381965, -0.015656162257676087, 0.6508124214461296, 0.4565981783469518, 0.09427498668432235, 0.2787128448486328, 0.4688067207400066, 0.034918734510525094, -0.03933579270085762], "std": [1.4182081056077575e-05, 3.1272427272296796e-05, 1.9045547089791104e-05, 0.0, 0.0, 1.9523075254560917e-05, 1.9530889420423194e-05, 0.13512848287171464, 0.15410840098564213, 0.12471574050832081, 0.555577515738221, 0.2533273264109691, 0.20428106892051007, 0.2657025870917241, 0.008565415840538626, 0.002968974177192248], "count": [150]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6857142857142858, -0.5171428571428571, -0.30857142857142855, -0.1457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.9714285714285714, 0.16285714285714287, 0.26857142857142857, 0.3942857142857143, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0686666666666667, -0.12290476190476189, 0.10785714285714289, -0.09112380952380955, 0.022571428571428562, 0.08704761904761905, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6022931161257169, 0.6238204088472344, 0.3908639915161609, 0.2053483906485515, 0.1344200948696359, 0.1573998475797883, 0.0], "count": [150]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.1066666692495346], "std": [0.3086889684200287], "count": [150]}, "next.done": {"min": [false], "max": [true], "mean": [0.006666666666666667], "std": [0.08137703743822468], "count": [150]}, "timestamp": {"min": [0.0], "max": [7.45], "mean": [3.725], "std": [2.1650153964040686], "count": [150]}, "frame_index": {"min": [0], "max": [149], "mean": [74.5], "std": [43.300307928081374], "count": [150]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [150]}, "index": {"min": [17961], "max": [18110], "mean": [18035.5], "std": [43.300307928081374], "count": [150]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [150]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0196078431372549]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4947873702703738]], [[0.5204412943522135]], [[0.5032391513001685]]], "std": [[[0.2105261646017313]], [[0.16399534979323732]], [[0.1539439992063197]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48916759176815255]], [[0.49939098881740196]], [[0.4769922192143459]]], "std": [[[0.23065556190540304]], [[0.20213589592352615]], [[0.20126960222472512]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.03137254901960784]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44150179993872546]], [[0.4417236968395757]], [[0.42078449264227175]]], "std": [[[0.22744275912403558]], [[0.21943219897164207]], [[0.22366282772032803]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [199]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [199]}, "observation.state": {"min": [3.5247777092490304, -0.895234008527647, 0.6999295578356443, 0.0, 0.0, -4.280791836208664e-05, 1.0, 0.020016159855181126, -0.16200499203297458, 0.3578430207551676, -0.9939664602279663, -0.2908385992050171, -0.15079809725284576, 0.0036849468015134335, 0.020554317613078455, -0.04124584799869482], "max": [3.5249656839965446, -0.8951321389833883, 0.7023343118051919, 0.0, 0.0, 0.0001675664389040321, 1.0, 0.41668951282650823, 0.3015386650454033, 0.7532660575891872, 0.9951894879341125, 0.5457341074943542, 0.42715126276016235, 0.7934286594390869, 0.040338106796493696, -0.020512241295753478], "mean": [3.5249117606349802, -0.8951680615891107, 0.700429356353635, 0.0, 0.0, 0.00011022069534946373, 1.0, 0.21188777474879805, -0.009465365371913937, 0.6240411917313299, 0.5887150038127325, 0.1290599519957849, 0.2178098986056357, 0.36905584449004664, 0.037409384791836864, -0.03946830802777524], "std": [6.935955142207278e-05, 1.8990892992446908e-05, 0.0006259301696231692, 0.0, 0.0, 5.3937757454878166e-05, 0.0, 0.1375399038938477, 0.1439162494349197, 0.13267253396735737, 0.5079699724693222, 0.30724129837544967, 0.19120382055002239, 0.253229536675238, 0.0035881106465857774, 0.002595908797075965], "count": [199]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8357142857142857, -1.0, -0.9857142857142858, -0.5571428571428572, -0.4914285714285715, -0.12, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.8857142857142857, 0.8571428571428572, 0.35428571428571426, 0.33714285714285713, 0.44571428571428573, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3617013639626705, -0.03736539842067485, -0.15882986360373294, -0.06344580043072504, 0.08736539842067478, 0.05885139985642501, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5890216075369457, 0.48346767463791784, 0.525851517399465, 0.23094447900943121, 0.1983859124742012, 0.14456776809929753, 0.0], "count": [199]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08040200918912888], "std": [0.271914541721344], "count": [199]}, "next.done": {"min": [false], "max": [true], "mean": [0.005025125628140704], "std": [0.07070978532397129], "count": [199]}, "timestamp": {"min": [0.0], "max": [9.9], "mean": [4.95], "std": [2.8722813232690143], "count": [199]}, "frame_index": {"min": [0], "max": [198], "mean": [99.0], "std": [57.445626465380286], "count": [199]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [199]}, "index": {"min": [18111], "max": [18309], "mean": [18210.0], "std": [57.445626465380286], "count": [199]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [199]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3935473746505438]], [[0.47077600097656247]], [[0.4866147077971814]]], "std": [[[0.16929186697098159]], [[0.1559767288141134]], [[0.16080095444500778]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4467148317823223]], [[0.4887022902544807]], [[0.48281844255035994]]], "std": [[[0.24602603877735377]], [[0.21061406249599857]], [[0.20339162317384152]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40090012434417127]], [[0.46066793045343135]], [[0.46713506721047793]]], "std": [[[0.20901601323077112]], [[0.1952863213292396]], [[0.19598540551134086]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [261]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [261]}, "observation.state": {"min": [3.8943801995553473, -1.2193084274938997, 0.6999580657692172, 0.0, 0.0, -0.00019963823433499783, 0.9999998807907104, -0.0998196297334144, -0.24614497316684258, 0.5924360058425345, -0.9910899996757507, -0.27575862407684326, -0.6226484179496765, 4.033832738059573e-05, -0.0003044019075951973, -0.04040322147607756], "max": [3.8946322300433383, -1.2189533645745798, 0.7000325005958843, 0.0, 0.0, 0.0004302252782508731, 1.0, 0.40863914484007724, 0.5965903560290781, 0.7799070002344975, 0.9582924246788025, 0.32255738973617554, 0.7399861216545105, 0.6886339783668518, 0.04120055697047261, -0.02052679186433988], "mean": [3.8946021362122636, -1.219163466408271, 0.69999499868666, 0.0, 0.0, 1.766233826340858e-05, 0.9999999995432595, 0.1413057047378874, 0.13558630257928797, 0.7206864142284752, 0.5851535592156808, 0.015482656629149485, 0.5540389621851545, 0.212274642862139, 0.03399030047808063, -0.03941985234061327], "std": [3.3694737610747464e-05, 3.77763782369739e-05, 1.5310757856291293e-05, 0.0, 0.0, 6.477065100024649e-05, 7.364720447126068e-09, 0.14807733070972046, 0.23751399468949863, 0.060743639618744884, 0.42926997611450607, 0.16789016550421895, 0.22207276066211482, 0.20870977749723918, 0.012299567458317605, 0.0022776848963978334], "count": [261]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7357142857142858, -0.3314285714285714, -0.5, -0.28285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5142857142857143, 0.4742857142857143, 0.32857142857142857, 0.27714285714285714, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0952654625068418, -0.006486042692939239, 0.01521620142309796, 0.001116584564860443, -0.07217296113847838, -0.005987958401751519, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6936057170657755, 0.5906122044444018, 0.22799580762564026, 0.1762376130024415, 0.16214531376700936, 0.13464480576412263, 0.0], "count": [261]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.061302680522203445], "std": [0.23988470435142517], "count": [261]}, "next.done": {"min": [false], "max": [true], "mean": [0.0038314176245210726], "std": [0.06177975286052528], "count": [261]}, "timestamp": {"min": [0.0], "max": [13.0], "mean": [6.5], "std": [3.7671828554858693], "count": [261]}, "frame_index": {"min": [0], "max": [260], "mean": [130.0], "std": [75.34365710971738], "count": [261]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [261]}, "index": {"min": [18310], "max": [18570], "mean": [18440.0], "std": [75.34365710971738], "count": [261]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [261]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5141282917097503]], [[0.4496748082778033]], [[0.4161181084127987]]], "std": [[[0.16961285866088127]], [[0.18740208075538944]], [[0.20516439579134121]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5397130390242034]], [[0.4922892641553692]], [[0.4655302854051777]]], "std": [[[0.22806641720334322]], [[0.23906814363716455]], [[0.2505017114397679]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.580140443091299]], [[0.5255988099341299]], [[0.4952317498898974]]], "std": [[[0.2233573480682919]], [[0.24550034634593926]], [[0.26291310264464973]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [306]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [306]}, "observation.state": {"min": [0.832724141346905, -5.655110776050277, 0.6998632492215565, 0.0, 0.0, -1.0, 0.0, -0.1568803003248025, -0.6790294712983957, 0.5708290105893564, -0.9932378530502319, -0.22122925519943237, -0.7500690817832947, 0.0034312873613089323, -0.0019171878982329048, -0.039071812192380206], "max": [0.8335953931844968, -5.654927999013801, 0.7000293419823542, 0.0, 0.0, 1.0, 0.0002391608722973615, 0.42877267670727853, 0.47137436382360054, 0.8524838750439387, 0.9863013029098511, 0.25770145654678345, 0.624562680721283, 0.7110854387283325, 0.03917396522949342, 0.0001505967798723147], "mean": [0.8327686628271468, -5.65498695421826, 0.6999926400568711, 0.0, 0.0, -0.006535947712418301, 3.128641221712936e-05, 0.09364466464462158, -0.10211700581438685, 0.7556381374298827, 0.06913091115702212, 0.05609553845392333, 0.0011766904758082496, 0.4230714175489494, 0.0028759834842960906, -0.003923457913416597], "std": [0.00010916908659079658, 2.74966374247941e-05, 2.4264251069250636e-05, 0.0, 0.0, 0.9999786404656377, 4.893961505304354e-05, 0.17493570820426185, 0.33409203917277613, 0.09851249862441014, 0.6540435289397382, 0.13074276627283304, 0.5711347465492713, 0.2049924146641903, 0.009268111147637656, 0.0089670389384369], "count": [306]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6, -0.3657142857142857, -0.4, -0.2142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6, 0.3628571428571429, 0.14, 0.2057142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.13674136321195143, -0.05441176470588235, 0.08870214752567697, 0.008328664799253023, -0.076031746031746, 0.004481792717086838, 0.8888888888888888], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6755914804128793, 0.6550389361359539, 0.2297517296176353, 0.1795371303894177, 0.13058846528247386, 0.07400129759298574, 0.45812284729085345], "count": [306]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05228758230805397], "std": [0.222606360912323], "count": [306]}, "next.done": {"min": [false], "max": [true], "mean": [0.0032679738562091504], "std": [0.05707270979272216], "count": [306]}, "timestamp": {"min": [0.0], "max": [15.25], "mean": [7.625], "std": [4.416705974667848], "count": [306]}, "frame_index": {"min": [0], "max": [305], "mean": [152.5], "std": [88.33411949335697], "count": [306]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [306]}, "index": {"min": [18571], "max": [18876], "mean": [18723.5], "std": [88.33411949335697], "count": [306]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [306]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38413555908203123]], [[0.3917949577780331]], [[0.3911403868432139]]], "std": [[[0.19290940737362564]], [[0.18407131914973038]], [[0.18386383412400156]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46179953900505516]], [[0.47578326056985293]], [[0.47675995232077206]]], "std": [[[0.25529706576419053]], [[0.23978349086225695]], [[0.23823122413657566]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4024820377125459]], [[0.4157028150371477]], [[0.4172163522757736]]], "std": [[[0.2727829047174688]], [[0.26252268421850117]], [[0.2615670248722529]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [225]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [225]}, "observation.state": {"min": [1.4993789209879866, -0.8062333950147349, 0.699894076509303, 0.0, 0.0, 0.706947386264801, 0.7068683505058289, -0.08035895354586009, -0.4266510643063446, 0.6053690347769641, -0.9892247915267944, -0.21813887357711792, -0.750247597694397, 0.001398831489495933, 0.020561905654794207, -0.04052686872320283], "max": [1.4998152264631974, -0.8038138489963482, 0.7000463982972626, 0.0, 0.0, 0.7073451280593872, 0.7072662115097046, 0.3982915504356668, 0.2925362428815559, 0.8545261155428038, 0.9520894885063171, 0.45608270168304443, 0.6705601811408997, 0.5605372786521912, 0.040320756116559775, -0.009488577777543774], "mean": [1.4996755352925264, -0.803892962953175, 0.6999894884884768, 0.0, 0.0, 0.707101174460517, 0.7071123501989577, 0.15036188110188198, -0.06879815358370932, 0.764754012896676, -0.06619261317782932, 0.1240548856390847, -0.07741283880339729, 0.27193035737921795, 0.03926967742670835, -0.03612779248242269], "std": [6.0884829471274796e-05, 0.000311460969618766, 2.390907154456119e-05, 0.0, 0.0, 5.9621385068486785e-05, 5.963477222542563e-05, 0.14297446145996856, 0.199084546062962, 0.05666504296152853, 0.7068352707549875, 0.19280998211610598, 0.5728415964559225, 0.1880180419146003, 0.0024328725160970236, 0.0062790196344400745], "count": [225]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5785714285714286, -0.19142857142857142, -0.5685714285714286, -0.23142857142857146, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.4857142857142857, 0.4028571428571428, 0.14, 0.2485714285714286, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1251428571428572, -0.049333333333333416, 0.038539682539682554, 0.05255873015873014, -0.09348571428571426, 0.016596825396825395, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7688062661229622, 0.6297148762708604, 0.1880547247240965, 0.1448485699921577, 0.13764265541455217, 0.09654095174624876, 0.0], "count": [225]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07111111283302307], "std": [0.2570103704929352], "count": [225]}, "next.done": {"min": [false], "max": [true], "mean": [0.0044444444444444444], "std": [0.06651835354264785], "count": [225]}, "timestamp": {"min": [0.0], "max": [11.2], "mean": [5.6], "std": [3.2475631890182934], "count": [225]}, "frame_index": {"min": [0], "max": [224], "mean": [112.0], "std": [64.95126378036586], "count": [225]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [225]}, "index": {"min": [18877], "max": [19101], "mean": [18989.0], "std": [64.95126378036586], "count": [225]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [225]}}} +{"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": [[[0.6426349822399663]], [[0.5193065682205499]], [[0.39305302698471967]]], "std": [[[0.21256626999698272]], [[0.19334704245335893]], [[0.2492636779320858]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6777523827646292]], [[0.5277871937471277]], [[0.3785594177246093]]], "std": [[[0.2310737465366776]], [[0.201360047631817]], [[0.23950041870279049]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.050980392156862744]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7121336538277421]], [[0.5515985418581495]], [[0.3942673501407399]]], "std": [[[0.1943166011029337]], [[0.18226913150230767]], [[0.23619080644536847]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [388]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [388]}, "observation.state": {"min": [3.6070935177486625, -1.16201009222275, 0.6998971483480434, 0.0, 0.0, 0.7069981694221497, 0.7069200873374939, -0.04076330765992986, -0.6641926921448822, 0.5767720151722597, -0.9904617667198181, -0.6399681568145752, -0.9975369572639465, 0.0010099147912114859, -0.0015345989809125292, -0.041328136111661314], "max": [3.607309468618189, -1.159691479057971, 0.7000366083220516, 0.0, 0.0, 0.7072934508323669, 0.707215428352356, 0.4556107586448953, 0.6203423484182027, 0.7705922359055694, 0.7043437361717224, 0.6895555853843689, 0.7410444617271423, 0.9282981157302856, 0.04093453241824712, -0.02051243924234058], "mean": [3.607219413859719, -1.1597425633315177, 0.69998907065014, 0.0, 0.0, 0.7070794256077599, 0.7071340907480299, 0.12477201043980513, -0.04700014830082818, 0.6765047927732782, 0.11453891833632052, 0.30248575676808653, -0.17424974823451211, 0.47446478616875915, 0.03677252121899522, -0.03942165240939615], "std": [4.253165483370111e-05, 0.00019442485709254516, 3.1301683242244625e-05, 0.0, 0.0, 4.690746514952084e-05, 4.690313303337944e-05, 0.143927828703537, 0.3917563241118974, 0.05223804374658538, 0.4664850037420053, 0.27881498633748547, 0.5046666615007567, 0.2997814131800454, 0.006533757581938533, 0.002325354924493795], "count": [388]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8928571428571429, -0.5928571428571429, -0.6028571428571429, -0.6657142857142857, -0.7028571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.7571428571428572, 0.8199999999999998, 0.44, 0.18, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04099779086892488, 0.009112665684830573, 0.1282952871870398, 0.022010309278350515, -0.06427835051546388, -0.1062076583210604, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5396301054815388, 0.6301152437628939, 0.2433813594497112, 0.29058212991462445, 0.18488491580951613, 0.16325130132733953, 0.0], "count": [388]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04123711213469505], "std": [0.19883817434310913], "count": [388]}, "next.done": {"min": [false], "max": [true], "mean": [0.002577319587628866], "std": [0.05070184426006702], "count": [388]}, "timestamp": {"min": [0.0], "max": [19.35], "mean": [9.674999999999999], "std": [5.600279010906511], "count": [388]}, "frame_index": {"min": [0], "max": [387], "mean": [193.5], "std": [112.0055802181302], "count": [388]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [388]}, "index": {"min": [19102], "max": [19489], "mean": [19295.5], "std": [112.0055802181302], "count": [388]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [388]}}} +{"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": [[[0.5304311278100107]], [[0.5160157207414215]], [[0.4844346642587699]]], "std": [[[0.19743380616023717]], [[0.19063873608247528]], [[0.19522717060899297]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07058823529411765]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5910930636536842]], [[0.5746091254739201]], [[0.5326995532465917]]], "std": [[[0.187958664491405]], [[0.18101500975674945]], [[0.1789084120732131]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.07450980392156863]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5927004334692861]], [[0.5765402137905944]], [[0.5342311305625765]]], "std": [[[0.18117260162252866]], [[0.17542295807859568]], [[0.17579445784415393]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [362]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [362]}, "observation.state": {"min": [3.687951880980727, -1.1240060956677258, 0.6999488501899798, 0.0, 0.0, 0.7069585919380188, 0.7068939208984375, -0.07068168254776208, -0.6862489707997339, 0.5278318759285404, -0.991275429725647, -0.35614198446273804, -0.6549520492553711, 0.005225175525993109, 0.020563409780446636, -0.04007215802029708], "max": [3.6883094698761694, -1.1235935855983923, 0.7001409512787977, 0.0, 0.0, 0.7073194980621338, 0.7072550058364868, 0.4161736257085731, 0.7279695890088478, 0.7866992443841332, 0.6806426048278809, 0.8314288258552551, 0.710898756980896, 0.9704441428184509, 0.04031905115456399, 0.0015745500673447872], "mean": [3.6882299458963903, -1.1236445537927293, 0.7000122345269564, 0.0, 0.0, 0.707062638925584, 0.7071508855780185, 0.16916250989562515, 0.0427269163011287, 0.667271396248361, -0.08868784098390706, 0.2002713483917779, -0.01673487402840893, 0.614157431495237, 0.03912370884593492, -0.03816027374558339], "std": [3.210048675364417e-05, 4.3385402264028496e-05, 3.748643828561584e-05, 0.0, 0.0, 3.7322026002981573e-05, 3.733616169165381e-05, 0.1287360412896762, 0.42987370399023267, 0.07945059376704623, 0.4881245065503015, 0.29585603071576705, 0.4091296492237708, 0.2852596269965582, 0.0023268860147760036, 0.005818142901399296], "count": [362]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.8785714285714286, -0.7914285714285716, -0.46857142857142864, -0.6857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6071428571428572, 0.48, 0.5485714285714286, 0.37142857142857144, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.05295974743488557, -0.0022494080505131666, 0.05073007103393841, -0.05102604577742688, -0.05397000789265985, -0.07944751381215472, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5605206238719076, 0.7202503624037416, 0.26765151755708283, 0.3177099040838043, 0.24690802243713247, 0.23466965979785342, 0.0], "count": [362]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0441988967359066], "std": [0.20553675293922424], "count": [362]}, "next.done": {"min": [false], "max": [true], "mean": [0.0027624309392265192], "std": [0.052486187845303865], "count": [362]}, "timestamp": {"min": [0.0], "max": [18.05], "mean": [9.024999999999999], "std": [5.2250000000000005], "count": [362]}, "frame_index": {"min": [0], "max": [361], "mean": [180.5], "std": [104.5], "count": [362]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [362]}, "index": {"min": [19490], "max": [19851], "mean": [19670.5], "std": [104.5], "count": [362]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [362]}}} +{"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": [[[0.5887787918390012]], [[0.5066732584635416]], [[0.45563890404794727]]], "std": [[[0.1796603646545204]], [[0.21169830743518017]], [[0.2429154164961994]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5488629497453279]], [[0.4297733710793888]], [[0.3585124607460171]]], "std": [[[0.18325551783635669]], [[0.19670875994939252]], [[0.2059701633284203]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5635569589652267]], [[0.43979586851830577]], [[0.3669513968673407]]], "std": [[[0.18116819990665428]], [[0.19908897829842273]], [[0.2074692186233509]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [425]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [425]}, "observation.state": {"min": [0.8314089368179224, -5.527070741529685, 0.6996627527356539, 0.0, 0.0, -1.0, 6.083791390665283e-07, -0.47367701193933065, -0.7531131844806414, 0.5978965625465036, -0.9878482818603516, -0.4795572757720947, -0.8124698996543884, 0.0001749651419231668, -0.003226092147638365, -0.03936733433029017], "max": [0.8329150839972534, -5.526495857097774, 0.7004632721917822, 0.0, 0.0, 1.0, 0.00040674139745533466, 0.3897654291798998, 0.47800468382570394, 0.9309757380322035, 0.7051421403884888, 0.5237982273101807, 0.8579288721084595, 0.9735639095306396, 0.04004115796352534, 0.0005794357781470942], "mean": [0.8314893398315912, -5.526761150992354, 0.7000056982567129, 0.0, 0.0, 0.6470588235294118, 0.00014050244738160366, -0.03644287701066393, -0.0411303863741023, 0.7372428489610209, -0.15997166676611146, 0.0977838790066102, -0.08085740689544337, 0.5255658458691324, 0.004844542879714526, -0.005586272281624485], "std": [0.0001231502613983063, 5.759023242913605e-05, 0.0001411514395751352, 0.0, 0.0, 0.7624400821656304, 7.953929434599244e-05, 0.2291250113512665, 0.39971492688416266, 0.08365626413459333, 0.4470539809329049, 0.22288923848648898, 0.5836950131731033, 0.30307298174032565, 0.012247969601591725, 0.011846057430441296], "count": [425]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.6314285714285715, -0.6171428571428571, -0.9371428571428573, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.9571428571428572, 0.7000000000000001, 0.5057142857142857, 0.66, 0.3342857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.145563025210084, 0.10326050420168086, -0.0994621848739496, -0.03709579831932778, -0.021445378151260592, -0.29992605042016807, 0.788235294117647], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6353688996046667, 0.5321055420570824, 0.42934630098448034, 0.24915406977721113, 0.287798590213814, 0.3017278681464698, 0.6153739684998581], "count": [425]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0376470573246479], "std": [0.19034115970134735], "count": [425]}, "next.done": {"min": [false], "max": [true], "mean": [0.002352941176470588], "std": [0.04845002419288], "count": [425]}, "timestamp": {"min": [0.0], "max": [21.2], "mean": [10.6], "std": [6.134329629226], "count": [425]}, "frame_index": {"min": [0], "max": [424], "mean": [212.0], "std": [122.68659258452001], "count": [425]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [425]}, "index": {"min": [19852], "max": [20276], "mean": [20064.0], "std": [122.68659258452001], "count": [425]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [425]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41572978778913905]], [[0.40918056353400734]], [[0.40628290752336094]]], "std": [[[0.2178824163776637]], [[0.21966166576419688]], [[0.22030183914658308]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.07058823529411765]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4914271928375843]], [[0.47387096509746474]], [[0.46868592445523133]]], "std": [[[0.25052564057273785]], [[0.25515750097152895]], [[0.25633492211739517]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.06274509803921569]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46942192825616574]], [[0.46136067528818164]], [[0.4582329532398897]]], "std": [[[0.2567482422167069]], [[0.2599703709394163]], [[0.2607450522973798]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [138]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [138]}, "observation.state": {"min": [5.289110578626932, -0.9482216913889311, 0.6999182788375811, 0.0, 0.0, 0.7069405317306519, 0.7070993185043335, -0.30261417226923504, -0.24065031992746544, 0.5911305224263526, -0.990781307220459, -0.15099269151687622, -0.7938019037246704, 0.0023984683211892843, 0.02057597460624351, -0.040091683058251816], "max": [5.2893054848625365, -0.9480579593764104, 0.7000329834146447, 0.0, 0.0, 0.7071141600608826, 0.707273006439209, 0.39490259971452846, 0.20623416329432498, 0.8048175022128992, 0.9251204133033752, 0.15026599168777466, 0.7314124703407288, 0.5563839673995972, 0.04078182874295762, -0.020490586261470396], "mean": [5.289137575789271, -0.9480797152880408, 0.6999922842858803, 0.0, 0.0, 0.707040835549866, 0.7071727250797161, 0.03865198636785329, -0.03407997176362645, 0.7506580400002602, -0.3007077626560045, -0.011443047311858854, -0.28843220334122144, 0.2335939029791811, 0.03744790994524593, -0.03902624694137213], "std": [3.5047695381889086e-05, 3.461518632200924e-05, 2.4173500574759043e-05, 0.0, 0.0, 2.2132818712789625e-05, 2.2147821798948353e-05, 0.22180430685992733, 0.13558031945348165, 0.0702865059413619, 0.6453991338743159, 0.08529930899264843, 0.5569309401859752, 0.19415604482849927, 0.004724691892570253, 0.003032760036589766], "count": [138]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.22857142857142856, -0.13142857142857142, -0.56, -0.27714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5, 0.19428571428571428, -0.0, 0.2542857142857143, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.11019668737060054, 0.146583850931677, 0.08369565217391302, 0.018322981366459646, -0.15354037267080747, 0.005486542443064169, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7852360146474864, 0.5686788248909951, 0.16653201259042372, 0.09862271193382903, 0.16684213337148227, 0.15733023332517732, 0.0], "count": [138]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.11594203114509583], "std": [0.32015544176101685], "count": [138]}, "next.done": {"min": [false], "max": [true], "mean": [0.007246376811594203], "std": [0.08481666601970743], "count": [138]}, "timestamp": {"min": [0.0], "max": [6.85], "mean": [3.4250000000000003], "std": [1.9918061317976372], "count": [138]}, "frame_index": {"min": [0], "max": [137], "mean": [68.5], "std": [39.83612263595275], "count": [138]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [138]}, "index": {"min": [20277], "max": [20414], "mean": [20345.5], "std": [39.83612263595275], "count": [138]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [138]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[0.9568627450980393]], [[0.9764705882352941]]], "mean": [[[0.4202950894224877]], [[0.4215285973642387]], [[0.42306717876359523]]], "std": [[[0.15974491132333865]], [[0.15832738389361847]], [[0.158384091645413]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44774278827742037]], [[0.4477799550972733]], [[0.4477371909945619]]], "std": [[[0.2149058473656608]], [[0.2121639811376583]], [[0.21062935843874261]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47762765084060965]], [[0.476970656451057]], [[0.47654842182234225]]], "std": [[[0.2229835050853438]], [[0.22026395766300194]], [[0.21861218587510758]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [326]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [326]}, "observation.state": {"min": [2.511011739413661, -1.6035942455026855, 0.6998695333601771, 0.0, 0.0, -0.00028501779888756573, 1.0, -0.21296062190331977, -0.4917687467975773, 0.5826823227451706, -0.9935438632965088, -0.26680058240890503, -0.8081930875778198, 0.00025749747874215245, -0.001600167746309399, -0.039442299259433156], "max": [2.512040024141267, -1.603370740681327, 0.7000448983386732, 0.0, 0.0, 0.0002098831464536488, 1.0, 0.3736385830272204, 0.38747938189918907, 0.8611299650012113, 0.9061271548271179, 0.34835684299468994, 0.8317949771881104, 0.7481139302253723, 0.03951938708060091, 0.0008127462880662013], "mean": [2.5120030272382574, -1.603487781022872, 0.699992877945395, 0.0, 0.0, -7.261340425317167e-06, 1.0, 0.08692924183197163, -0.030592137465073003, 0.7409544850565077, -0.09771657867665672, 0.05478934317461552, 0.007894680635329405, 0.2850051509426047, 0.0047777865907612, -0.0044787548895498614], "std": [0.00010274561127625237, 3.785986706842112e-05, 3.0120940038471207e-05, 0.0, 0.0, 6.243363541199329e-05, 0.0, 0.16726466525299924, 0.25786756911352765, 0.05463970152254007, 0.6072780517027638, 0.18149975467491147, 0.6758208901798783, 0.21839566577523759, 0.011117526398569942, 0.01119324519462377], "count": [326]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6928571428571428, -0.23428571428571432, -0.4257142857142857, -0.3485714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.8, 0.18285714285714286, 0.17714285714285713, 0.19714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.10111744084136723, -0.005609114811568773, 0.0369851007887818, 0.021612620508326033, -0.0790446976336547, -0.015144609991235765, 0.8220858895705522], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6777559819049549, 0.5348270434471867, 0.22935738044876525, 0.0874556028221589, 0.13162319880390044, 0.13353385092220413, 0.5693634956413981], "count": [326]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04907975345849991], "std": [0.21603456139564514], "count": [326]}, "next.done": {"min": [false], "max": [true], "mean": [0.003067484662576687], "std": [0.055299866188098], "count": [326]}, "timestamp": {"min": [0.0], "max": [16.25], "mean": [8.125], "std": [4.705382556179678], "count": [326]}, "frame_index": {"min": [0], "max": [325], "mean": [162.5], "std": [94.10765112359356], "count": [326]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [326]}, "index": {"min": [20415], "max": [20740], "mean": [20577.5], "std": [94.10765112359356], "count": [326]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [326]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3684695931228937]], [[0.33383742388556986]], [[0.3213663898542815]]], "std": [[[0.1414716932032437]], [[0.16743685588187415]], [[0.18075661831698503]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4124656246409697]], [[0.38258287437289373]], [[0.37149936690984986]]], "std": [[[0.18496777211229115]], [[0.20934881472779446]], [[0.22020695412164298]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41066343240176933]], [[0.3824602942373238]], [[0.3716985647164139]]], "std": [[[0.19353410599298881]], [[0.21348941892442233]], [[0.22255103184275968]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [273]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [273]}, "observation.state": {"min": [2.4833499641736654, -1.5026662091778114, 0.6999193611236777, 0.0, 0.0, -0.00018056266708299518, 1.0, -0.020643683105849853, -0.6202484663037691, 0.5350225833059085, -0.9891826510429382, -0.20869389176368713, -0.5531901717185974, 0.0007942576776258647, -0.0015466009162122523, -0.04029332541251481], "max": [2.483870671514175, -1.5023122102898951, 0.7001665850817204, 0.0, 0.0, 0.0003579086915124208, 1.0, 0.40019567155241376, 0.32826970602304284, 0.7682378314867152, 0.9621557593345642, 0.635336697101593, 0.4362280070781708, 0.8558639287948608, 0.04004560187622536, 0.0009907222439350467], "mean": [2.4838316642162352, -1.5025458994940577, 0.7000016449329723, 0.0, 0.0, 1.2881647897517887e-05, 1.0, 0.20631711535869138, -0.1742835345648789, 0.6601262408942996, 0.02203517693739671, 0.27105264644046406, -0.15551597764203837, 0.540561125412261, 0.035447995895448066, -0.038033189529293604], "std": [5.308973161110129e-05, 6.293616981666708e-05, 3.123810132155929e-05, 0.0, 0.0, 8.181615523050993e-05, 0.0, 0.10633059756567921, 0.29234838898467835, 0.06804840474843307, 0.622300250481288, 0.1629495208314723, 0.3491369565676884, 0.2719312508725173, 0.010860745057350019, 0.006809584381000393], "count": [273]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7785714285714286, -0.4742857142857143, -0.37142857142857144, -0.3457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6428571428571428, 0.8342857142857143, 0.6, 0.3657142857142857, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.10240711669283098, -0.10190999476713772, 0.06844583987441134, 0.06817373103087387, 0.007577184720041879, -0.03410779696493982, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5640472037213748, 0.6953652511063999, 0.2733525395896774, 0.32076647714274886, 0.19200137217246144, 0.14515534351248066, 0.0], "count": [273]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05860805884003639], "std": [0.2348896712064743], "count": [273]}, "next.done": {"min": [false], "max": [true], "mean": [0.003663003663003663], "std": [0.060411804038354], "count": [273]}, "timestamp": {"min": [0.0], "max": [13.6], "mean": [6.800000000000001], "std": [3.9403891516786342], "count": [273]}, "frame_index": {"min": [0], "max": [272], "mean": [136.0], "std": [78.80778303357269], "count": [273]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [273]}, "index": {"min": [20741], "max": [21013], "mean": [20877.0], "std": [78.80778303357269], "count": [273]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [273]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.043137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.586694548962163]], [[0.5298733496572456]], [[0.4692646753647748]]], "std": [[[0.11670334983198699]], [[0.12916476173130756]], [[0.14346920464939988]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0784313725490196]], [[0.0784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6090926741057751]], [[0.5339855017568551]], [[0.47048202095779723]]], "std": [[[0.13772951421348864]], [[0.165827688174201]], [[0.1829743246428317]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5920965797573913]], [[0.5136434386010263]], [[0.45420520737591913]]], "std": [[[0.16009990849565842]], [[0.18671209756408405]], [[0.20450087266064335]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [179]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [179]}, "observation.state": {"min": [4.855069806023356, -1.0198473229299276, 0.6998941601403591, 0.0, 0.0, 0.7067920565605164, 0.7070750594139099, -0.11180046433784985, -0.4026194842402173, 0.5930016925741225, -0.9904171824455261, -0.28496307134628296, -0.18115775287151337, 0.0012443338055163622, -0.0004234214569299964, -0.04002270682884078], "max": [4.855396472966761, -1.0194666693737613, 0.7000391043273142, 0.0, 0.0, 0.7071384787559509, 0.7074213624000549, 0.4941678700639194, 0.09064739058122662, 0.8125830289977082, 0.9792996048927307, 0.1310741901397705, 0.7442874312400818, 0.35036104917526245, 0.04072107509263195, -0.02051507210690602], "mean": [4.855186192495465, -1.0195152139915136, 0.6999841804440194, 0.0, 0.0, 0.7070180031174388, 0.7071955210669747, 0.09149753157010695, -0.1434390249310568, 0.7654968007822646, 0.6753829654368608, -0.052389824107372564, 0.5425823441597336, 0.16682471640735824, 0.029700740799336066, -0.03836375844976567], "std": [6.331834137134693e-05, 5.712586164463867e-05, 3.1488049176740155e-05, 0.0, 0.0, 8.20515529795919e-05, 8.203502442489982e-05, 0.19387575242798694, 0.16855876836498007, 0.06307310867553699, 0.3892987224199491, 0.1492048753615569, 0.19020775972286186, 0.09430000690220314, 0.014576044326600118, 0.004078718988356444], "count": [179]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9071428571428573, -0.8428571428571429, -0.42142857142857143, -0.14857142857142858, -0.5657142857142857, -0.31142857142857144, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.95, 0.3857142857142857, -0.0, 0.19714285714285715, 0.28285714285714286, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3821229050279329, 0.04716679968076609, 0.03487629688747009, -0.03498802873104547, -0.01840383080606545, 0.02280925778132481, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.683934731260167, 0.49939789250841826, 0.15789789616773606, 0.04565298381668643, 0.15352746401305647, 0.13484456055453906, 0.0], "count": [179]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08938547223806381], "std": [0.2852993607521057], "count": [179]}, "next.done": {"min": [false], "max": [true], "mean": [0.00558659217877095], "std": [0.07453443611243761], "count": [179]}, "timestamp": {"min": [0.0], "max": [8.9], "mean": [4.45], "std": [2.583602136552763], "count": [179]}, "frame_index": {"min": [0], "max": [178], "mean": [89.0], "std": [51.67204273105525], "count": [179]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [179]}, "index": {"min": [21014], "max": [21192], "mean": [21103.0], "std": [51.67204273105525], "count": [179]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [179]}}} +{"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": [[[0.5738742472330729]], [[0.4666854038612515]], [[0.39897121833352484]]], "std": [[[0.130285665212869]], [[0.15433705684596175]], [[0.1795842013653775]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5758107090370328]], [[0.45343989174038757]], [[0.379389367795458]]], "std": [[[0.17499629178380624]], [[0.20778127713666783]], [[0.22460006425618226]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5692606823491115]], [[0.4445080937404258]], [[0.3698173708448223]]], "std": [[[0.16664583608934938]], [[0.19730770759621502]], [[0.21194441851546103]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [259]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [259]}, "observation.state": {"min": [0.8404954712355478, -3.88756582273198, 0.6999357038729213, 0.0, 0.0, -1.0, 8.309034882358901e-08, -0.15526299888407402, -0.3039065786398547, 0.6055036323526684, -0.9859393239021301, -0.3571590185165405, -0.8053998947143555, 6.408430635929108e-05, 0.020565731567368076, -0.04090632267795224], "max": [0.840717871947458, -3.887114995660836, 0.7001617811148773, 0.0, 0.0, 1.0, 0.00048047740710899234, 0.42485003963948403, 0.5534152307149185, 0.8982493353882882, 0.8623427152633667, 0.2431490421295166, 0.7455710172653198, 0.6253949999809265, 0.040351642177714156, -0.004621172641512662], "mean": [0.8405487144810928, -3.8872707728438067, 0.7000025036121788, 0.0, 0.0, -0.15057914873808048, 5.483970137163945e-05, 0.12478587114272968, 0.13083460920298462, 0.7867600486909274, -0.16562515968981856, -1.4467301515998987e-05, -0.15674694066572373, 0.2808436482493464, 0.0391856791299847, -0.037585362658498475], "std": [3.41714916742054e-05, 6.820207402332955e-05, 3.3498425214617555e-05, 0.0, 0.0, 0.9885979548244961, 9.011158092567146e-05, 0.16569823553340052, 0.2580622143116101, 0.05702215446061709, 0.6248578493787684, 0.1585383370928709, 0.6456276345640862, 0.191595287179281, 0.0023920861758380384, 0.006222576485255929], "count": [259]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.32857142857142857, -0.26, -0.6028571428571429, -0.2571428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5142857142857143, 0.31142857142857144, 0.14, 0.32857142857142857, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.06720904578047436, -0.05725317153888584, 0.06753998896856037, 0.007942636514065083, -0.09498069498069502, -0.005515719801434063, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7558883728722413, 0.722148387602433, 0.16781224205079073, 0.15588257154716434, 0.15901731912814357, 0.1647619657782178, 0.0], "count": [259]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0617760606110096], "std": [0.24074837565422058], "count": [259]}, "next.done": {"min": [false], "max": [true], "mean": [0.003861003861003861], "std": [0.06201690503555602], "count": [259]}, "timestamp": {"min": [0.0], "max": [12.9], "mean": [6.449999999999999], "std": [3.7383151285037486], "count": [259]}, "frame_index": {"min": [0], "max": [258], "mean": [129.0], "std": [74.76630257007497], "count": [259]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [259]}, "index": {"min": [21193], "max": [21451], "mean": [21322.0], "std": [74.76630257007497], "count": [259]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [259]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5451225705614278]], [[0.5499422918581495]], [[0.4899036446365656]]], "std": [[[0.13195031073571137]], [[0.11433574981600066]], [[0.1290413239938972]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.09803921568627451]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5828877533557368]], [[0.585650681439568]], [[0.5138706760780485]]], "std": [[[0.17439831875707099]], [[0.1557494769556534]], [[0.1694340489486231]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.0784313725490196]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6033225091672412]], [[0.598135498645259]], [[0.5247383213417203]]], "std": [[[0.14286058984635377]], [[0.12256468477002953]], [[0.14027997527872002]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [333]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [333]}, "observation.state": {"min": [5.855854226013996, 0.3338456272554046, 0.6998647571707421, 0.0, 0.0, -1.687824260443449e-05, 0.9999998807907104, -0.19006456757536316, -0.43808128443340966, 0.5823630386415554, -0.9936591982841492, -0.4408246874809265, -0.9130896925926208, 0.00018658506451174617, -0.0022207865614443665, -0.039072075568454954], "max": [5.856112074020181, 0.33403687046440356, 0.7000351288334398, 0.0, 0.0, 0.0004630161274690181, 1.0, 0.41457469959938464, 0.6252556088480286, 0.8492493801170085, 0.9815493226051331, 0.4260225296020508, 0.9219369888305664, 0.7752439975738525, 0.039012890685567035, 0.0009967166528662573], "mean": [5.856084268130858, 0.33393570257285615, 0.6999892526409819, 0.0, 0.0, 0.0001650689560492524, 0.9999999982100707, 0.09715353138846906, 0.08916954502141523, 0.7023674885741804, -0.3138513214237339, 0.09737418137781613, -0.4405379360010316, 0.27073629711479835, 0.002772890578099468, -0.00292899234787515], "std": [3.9703847844313544e-05, 3.23156374627529e-05, 3.386611988901878e-05, 0.0, 0.0, 7.579000427029398e-05, 1.4497322170810744e-08, 0.17676918742284115, 0.31458922815780016, 0.05569569079902023, 0.451917222991885, 0.2233492706256617, 0.5601051989493406, 0.23835244492640947, 0.00836080811527867, 0.008320965125167135], "count": [333]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.0, -0.25142857142857145, -0.46857142857142864, -0.5942857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9071428571428573, 1.0, 0.8357142857142857, 0.5428571428571428, 0.4571428571428572, 0.16857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.1862505362505363, 0.18442728442728423, 0.16218361218361227, 0.10036894036894038, -0.050905190905190925, -0.12053196053196051, 0.9099099099099099], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6747191475263766, 0.5363465722671333, 0.20259287834941933, 0.21040993427401428, 0.17536575744253355, 0.18157546700063062, 0.41480592552148904], "count": [333]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.048048049211502075], "std": [0.21386779844760895], "count": [333]}, "next.done": {"min": [false], "max": [true], "mean": [0.003003003003003003], "std": [0.05471731879365945], "count": [333]}, "timestamp": {"min": [0.0], "max": [16.6], "mean": [8.299999999999999], "std": [4.8064193186473725], "count": [333]}, "frame_index": {"min": [0], "max": [332], "mean": [166.0], "std": [96.12838637294743], "count": [333]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [333]}, "index": {"min": [21452], "max": [21784], "mean": [21618.0], "std": [96.12838637294743], "count": [333]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [333]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48379102878944547]], [[0.5024280311734068]], [[0.48006778911515774]]], "std": [[[0.19311073083192268]], [[0.1658679728105213]], [[0.14759737750691865]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4254115032121247]], [[0.49077600576363356]], [[0.509108289531633]]], "std": [[[0.2248829529354513]], [[0.17593355524639678]], [[0.16830485753605484]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46621769684436276]], [[0.5097887010761336]], [[0.5147775645536534]]], "std": [[[0.2233779331698282]], [[0.1859861612783737]], [[0.1762961705342025]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [159]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [159]}, "observation.state": {"min": [1.983946052156827, -0.9518166166106743, 0.6999229823385134, 0.0, 0.0, 0.7069559097290039, 0.7071271538734436, 0.034115915025675014, -0.1538507002895797, 0.379256671578292, -0.9911082983016968, -0.6084390878677368, -0.7610035538673401, 0.0009483775356784463, 0.020568008629638146, -0.04003995991153752], "max": [1.9841321367758171, -0.9495034779468048, 0.7000552267273984, 0.0, 0.0, 0.7070863842964172, 0.7072576880455017, 0.4534343841592716, 0.3088731308666759, 0.7857831322571677, 0.9877214431762695, 0.43616217374801636, 0.7666098475456238, 0.669185221195221, 0.04080078185179296, -0.020498552300872087], "mean": [1.9840540796158455, -0.9495646812076012, 0.7000009001046642, 0.0, 0.0, 0.7070379759530602, 0.707175558093209, 0.2084129769399321, 0.06644895582820622, 0.6324330344518686, 0.023372837020166265, -0.09272536701001462, 0.0897428850707768, 0.32221511089017485, 0.03915097667826973, -0.0384607598074629], "std": [2.5046109934822076e-05, 0.00027301974068231143, 2.544755037416352e-05, 0.0, 0.0, 3.0141636374220716e-05, 3.0163761251306165e-05, 0.1271422193390919, 0.15737774976666202, 0.13938953136997007, 0.6793129268533026, 0.3254278318333609, 0.5164194707156923, 0.21194563551688844, 0.002861739608271488, 0.0028134591796067417], "count": [159]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8500000000000001, -1.0, -0.4542857142857143, -0.9257142857142858, -0.14857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.08285714285714285, 0.19142857142857142, 0.6114285714285714, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.10395327942497753, -0.06945193171608262, 0.14371069182389945, -0.0819227313566936, -0.09811320754716982, 0.10382749326145557, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.47655375706991293, 0.5134364005986407, 0.43792383418374353, 0.15638927266875677, 0.2672410378679658, 0.21268725896467625, 0.0], "count": [159]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.10062892735004425], "std": [0.3008367419242859], "count": [159]}, "next.done": {"min": [false], "max": [true], "mean": [0.006289308176100629], "std": [0.07905537792438072], "count": [159]}, "timestamp": {"min": [0.0], "max": [7.9], "mean": [3.9499999999999997], "std": [2.2949219304078006], "count": [159]}, "frame_index": {"min": [0], "max": [158], "mean": [79.0], "std": [45.89843860815601], "count": [159]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [159]}, "index": {"min": [21785], "max": [21943], "mean": [21864.0], "std": [45.89843860815601], "count": [159]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [159]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38800187174479167]], [[0.35170128197763484]], [[0.3373450419108073]]], "std": [[[0.1761801869419011]], [[0.19959210509460598]], [[0.20946034280291054]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41535515280330887]], [[0.3942806587967218]], [[0.38632195626053156]]], "std": [[[0.1953257890908422]], [[0.21310331052207435]], [[0.22092628613275972]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4170069651884191]], [[0.3941339195101869]], [[0.3867112145517387]]], "std": [[[0.1953110113527343]], [[0.21269269448447306]], [[0.22032799207573772]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [143]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [143]}, "observation.state": {"min": [3.057373432357562, -0.9154357010814026, 0.6999130588958847, 0.0, 0.0, 0.7070221900939941, 0.7069975733757019, -0.27291615899226573, -0.12156608835475424, 0.5853292775003847, -0.9911000728607178, -0.13356733322143555, -0.2545856535434723, 0.0013007048983126879, 0.02056365140440604, -0.04022640611732625], "max": [3.0576481113070253, -0.914585371490458, 0.7000377319359378, 0.0, 0.0, 0.7072159647941589, 0.7071914672851562, 0.3796638319756228, 0.32840068256185884, 0.779244024359511, 0.960587739944458, 0.11318516731262207, 0.7273504137992859, 0.2720617651939392, 0.04044821030019485, -0.020502909285977786], "mean": [3.0576073714354335, -0.9146274726454238, 0.6999928178265767, 0.0, 0.0, 0.7070621302077821, 0.7071513912894509, 0.02164055581363635, 0.07685181384982899, 0.7299009081303885, 0.5815529760780868, -0.005789235338464483, 0.5427439846879952, 0.13199760579224024, 0.038962625780518755, -0.038101444994909035], "std": [4.2993831178471766e-05, 9.389927305669969e-05, 2.3805479836988187e-05, 0.0, 0.0, 2.8949155936346792e-05, 2.8946420767288643e-05, 0.21214950314098804, 0.14557455474559602, 0.05957319279769054, 0.5218401451664357, 0.08483003066115977, 0.25386445925977486, 0.07620892497262838, 0.0029989320393151446, 0.004386432107182571], "count": [143]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.0642857142857143, -0.12, -0.44, -0.10857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.20714285714285713, 0.18571428571428572, 0.10285714285714286, 0.04857142857142857, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1802197802197801, -0.10269730269730269, 0.022577422577422582, 0.013466533466533473, -0.1019380619380619, -0.006073926073926076, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7910127823588365, 0.553563004154778, 0.058131129048410474, 0.07361925150272966, 0.16811027573981474, 0.030518785625440997, 0.0], "count": [143]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.1118881106376648], "std": [0.31522876024246216], "count": [143]}, "next.done": {"min": [false], "max": [true], "mean": [0.006993006993006993], "std": [0.08333129571897192], "count": [143]}, "timestamp": {"min": [0.0], "max": [7.1], "mean": [3.5500000000000003], "std": [2.0639767440550294], "count": [143]}, "frame_index": {"min": [0], "max": [142], "mean": [71.0], "std": [41.27953488110059], "count": [143]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [143]}, "index": {"min": [21944], "max": [22086], "mean": [22015.0], "std": [41.27953488110059], "count": [143]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [143]}}} +{"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": [[[0.5711623983944164]], [[0.5402842197792203]], [[0.5033771601658241]]], "std": [[[0.16889818765926876]], [[0.15273920119250203]], [[0.14599634097748151]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.03529411764705882]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5190653213800169]], [[0.4967660253188189]], [[0.4650060125612745]]], "std": [[[0.23065326583209142]], [[0.21568115248697092]], [[0.20693464799576605]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.06274509803921569]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5641102983063342]], [[0.5371911016726025]], [[0.5005114255418964]]], "std": [[[0.1980728194469091]], [[0.18701055930088095]], [[0.18652918435906177]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [165]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [165]}, "observation.state": {"min": [4.713955405781103, -4.3294752643801555, 0.6999152981260468, 0.0, 0.0, 0.00012511851673480123, 0.9999996423721313, -0.06779340866244077, -0.42115740496867815, 0.4218326853994665, -0.9907759428024292, -0.43763267993927, -0.496115118265152, 0.007035470101982355, 0.020537487032517888, -0.040580817686192705], "max": [4.7160678016492925, -4.329101743755727, 0.7002027839120686, 0.0, 0.0, 0.0009098375448957086, 1.0, 0.3351731731345913, 0.12487059998393146, 0.7008266294504177, 0.840496838092804, 0.4426047205924988, 0.574508011341095, 0.9340300559997559, 0.041558762089385595, -0.020529072177160154], "mean": [4.715969665134021, -4.3293158214181995, 0.7000247756536198, 0.0, 0.0, 0.0004917790629957435, 0.9999998822356715, 0.1321486139920112, -0.12892370536925488, 0.5870759515912202, -0.46363539885390886, 0.04903438606045463, -0.10916303287852894, 0.4825803720110068, 0.03941995392871509, -0.03799361483827236], "std": [0.0002176061747895898, 6.473277395519994e-05, 5.896435261395049e-05, 0.0, 0.0, 0.00014885144136591715, 7.763220686284576e-08, 0.10307886767387457, 0.181478145649372, 0.09723306498069977, 0.5221342890619719, 0.28781914985268087, 0.2635576663728493, 0.3360219277251505, 0.0028391607920199816, 0.0032091732605284183], "count": [165]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8214285714285715, -1.0, -0.75, -0.5142857142857142, -0.5028571428571429, -0.5971428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6500000000000001, 0.5857142857142857, -0.0, 0.025714285714285714, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.08073593073593077, 0.042597402597402655, 0.07346320346320345, 0.021021645021644955, -0.10697835497835498, -0.19674458874458872, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5378950845476025, 0.6517313846343704, 0.32860794645609404, 0.3116419224738247, 0.15394522361976576, 0.2105520374913169, 0.0], "count": [165]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09696969389915466], "std": [0.29591649770736694], "count": [165]}, "next.done": {"min": [false], "max": [true], "mean": [0.006060606060606061], "std": [0.07761362712039817], "count": [165]}, "timestamp": {"min": [0.0], "max": [8.2], "mean": [4.1], "std": [2.3815261213488017], "count": [165]}, "frame_index": {"min": [0], "max": [164], "mean": [82.0], "std": [47.63052242697603], "count": [165]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [165]}, "index": {"min": [22087], "max": [22251], "mean": [22169.0], "std": [47.63052242697603], "count": [165]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [165]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41401814000746784]], [[0.48892853022556676]], [[0.5029881819182751]]], "std": [[[0.17381364688700476]], [[0.15488619063808653]], [[0.15796997940873758]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43780097632314646]], [[0.4863371498257506]], [[0.4847248618929994]]], "std": [[[0.2370413285043911]], [[0.2047672244409296]], [[0.19961186200809203]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43202351888020835]], [[0.483777099609375]], [[0.4834009459252451]]], "std": [[[0.2161052583238499]], [[0.1872211846446528]], [[0.18437253650414456]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [327]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [327]}, "observation.state": {"min": [5.832333703303387, -2.521980118470808, 0.6999054531424045, 0.0, 0.0, -3.2504689443157986e-05, 0.9999998807907104, -0.24315001691799942, -0.38350361195462046, 0.601333773433073, -0.9878515005111694, -0.11272460222244263, -0.860544741153717, 0.00021836621453985572, 0.0003134620161113284, -0.03921474974553006], "max": [5.832579297177131, -2.5217803112517565, 0.700350121027461, 0.0, 0.0, 0.00045637969742529094, 1.0, 0.4343230083788354, 0.548689064789277, 0.9219231456139084, 0.8769373893737793, 0.3130384683609009, 0.9182271957397461, 0.6080031991004944, 0.03937496331956928, 0.001046203230984015], "mean": [5.832546221525265, -2.5218972811221447, 0.7000174940218926, 0.0, 0.0, 0.00016738834586385427, 0.999999998177228, 0.08522177082712723, 0.05616941175763981, 0.771584171753007, -0.20778768999496366, 0.1324160579329966, -0.21892409646365257, 0.2658631363796392, 0.006724882531241322, -0.003316285448065122], "std": [4.254855660161141e-05, 3.1506421451239535e-05, 7.768817506181667e-05, 0.0, 0.0, 7.747810027259042e-05, 1.4627674411734949e-08, 0.19223328793291394, 0.25863898230910326, 0.06593568882965475, 0.6275773675035626, 0.1171836630946244, 0.6187111821131449, 0.17404135542697272, 0.01111491178854967, 0.010001616479208983], "count": [327]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8928571428571429, -0.807142857142857, -0.21714285714285717, -0.5, -0.4314285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.2285714285714286, 0.36857142857142855, 0.18285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.13243774574049802, 0.04377457404980329, 0.021057230231542153, 0.017964176496286597, -0.053665356050677175, -0.03716033202271734, 0.8654434250764526], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7555446497454219, 0.5671237210431446, 0.3398252513137244, 0.11330608744676454, 0.18268173544795419, 0.12252130714716983, 0.5010066646182797], "count": [327]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.048929665237665176], "std": [0.2157209813594818], "count": [327]}, "next.done": {"min": [false], "max": [true], "mean": [0.0030581039755351682], "std": [0.055215504847913724], "count": [327]}, "timestamp": {"min": [0.0], "max": [16.3], "mean": [8.15], "std": [4.7198163806091715], "count": [327]}, "frame_index": {"min": [0], "max": [326], "mean": [163.0], "std": [94.39632761218344], "count": [327]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [327]}, "index": {"min": [22252], "max": [22578], "mean": [22415.0], "std": [94.39632761218344], "count": [327]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [327]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0784313725490196]], [[0.0784313725490196]], [[0.0784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5354583895814184]], [[0.5249680762197457]], [[0.4781080681295956]]], "std": [[[0.14131417180006178]], [[0.13038236870046946]], [[0.12243219200194229]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5966634353936887]], [[0.5855471544452742]], [[0.5488811986586627]]], "std": [[[0.2064302162063826]], [[0.20049688465374854]], [[0.2082499816772363]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6306132644952512]], [[0.6142413126627604]], [[0.5691349930108762]]], "std": [[[0.1593727453029107]], [[0.14762260420757012]], [[0.15351568415420855]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [176]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [176]}, "observation.state": {"min": [-0.7949957581303576, -0.854592820994575, 0.6999125426086023, 0.0, 0.0, -0.00012298912042751908, 1.0, -0.2521970014320706, 0.006162995115484127, 0.5829341373866131, 0.21491070091724396, 0.036080047488212585, 0.12403622269630432, 0.008400725200772285, -0.0020757002096094615, -0.039291133102275985], "max": [-0.7943316234083437, -0.8544298765757957, 0.700125606091681, 0.0, 0.0, 7.413423736579716e-05, 1.0, 0.39470122386301426, 0.4463293388791104, 0.8381453287001955, 0.9915835857391357, 0.6913012266159058, 0.7436755299568176, 0.5363513231277466, 0.03917113869189903, 0.0004084325740873562], "mean": [-0.7943635684864446, -0.8545428706163904, 0.700011351581247, 0.0, 0.0, -6.639884150481315e-05, 1.0, 0.02685118985166446, 0.2207524244089333, 0.776773512093044, 0.48932222759520466, 0.4643237164921381, 0.5150430288843133, 0.35648928537160496, 0.00562595880543336, -0.007959088310577145], "std": [7.305933238343472e-05, 2.0351573484950614e-05, 3.649001445904913e-05, 0.0, 0.0, 4.6804437827119396e-05, 0.0, 0.20288993481325124, 0.15058465995100725, 0.07202284114779096, 0.2286781501176593, 0.22204460638110446, 0.16434766461425213, 0.15493752727957685, 0.012528488905189032, 0.012294172000396116], "count": [176]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8928571428571429, -0.3428571428571429, -0.32285714285714284, -0.74, -0.2057142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.8785714285714286, 0.14, 0.037142857142857144, 0.24285714285714288, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.22357954545454548, 0.003287337662337661, -0.0098214285714286, -0.0819642857142857, -0.1084577922077921, 0.01037337662337662, 0.7727272727272727], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7018290938173979, 0.4590904767690931, 0.25667867668714206, 0.11749902547655733, 0.20566701314606672, 0.11287707252891789, 0.6347381838076827], "count": [176]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09090909361839294], "std": [0.28747978806495667], "count": [176]}, "next.done": {"min": [false], "max": [true], "mean": [0.005681818181818182], "std": [0.07516338951888041], "count": [176]}, "timestamp": {"min": [0.0], "max": [8.75], "mean": [4.375], "std": [2.540300179112697], "count": [176]}, "frame_index": {"min": [0], "max": [175], "mean": [87.5], "std": [50.806003582253936], "count": [176]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [176]}, "index": {"min": [22579], "max": [22754], "mean": [22666.5], "std": [50.806003582253936], "count": [176]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [176]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41611619657628673]], [[0.3759790804993873]], [[0.3456376558191636]]], "std": [[[0.18250111074255715]], [[0.1632790343764349]], [[0.1634256878942913]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4479538717830882]], [[0.4161918245203355]], [[0.3886904207117417]]], "std": [[[0.25346538480539943]], [[0.2491181832713809]], [[0.24808695889293297]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.521926617790671]], [[0.427017952114928]], [[0.38154291908413757]]], "std": [[[0.2230915108012925]], [[0.22105807861448315]], [[0.22722030754083664]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [234]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [234]}, "observation.state": {"min": [4.530611115680259, -1.1054906506668596, 0.699906540899406, 0.0, 0.0, -0.0001922874216688797, 1.0, -0.0106726496723768, -0.35900359516835545, 0.5971306964224398, -0.9899049401283264, -0.17569959163665771, -0.6250163912773132, 0.0006917559658177197, -0.0005910950857816517, -0.020539982978689263], "max": [4.530961846904366, -1.1052695730983624, 0.7000334360109025, 0.0, 0.0, 0.00013111830048728734, 1.0, 0.4337520290149426, 0.5018001621239564, 0.8709151053124159, 0.9822189807891846, 0.369459867477417, 0.6601733565330505, 0.7004460692405701, 0.020526576509685684, 0.0009786779864216992], "mean": [4.530931110454975, -1.1053820361296594, 0.6999937930715739, 0.0, 0.0, 2.9325265773692026e-06, 1.0, 0.20199602156057006, 0.058712679820965646, 0.7614591857433881, 0.13345911232834187, 0.19302515322581315, 0.18095630292709058, 0.37412624942257194, 0.0012393514890798704, -0.0010144959707710235], "std": [4.510220067939066e-05, 3.0177117009964288e-05, 1.8976108575318125e-05, 0.0, 0.0, 4.097106492958184e-05, 0.0, 0.12114526368652709, 0.24864145972416699, 0.07979300210692937, 0.6994239901494043, 0.11860421506649632, 0.46528434581171185, 0.22905005400719086, 0.0026552688409084584, 0.0024316263250758288], "count": [234]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.46428571428571436, -0.2714285714285714, -0.4, -0.23142857142857146, 1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5928571428571429, 0.5342857142857143, 0.10285714285714286, 0.35428571428571426, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0969169719169719, -0.017155067155067143, 0.10692918192918195, 0.06804639804639806, -0.0632234432234432, 0.020402930402930387, 1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6392486919762741, 0.7379830115726528, 0.20719800042737627, 0.21360633845472413, 0.10456861186485082, 0.14133676256340616, 0.0], "count": [234]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0683760717511177], "std": [0.25239014625549316], "count": [234]}, "next.done": {"min": [false], "max": [true], "mean": [0.004273504273504274], "std": [0.0652322116345032], "count": [234]}, "timestamp": {"min": [0.0], "max": [11.65], "mean": [5.825], "std": [3.377468233257963], "count": [234]}, "frame_index": {"min": [0], "max": [233], "mean": [116.5], "std": [67.54936466515926], "count": [234]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [234]}, "index": {"min": [22755], "max": [22988], "mean": [22871.5], "std": [67.54936466515926], "count": [234]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [234]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6007001911238128]], [[0.5778146470013787]], [[0.5531300461713006]]], "std": [[[0.15112096907662945]], [[0.13959220605777684]], [[0.13353403081787313]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6032006273456648]], [[0.5775038655598959]], [[0.5539580778234146]]], "std": [[[0.23848483013370314]], [[0.2277543166332449]], [[0.2224102842577515]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5978752142214308]], [[0.57391072770661]], [[0.5513060811360677]]], "std": [[[0.24441037091209417]], [[0.2336313777258353]], [[0.2282986497313333]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [241]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [241]}, "observation.state": {"min": [0.8656939337392188, -4.564394034077875, 0.6999034868149592, 0.0, 0.0, -1.0, 1.3011250530325924e-06, -0.08619843504767877, -0.5754812234077171, 0.6016403772347351, -0.98899906873703, -0.37211692333221436, -0.752906084060669, 0.0024819038808345795, -0.0010292432119866413, -0.04025501341337053], "max": [0.8661384358325587, -4.563823969868779, 0.7000835892369484, 0.0, 0.0, 1.0, 0.0007135706837289035, 0.4331584858019637, 0.36759215249604793, 0.8782221367440782, 0.9334397912025452, 0.30663883686065674, 0.7361631393432617, 0.7001104950904846, 0.040464893423440215, -0.016717984322199123], "mean": [0.8657273050144829, -4.564070344943655, 0.6999971103946098, 0.0, 0.0, 0.8672199026677618, 0.0001922826327721722, 0.189629333409732, -0.12071304809390132, 0.7434833153061472, -0.13449982884513886, 0.050863166691356675, -0.14242945846432967, 0.36068822867797373, 0.036042970121493025, -0.03776487177417004], "std": [5.599440103764746e-05, 8.655320923427002e-05, 3.10464183299559e-05, 0.0, 0.0, 0.49792530737807267, 0.00013074389596176748, 0.15863354230310286, 0.2836504029657051, 0.055799358795464035, 0.598273925129253, 0.19143705655985047, 0.6293979804921124, 0.19549661554118636, 0.009350157975029213, 0.004341126536752181], "count": [241]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5142857142857143, -0.32, -0.5171428571428571, -0.44, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.26285714285714284, 0.02, 0.3914285714285714, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.10165975103734436, -0.05823947836395965, 0.10171902786010675, 0.004481327800829904, -0.10840545346769416, 0.005560165975103735, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7486178569971658, 0.7611220273491944, 0.3226326133211902, 0.15541433565816934, 0.13887944021752177, 0.1894610241624742, 0.0], "count": [241]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06639004498720169], "std": [0.2489626705646515], "count": [241]}, "next.done": {"min": [false], "max": [true], "mean": [0.004149377593360996], "std": [0.06428188126485339], "count": [241]}, "timestamp": {"min": [0.0], "max": [12.0], "mean": [6.0], "std": [3.4785054261852175], "count": [241]}, "frame_index": {"min": [0], "max": [240], "mean": [120.0], "std": [69.57010852370435], "count": [241]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [241]}, "index": {"min": [22989], "max": [23229], "mean": [23109.0], "std": [69.57010852370435], "count": [241]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [241]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4324905904134114]], [[0.5041222976983762]], [[0.5145877565870098]]], "std": [[[0.170087001286685]], [[0.14750448017535192]], [[0.1513589434813354]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4546391481885723]], [[0.49279847567689183]], [[0.48627521529852175]]], "std": [[[0.23091628668433023]], [[0.2020169962774011]], [[0.20162438427910226]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.03529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5006577082615272]], [[0.5263741628609452]], [[0.5106547755821078]]], "std": [[[0.2218194843143156]], [[0.18314472482437505]], [[0.1820494610535779]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [312]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [312]}, "observation.state": {"min": [4.173915915288588, -0.833026117876977, 0.6998857227597266, 0.0, 0.0, 0.7068306803703308, 0.706926167011261, -0.24348002666043544, -0.45647254909959845, 0.5839365428076122, -0.990705132484436, -0.5449106693267822, -0.8429111838340759, 3.051844396395609e-05, -0.002654941380960662, -0.040830816921256105], "max": [4.1742369022986665, -0.831495081363577, 0.7001473686346048, 0.0, 0.0, 0.7072873115539551, 0.7073827385902405, 0.4298582219978253, 0.4502006670422394, 0.9002178190915375, 0.9739211797714233, 0.5317679047584534, 0.7742311358451843, 0.24249917268753052, 0.040739497856170565, 0.0005275621974993732], "mean": [4.174069022753433, -0.8315472337814072, 0.7000015915207665, 0.0, 0.0, 0.7071044691480123, 0.7071090478163499, 0.061733149804240134, -0.009100407873036223, 0.8038734625716375, 0.2591648258459874, -0.024770482037311945, 0.25408231619841015, 0.08088147171309128, 0.035416024081326714, -0.03499215437802677], "std": [3.4181276035665886e-05, 0.00012252800587547332, 4.1427007094063755e-05, 0.0, 0.0, 5.701225353456596e-05, 5.7004800595255446e-05, 0.20462462587742244, 0.2512542374614535, 0.06864523111822429, 0.6716502516978908, 0.24264226610545425, 0.5887717868294055, 0.06692411336372256, 0.010401910998216336, 0.011161409848646655], "count": [312]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.3214285714285714, -0.15142857142857147, -0.5114285714285715, -0.2885714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.7142857142857143, 0.38, 0.06, 0.34, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.23784340659340672, 0.005219780219780267, 0.023901098901098854, 0.016675824175824177, -0.06923992673992675, 0.0006318681318681314, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.8163294590955569, 0.5854399686812626, 0.17879684279381547, 0.09130237734805739, 0.12495126416455855, 0.1473498437806515, 0.0], "count": [312]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05128205195069313], "std": [0.22057245671749115], "count": [312]}, "next.done": {"min": [false], "max": [true], "mean": [0.003205128205128205], "std": [0.05652305156586025], "count": [312]}, "timestamp": {"min": [0.0], "max": [15.55], "mean": [7.775], "std": [4.503308968599275], "count": [312]}, "frame_index": {"min": [0], "max": [311], "mean": [155.5], "std": [90.0661793719855], "count": [312]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [312]}, "index": {"min": [23230], "max": [23541], "mean": [23385.5], "std": [90.0661793719855], "count": [312]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [312]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5452633325913373]], [[0.3701001658720129]], [[0.3359796645220588]]], "std": [[[0.1766069031111485]], [[0.23540964212477014]], [[0.23630179261396309]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6132250635483685]], [[0.44489706121706496]], [[0.4011517381855086]]], "std": [[[0.19510455837078086]], [[0.25659802841139673]], [[0.25198276637931505]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6220256940056296]], [[0.4493214165182675]], [[0.40353228879442404]]], "std": [[[0.18194111104162874]], [[0.25716324877394614]], [[0.25321034161038336]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [360]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [360]}, "observation.state": {"min": [4.3363477567655995, -3.2818309702844273, 0.6999000679136053, 0.0, 0.0, -2.072190909530036e-06, 0.9999997615814209, -0.06693521158351512, -0.6030642791911003, 0.5508413516820723, -0.9925734996795654, -0.27322858572006226, -0.426907479763031, 0.0008065887377597392, 0.02051320756543594, -0.04095280602896042], "max": [4.336521960629547, -3.2814538207753667, 0.7004078069708245, 0.0, 0.0, 0.0007873399881646037, 1.0, 0.4067132340755437, 0.5835018030349226, 0.9004360396931471, 0.9931391477584839, 0.5194543600082397, 0.5304222106933594, 0.9060624837875366, 0.04068487042915904, -0.020553352006058654], "mean": [4.336496626296179, -3.2816428229719925, 0.7000247765187438, 0.0, 0.0, 0.0003874569478947068, 0.999999980462922, 0.10401499633479837, -0.07210031197098234, 0.713063913087348, 0.11403031821052233, 0.15431096086071597, -0.05357185246733328, 0.5417163792093763, 0.03914427722074492, -0.0388148310005249], "std": [3.0241037833399337e-05, 5.381869681208846e-05, 0.0001014833470460352, 0.0, 0.0, 9.98936066623386e-05, 5.1554306396638085e-08, 0.1420292899954729, 0.377344220636674, 0.09156033178633978, 0.6448542378789207, 0.2395538625304572, 0.33842611601639544, 0.2812531910607403, 0.0022288420164088517, 0.002777411690906802], "count": [360]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.8285714285714285, -0.6285714285714286, -0.4828571428571429, -0.4371428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.8500000000000001, 0.4314285714285714, 0.15142857142857147, 0.30857142857142855, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.08265873015873021, -0.006249999999999949, 0.03738095238095244, -0.05944444444444446, -0.06765079365079363, -0.06894444444444449, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5843550481602824, 0.7094328576053638, 0.30633994352309407, 0.24206323965638687, 0.11325713947574008, 0.18292018158734594, 0.0], "count": [360]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04444444552063942], "std": [0.20608040690422058], "count": [360]}, "next.done": {"min": [false], "max": [true], "mean": [0.002777777777777778], "std": [0.052631375893045604], "count": [360]}, "timestamp": {"min": [0.0], "max": [17.95], "mean": [8.975], "std": [5.1961323757836135], "count": [360]}, "frame_index": {"min": [0], "max": [359], "mean": [179.5], "std": [103.92264751567228], "count": [360]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [360]}, "index": {"min": [23542], "max": [23901], "mean": [23721.5], "std": [103.92264751567228], "count": [360]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [360]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5157841425876991]], [[0.3982367936676624]], [[0.320982011383655]]], "std": [[[0.17121192409067798]], [[0.18484136831704628]], [[0.21832357686609605]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48090305881874235]], [[0.390927069570504]], [[0.33225323965035236]]], "std": [[[0.22152921343243526]], [[0.22738703333546975]], [[0.2513931212641861]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46457729204963233]], [[0.37452244777305455]], [[0.3151668731091069]]], "std": [[[0.22402170490275689]], [[0.22617795727225037]], [[0.2482213293581332]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [316]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [316]}, "observation.state": {"min": [0.7934807538499881, -3.343656251950973, 0.6998915924446817, 0.0, 0.0, -1.0, 1.2409247574396431e-05, -0.19100565091905597, -0.5604336172364115, 0.6080952177987795, -0.8236534595489502, -0.1699761152267456, -0.7734678387641907, 0.00251478492282331, -0.0001389974276357457, -0.04001663334752314], "max": [0.7943386800093237, -3.3433616427141106, 0.7000425198154955, 0.0, 0.0, 1.0, 0.000472539133625105, 0.3604371174342397, 0.3620832501702531, 0.8478108144293943, 0.9893962740898132, 0.36854684352874756, 0.7806559205055237, 0.7061393857002258, 0.039696074777190296, 0.0011333620075240488], "mean": [0.7935219327157829, -3.34347892700644, 0.6999976118032589, 0.0, 0.0, 0.9620253141922287, 0.000166544067142931, 0.05564120406571992, -0.08847788249469198, 0.7325758174754462, 0.021470665743079365, 0.12313764532910118, 0.009865073180651362, 0.31573348393725653, 0.010588052165803703, -0.010285588958240234], "std": [0.00010806814270243984, 3.663805396714541e-05, 2.5853723554380346e-05, 0.0, 0.0, 0.2729602357971012, 7.006846688034663e-05, 0.1747095883682921, 0.2692775049816508, 0.05101341707596139, 0.6923583450663137, 0.15090762643246367, 0.5796865553399644, 0.21545646217419753, 0.016170786417840043, 0.016519886982878786], "count": [316]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5214285714285715, -0.12, -0.44857142857142857, -0.30857142857142855, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.2285714285714286, 0.34, 0.32, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1012884267631103, -0.06801537070524413, 0.04794303797468354, 0.03363471971066911, -0.054439421338155554, 0.004511754068716098, 0.5316455696202531], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7005253129045546, 0.5480226846109708, 0.26365351120460584, 0.09346726736197238, 0.1516723348861029, 0.11982000430637094, 0.8469669345984839], "count": [316]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.050632912665605545], "std": [0.21924692392349243], "count": [316]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031645569620253164], "std": [0.05616531439651534], "count": [316]}, "timestamp": {"min": [0.0], "max": [15.75], "mean": [7.875], "std": [4.561044288318191], "count": [316]}, "frame_index": {"min": [0], "max": [315], "mean": [157.5], "std": [91.22088576636384], "count": [316]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [316]}, "index": {"min": [23902], "max": [24217], "mean": [24059.5], "std": [91.22088576636384], "count": [316]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [316]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42076359468347885]], [[0.3770930917777267]], [[0.3582908773983226]]], "std": [[[0.26283933601918114]], [[0.25320634718296003]], [[0.2605766216158165]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0784313725490196]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4747350721172258]], [[0.43200402293485757]], [[0.4097632506127451]]], "std": [[[0.28736992629941793]], [[0.2853261849381546]], [[0.2904603239019605]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5118465510349648]], [[0.43290219176049327]], [[0.3998133233762255]]], "std": [[[0.2638336049428373]], [[0.2644082699981497]], [[0.2729637947173661]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [152]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [152]}, "observation.state": {"min": [5.439080506700657, -3.6576801047761025, 0.6999128566286024, 0.0, 0.0, -0.0003857188276015222, 1.0, -0.21580882136824808, -0.433885925569224, 0.5936179561700945, -0.989364504814148, -0.0960649847984314, -0.8398120999336243, 0.013754145242273808, -0.0004795627393764752, -0.03954379591244559], "max": [5.439426013105025, -3.6573877255828244, 0.7000424301592781, 0.0, 0.0, 4.295592589187436e-06, 1.0, 0.4754813730375842, -0.006514401712275575, 0.8255025658550623, -0.23745326697826385, 0.3661935329437256, -0.1376923769712448, 0.7356506586074829, 0.03955120580871238, 0.0025050114096669637], "mean": [5.439399277609246, -3.657457137274596, 0.69999632698138, 0.0, 0.0, -9.112671511358808e-05, 1.0, 0.1245442612564284, -0.18178654898115384, 0.751065140969702, -0.5674428071238493, 0.08787864652511321, -0.6499555684430035, 0.28911347648643543, 0.01021070948490343, -0.009803762558106902], "std": [4.6469128491223546e-05, 4.2649192048972724e-05, 2.1112800088940122e-05, 0.0, 0.0, 5.651861759093118e-05, 0.0, 0.20136332758249845, 0.15354843412294927, 0.062386406057994497, 0.22291023565887919, 0.13348391994749798, 0.1705622199356546, 0.2601129577879033, 0.015473479179218066, 0.015687640628364394], "count": [152]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.31428571428571433, -0.13142857142857142, -0.6885714285714286, -0.5514285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6714285714285714, 0.33714285714285713, 0.27714285714285714, 0.34, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.11301691729323314, -0.007988721804511273, 0.0468515037593985, 0.06524436090225567, -0.13603383458646626, -0.037105263157894725, 0.5789473684210527], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7368244334207972, 0.5443008196368393, 0.22047717869873645, 0.13192837463661322, 0.24878869800669237, 0.20252434494285695, 0.8153649149910343], "count": [152]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.10526315867900848], "std": [0.3068922162055969], "count": [152]}, "next.done": {"min": [false], "max": [true], "mean": [0.006578947368421052], "std": [0.08084345873318755], "count": [152]}, "timestamp": {"min": [0.0], "max": [7.55], "mean": [3.775], "std": [2.193883542943882], "count": [152]}, "frame_index": {"min": [0], "max": [151], "mean": [75.5], "std": [43.877670858877636], "count": [152]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [152]}, "index": {"min": [24218], "max": [24369], "mean": [24293.5], "std": [43.877670858877636], "count": [152]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [152]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6062436170391008]], [[0.5984383389342065]], [[0.5912334068148744]]], "std": [[[0.19190924759910533]], [[0.19513447977810605]], [[0.20129667162433307]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.06666666666666667]], [[0.06666666666666667]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5891554691090303]], [[0.5832116657331878]], [[0.5750424140481388]]], "std": [[[0.21232408298011296]], [[0.21084193563493137]], [[0.20999628602651246]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.054901960784313725]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6278614101035923]], [[0.6187675410251992]], [[0.6071391284419041]]], "std": [[[0.22080409418469837]], [[0.22289173244671814]], [[0.22682422391395063]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [168]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [168]}, "observation.state": {"min": [1.83004580440785, -0.8068944644434782, 0.6999302395602709, 0.0, 0.0, 0.7069808840751648, 0.707092821598053, -0.0300927271824597, -0.20474599741612187, 0.42143311135584594, -0.989547073841095, -0.4382920265197754, -0.6586939096450806, 0.0009331174660474062, -0.0012868233902407148, -0.0400347437190585], "max": [1.8301181302173353, -0.8062088030279319, 0.7001253135083758, 0.0, 0.0, 0.7071206569671631, 0.7072327136993408, 0.3982688358287416, 0.27055570647687355, 0.8380281432473415, 0.9894647002220154, 0.10132616758346558, 0.7244048714637756, 0.6706607341766357, 0.03933778504819657, 0.000669984728876269], "mean": [1.8300795381774893, -0.8062446735862436, 0.7000056036725002, 0.0, 0.0, 0.707093535434632, 0.7071199860601198, 0.13784470244372682, 0.009812031644825534, 0.639295928430994, 0.25081565958403407, -0.2137003204829636, 0.29569475627726033, 0.3981876507965526, 0.013642467095855862, -0.013837774777870057], "std": [1.1276141306532375e-05, 7.528834247623445e-05, 2.8905250590222762e-05, 0.0, 0.0, 2.8471077429107717e-05, 2.8498031998045463e-05, 0.13353042964432651, 0.13755130587958297, 0.14596953738254076, 0.629674594121014, 0.15859251846124522, 0.4130894462668091, 0.23054350682274358, 0.01745517080157745, 0.017675031944320355], "count": [168]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9571428571428572, -0.5428571428571429, -0.35428571428571426, -0.5971428571428572, -0.17714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.8500000000000001, 0.8142857142857143, 0.22, 0.2914285714285714, 0.4657142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1165816326530612, -0.06845238095238092, 0.08920068027210888, -0.06068027210884351, -0.029166666666666636, 0.0907312925170068, 0.38095238095238093], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5579883701976744, 0.504901519726977, 0.34273310193760775, 0.18332376636277734, 0.20481185615211087, 0.20834240921505276, 0.9245946589975044], "count": [168]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.095238097012043], "std": [0.2935435175895691], "count": [168]}, "next.done": {"min": [false], "max": [true], "mean": [0.005952380952380952], "std": [0.07692171418642908], "count": [168]}, "timestamp": {"min": [0.0], "max": [8.35], "mean": [4.175], "std": [2.4248281726066008], "count": [168]}, "frame_index": {"min": [0], "max": [167], "mean": [83.5], "std": [48.496563452132015], "count": [168]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [168]}, "index": {"min": [24370], "max": [24537], "mean": [24453.5], "std": [48.496563452132015], "count": [168]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [168]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.984313725490196]], [[0.9764705882352941]], [[0.996078431372549]]], "mean": [[[0.6518599488501455]], [[0.6407574361165365]], [[0.6174107324936811]]], "std": [[[0.15162734307128717]], [[0.141706029993869]], [[0.14037345578304375]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6221346986060049]], [[0.6137691704245175]], [[0.5867531463024663]]], "std": [[[0.17651955749084786]], [[0.1709199553321678]], [[0.16239049132394703]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.681500493666705]], [[0.6756628705193014]], [[0.6454645888384651]]], "std": [[[0.1708016724993177]], [[0.16140452195852512]], [[0.15564909660509044]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [189]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [189]}, "observation.state": {"min": [1.038684578432444, -0.7776342107649254, 0.6999033143372679, 0.0, 0.0, 0.7068929076194763, 0.7070790529251099, -0.09803207430799676, -0.180952489770853, 0.3772752656277082, -0.9907384514808655, -0.42651164531707764, -0.7027114629745483, 0.003881450742483139, 0.020578117655053907, -0.04003416698110508], "max": [1.038895065586501, -0.7774366708779646, 0.7001917904346281, 0.0, 0.0, 0.707134485244751, 0.707320511341095, 0.34011519825309405, 0.30018693629428184, 0.9323171783958718, 0.9639392495155334, 0.27645498514175415, 0.7107632160186768, 0.6894267201423645, 0.04041612582323499, -0.02048844332480957], "mean": [1.0387082592378052, -0.7774569736895015, 0.7000134244143728, 0.0, 0.0, 0.7070901308740888, 0.7071233867968201, 0.13748162747886117, 0.043245216498390956, 0.6965299744314861, 0.14773286783897746, -0.17641207914819163, 0.2830995162801137, 0.3821121162153465, 0.03807250563210596, -0.038856750845150854], "std": [2.1891822303024058e-05, 3.485790727032759e-05, 4.693759702559356e-05, 0.0, 0.0, 4.074456375393974e-05, 4.074964039282596e-05, 0.135555049597288, 0.15325379375974618, 0.19941980128376216, 0.6441443161607884, 0.19381769342346733, 0.45180088914563243, 0.2535498861584725, 0.00366566284219166, 0.002807623474443669], "count": [189]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8214285714285715, -0.7142857142857143, -0.7214285714285715, -0.4257142857142857, -0.6314285714285715, -0.2257142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.7214285714285715, 1.0, 0.4714285714285714, 0.5485714285714286, 0.46857142857142864, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1267951625094483, -0.05627362055933483, 0.08008314436885872, -0.004399092970521596, -0.04835978835978841, 0.05520786092214668, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5801743126560313, 0.3896305347870342, 0.46008933701237154, 0.22907380094475377, 0.3033471244929605, 0.18451994725464918, 0.0], "count": [189]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08465608209371567], "std": [0.2783692479133606], "count": [189]}, "next.done": {"min": [false], "max": [true], "mean": [0.005291005291005291], "std": [0.07254660952805338], "count": [189]}, "timestamp": {"min": [0.0], "max": [9.4], "mean": [4.7], "std": [2.727941837112123], "count": [189]}, "frame_index": {"min": [0], "max": [188], "mean": [94.0], "std": [54.55883674224247], "count": [189]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [189]}, "index": {"min": [24538], "max": [24726], "mean": [24632.0], "std": [54.55883674224247], "count": [189]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [189]}}} +{"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": [[[0.39278915644626994]], [[0.32129200475356157]], [[0.2786540287990196]]], "std": [[[0.18415045576775657]], [[0.17980409844819042]], [[0.19953407144566915]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.0392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39784746117685355]], [[0.35473170680625765]], [[0.33629954977596505]]], "std": [[[0.19704672745985463]], [[0.21185692134722003]], [[0.23269724146289045]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.0392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37696595435049024]], [[0.33121692433076744]], [[0.3090344357958027]]], "std": [[[0.2025916142146939]], [[0.20839796417145176]], [[0.22769297796656582]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [178]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [178]}, "observation.state": {"min": [4.743389829100953, -2.740553304883688, 0.6999882431051606, 0.0, 0.0, -0.00010133018804481253, 1.0, -0.07107886882874848, -0.13056213335611844, 0.3755507491496558, -0.9885638952255249, -0.548086404800415, -0.631894052028656, 0.0023667269852012396, -1.267283937723178e-05, -0.040031102647352636], "max": [4.7435947680488715, -2.7404228441472993, 0.7003723122298692, 0.0, 0.0, 0.00017257985018659383, 1.0, 0.3050304395161936, 0.33680692763435394, 0.8180937038276686, 0.9707305431365967, 0.4691147208213806, 0.5588423013687134, 0.7058551907539368, 0.03948602728212018, 0.00048401875923864603], "mean": [4.743568540474411, -2.740446758650026, 0.7000398579593041, 0.0, 0.0, 0.00012867576073828142, 1.0, 0.10821501377270597, 0.05037342677595818, 0.618155049014307, 0.4160102481922407, -0.16305760252341794, 0.2592172381583224, 0.4027001271665285, 0.01487624782437358, -0.014478731112792256], "std": [3.443270730014685e-05, 2.4185494432680487e-05, 8.87929058080559e-05, 0.0, 0.0, 5.355827306227101e-05, 0.0, 0.10962980578227007, 0.14538491294957095, 0.1609804542481672, 0.5958527733546666, 0.21527036397169344, 0.3085543407730759, 0.272761958937599, 0.01745298995372329, 0.01783956564156268], "count": [178]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5357142857142857, -0.36857142857142855, -0.24571428571428575, -0.23142857142857146, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.8, 0.2742857142857143, 0.29714285714285715, 0.6, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.09526484751203858, -0.032102728731942205, 0.02548154093097914, -0.03292134831460674, -0.003226324237560187, 0.07532905296950242, 0.34831460674157305], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5573912314425522, 0.5190872075113734, 0.4250199595415773, 0.1822960404689729, 0.14514982543052757, 0.23648434591554301, 0.9373776905444605], "count": [178]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08988764137029648], "std": [0.2860207259654999], "count": [178]}, "next.done": {"min": [false], "max": [true], "mean": [0.0056179775280898875], "std": [0.07474232975084309], "count": [178]}, "timestamp": {"min": [0.0], "max": [8.85], "mean": [4.425], "std": [2.569168153313442], "count": [178]}, "frame_index": {"min": [0], "max": [177], "mean": [88.5], "std": [51.383363066268835], "count": [178]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [178]}, "index": {"min": [24727], "max": [24904], "mean": [24815.5], "std": [51.383363066268835], "count": [178]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [178]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.050980392156862744]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.557255054548675]], [[0.44801096119600187]], [[0.38562805415134804]]], "std": [[[0.17434367960225214]], [[0.19851082122452043]], [[0.22990942079159643]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5906112419577206]], [[0.4835007545620787]], [[0.4189621043485754]]], "std": [[[0.1909568447713845]], [[0.2254522140456448]], [[0.25813111227615637]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.050980392156862744]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6057500424852558]], [[0.5026724943273208]], [[0.4402139521580117]]], "std": [[[0.19017976277540286]], [[0.224830036310796]], [[0.25907846456783246]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [439]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [439]}, "observation.state": {"min": [0.8484484752355718, -2.4978109179605212, 0.6999012832397634, 0.0, 0.0, -1.0, 1.1816699952760246e-05, -0.32778966236144547, -0.716522481907605, 0.6008699067247741, -0.9908114075660706, -0.3380178213119507, -0.8927937746047974, 0.0012309168232604861, 0.020553934756803574, -0.04098104101442604], "max": [0.8495429975984825, -2.497380902013576, 0.7004329766375222, 0.0, 0.0, 1.0, 0.0006583110080100596, 0.4708367191184796, 0.6120480838613629, 0.934133507062794, 0.963225781917572, 0.3565252423286438, 0.8969981670379639, 0.5465652346611023, 0.040803778541484224, -0.02051262475567143], "mean": [0.8484846239291173, -2.4976011289474074, 0.7000198216534348, 0.0, 0.0, 0.9453302917828049, 0.00011879343589968889, 0.013136650733889515, -0.010740686197868561, 0.7692853273895404, -0.03203161264470607, 0.00961416976734283, 0.11014174899099084, 0.26145037731494125, 0.0390921541884782, -0.038211471033961934], "std": [9.297131029932675e-05, 5.041656732104233e-05, 8.334313323109643e-05, 0.0, 0.0, 0.32611444424974784, 0.00010596713935147441, 0.2302949853668886, 0.3616936912235776, 0.08919105432942383, 0.6246136267779167, 0.17270556276868804, 0.684956258186667, 0.17105432646200439, 0.0027604213161419055, 0.0041357938216273595], "count": [439]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.4928571428571429, -0.17714285714285713, -0.48, -0.14857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.9642857142857144, 0.2142857142857143, 0.41714285714285715, 0.45999999999999996, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1437194923527498, -0.04550927432476403, 0.0002928734136023637, 0.015580865603644647, -0.04443865929059555, 0.05386267491051091, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7454776336074458, 0.5382238084815215, 0.26930922426161935, 0.07926499703950658, 0.19195925741282185, 0.12341847832193294, 0.0], "count": [439]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0364464707672596], "std": [0.187398299574852], "count": [439]}, "next.done": {"min": [false], "max": [true], "mean": [0.002277904328018223], "std": [0.0476730057778049], "count": [439]}, "timestamp": {"min": [0.0], "max": [21.9], "mean": [10.950000000000001], "std": [6.336402764976355], "count": [439]}, "frame_index": {"min": [0], "max": [438], "mean": [219.0], "std": [126.7280552995271], "count": [439]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [439]}, "index": {"min": [24905], "max": [25343], "mean": [25124.0], "std": [126.7280552995271], "count": [439]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [439]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[0.9921568627450981]]], "mean": [[[0.4029323694565717]], [[0.4077447384105009]], [[0.4070769431918275]]], "std": [[[0.1918181166383791]], [[0.18483723493571164]], [[0.18511980016630802]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4793096618652344]], [[0.49238630107804837]], [[0.4941943054199219]]], "std": [[[0.2606120944819667]], [[0.24524470240822216]], [[0.24332447525225456]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4888157211004519]], [[0.5024603642482384]], [[0.5044748319738052]]], "std": [[[0.25719595687943547]], [[0.24080434594640604]], [[0.23866195752508548]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [119]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [119]}, "observation.state": {"min": [0.7783181766009593, -3.1611739509825765, 0.6999005940864951, 0.0, 0.0, -1.0, 0.0, -0.19247949020269983, -0.22306360550446236, 0.5800026085129517, -0.9914019107818604, -0.21450138092041016, -0.8359976410865784, 0.0006579722976312041, -0.0001566821754026592, -0.039784170925140305], "max": [0.7784912688649457, -3.16095624002761, 0.700035623094159, 0.0, 0.0, 1.0, 0.00019116210751235485, 0.36942174502244135, 0.21867974952974567, 0.8103225024784054, 0.96941077709198, 0.2175554633140564, 0.5330918431282043, 0.6379220485687256, 0.03965848536750347, -5.5226519299965364e-05], "mean": [0.7783491007142171, -3.161118736388424, 0.6999881948126317, 0.0, 0.0, 0.37815126050420167, 3.183938176128541e-05, 0.08594287040036502, -0.021673779380645478, 0.743847792810045, -0.36998407755579266, -0.01309630274772644, -0.40747847088745665, 0.24844681427465798, 0.016914372054799967, -0.016244270507077743], "std": [3.9413661917886106e-05, 4.8563002060742814e-05, 3.01412699609471e-05, 0.0, 0.0, 0.925743822112297, 4.430760214566107e-05, 0.1803537870531745, 0.11979993887297828, 0.07045563144469537, 0.6201587175928688, 0.09987208457910059, 0.4301568757642026, 0.23573190842542618, 0.017430052973966215, 0.01790005266917537], "count": [119]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9357142857142857, -0.0, -0.04857142857142857, -0.5028571428571429, -0.5314285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.4285714285714286, 0.26, -0.0, 0.44857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.06560624249699873, 0.17166866746698678, 0.08103241296518607, 0.059975990396158474, -0.1683313325330131, -0.002545018007202866, 0.2773109243697479], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.8353922827941844, 0.5872501550597118, 0.12514932591526412, 0.09237393587994895, 0.14285646090206156, 0.25476553188395146, 0.9607802304508544], "count": [119]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.13445378839969635], "std": [0.34113919734954834], "count": [119]}, "next.done": {"min": [false], "max": [true], "mean": [0.008403361344537815], "std": [0.0912838696739514], "count": [119]}, "timestamp": {"min": [0.0], "max": [5.9], "mean": [2.95], "std": [1.7175564037317668], "count": [119]}, "frame_index": {"min": [0], "max": [118], "mean": [59.0], "std": [34.351128074635334], "count": [119]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [119]}, "index": {"min": [25344], "max": [25462], "mean": [25403.0], "std": [34.351128074635334], "count": [119]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [119]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4395312314500996]], [[0.4535214801863128]], [[0.4548399819766774]]], "std": [[[0.17577007513651685]], [[0.16720729690955743]], [[0.16551794812899934]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47396406704771754]], [[0.48289618817497704]], [[0.478733071121515]]], "std": [[[0.2532965129813749]], [[0.24387009915944727]], [[0.23410181415867226]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5192462086397059]], [[0.5225365929697074]], [[0.5110197269215303]]], "std": [[[0.2865580779581077]], [[0.2733170261077535]], [[0.2537963152595786]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [399]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [399]}, "observation.state": {"min": [2.5609372064914204, -0.9559301374298261, 0.6999574581467951, 0.0, 0.0, 0.7068790793418884, 0.7070079445838928, -0.2969712347391992, -0.5794625410779224, 0.3792514971856453, -0.9907864928245544, -0.2608031630516052, -0.9237659573554993, 0.0014672275865450501, -0.0008759695474020037, -0.03594443633004186], "max": [2.561236942759756, -0.9557131078064097, 0.7002883108877016, 0.0, 0.0, 0.707205593585968, 0.7073343992233276, 0.42924272587011636, 0.6028001694790974, 0.8947560227525911, 0.892774224281311, 0.21947956085205078, 0.8449282646179199, 0.757559597492218, 0.02056480495126949, 0.0007672704048738774], "mean": [2.5610730836152604, -0.9557404670981398, 0.7000162140372392, 0.0, 0.0, 0.707054524941552, 0.7071590029207387, 0.12484409378412896, 0.002798003686351904, 0.7503233416582362, -0.31747671931907345, -0.04558934181704557, -0.2679324153259882, 0.3020843639721823, 0.0015398948574455178, -0.0018323630496114602], "std": [3.167072193591435e-05, 3.04339364429782e-05, 5.927524041502375e-05, 0.0, 0.0, 3.6172072881125545e-05, 3.6179354439565046e-05, 0.19876716820389842, 0.3617490076064065, 0.16327208447740385, 0.5535562430209999, 0.1248603026541894, 0.5970861958993652, 0.23571352513139965, 0.0026938811103782256, 0.006019323361317974], "count": [399]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.12571428571428572, -0.31142857142857144, -0.39714285714285713, 1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6142857142857143, 0.44285714285714284, 0.2742857142857143, 0.19428571428571428, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.11620121732903683, 0.041657715717866035, 0.03274257071249552, 0.057737200143215164, -0.029631220909416396, -0.04913712853562475, 1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5807939905644535, 0.599621143301778, 0.30097597059546766, 0.12116679386561602, 0.1298817033762351, 0.12069169296422227, 0.0], "count": [399]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04010025039315224], "std": [0.1961943507194519], "count": [399]}, "next.done": {"min": [false], "max": [true], "mean": [0.002506265664160401], "std": [0.049999842965563916], "count": [399]}, "timestamp": {"min": [0.0], "max": [19.9], "mean": [9.950000000000001], "std": [5.759050847723665], "count": [399]}, "frame_index": {"min": [0], "max": [398], "mean": [199.0], "std": [115.18101695447331], "count": [399]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [399]}, "index": {"min": [25463], "max": [25861], "mean": [25662.0], "std": [115.18101695447331], "count": [399]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [399]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9764705882352941]], [[0.996078431372549]]], "mean": [[[0.44126371974571077]], [[0.48356024887982535]], [[0.476380402209712]]], "std": [[[0.16284724823349014]], [[0.13926919128699464]], [[0.13595879153475612]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5586789413152956]], [[0.5728471817315793]], [[0.5460662859748391]]], "std": [[[0.245435671741167]], [[0.20856913217662418]], [[0.19682788876522045]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.527449431774663]], [[0.5492196326162301]], [[0.52719954068053]]], "std": [[[0.22240710848256845]], [[0.17946017120448657]], [[0.16303225610727007]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [333]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [333]}, "observation.state": {"min": [0.9004499409810528, -0.843752121519648, 0.6998896358187905, 0.0, 0.0, 0.7070858478546143, 0.7069480419158936, -0.19916242277149865, -0.3463125180187222, 0.6148521940485547, -0.9856961965560913, -0.3871152997016907, -0.8509182333946228, 0.0007218123064376414, -0.0005626580473229718, -0.020517605630188472], "max": [0.900666305779243, -0.8434501068574328, 0.7005415893918282, 0.0, 0.0, 0.7072654962539673, 0.7071276307106018, 0.44409732964990173, 0.4815222023796104, 0.9087654167638899, 0.912988007068634, 0.3215295076370239, 0.787266194820404, 0.600562572479248, 0.020548954513535077, 0.0008960554632426157], "mean": [0.9005729031782631, -0.843482917589706, 0.7001247715419284, 0.0, 0.0, 0.7071304668535341, 0.7070830587868218, 0.10311296511828476, 0.12167402793608229, 0.8548308549700819, 0.06133700428424297, -0.05429122630540315, -0.04232913573403974, 0.1846647882631661, 0.0010099360043089496, -0.0006418832788958782], "std": [3.051225274322462e-05, 4.381651649158058e-05, 0.00016152558839156486, 0.0, 0.0, 4.7721984028662956e-05, 4.770445353738503e-05, 0.17697696253757958, 0.2468529356867665, 0.07053530629467336, 0.6588777571204485, 0.2318266896534195, 0.6657040976510961, 0.16239438017407334, 0.00208092732581821, 0.0021128309357781407], "count": [333]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8857142857142857, -0.7142857142857143, -0.3914285714285714, -0.6228571428571429, -0.5971428571428572, 1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5928571428571429, 0.31142857142857144, 0.31142857142857144, 0.3314285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.19699699699699702, -0.013921063921063922, 0.007335907335907307, -0.005997425997425998, -0.07611325611325609, -0.03085371085371086, 1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7105894432929177, 0.5552275060928749, 0.24149717533628204, 0.13939975243248082, 0.19601051065123384, 0.1850001462257834, 0.0], "count": [333]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.048048049211502075], "std": [0.21386779844760895], "count": [333]}, "next.done": {"min": [false], "max": [true], "mean": [0.003003003003003003], "std": [0.05471731879365945], "count": [333]}, "timestamp": {"min": [0.0], "max": [16.6], "mean": [8.299999999999999], "std": [4.8064193186473725], "count": [333]}, "frame_index": {"min": [0], "max": [332], "mean": [166.0], "std": [96.12838637294743], "count": [333]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [333]}, "index": {"min": [25862], "max": [26194], "mean": [26028.0], "std": [96.12838637294743], "count": [333]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [333]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4238339670218673]], [[0.41273733759861364]], [[0.40898427088120404]]], "std": [[[0.17838784475535616]], [[0.18015911309780322]], [[0.18134725652735073]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4838616069718903]], [[0.4670845277075674]], [[0.46207700961243875]]], "std": [[[0.24190620241759708]], [[0.248702841862062]], [[0.2503255148807517]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4569041209501379]], [[0.443341220032935]], [[0.4391582874971277]]], "std": [[[0.25725540051829937]], [[0.26515368153503616]], [[0.26683571023520924]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [374]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [374]}, "observation.state": {"min": [0.7992990478507058, -0.535509404049322, 0.6998777570551096, 0.0, 0.0, -1.0, 0.0, -0.2092496936313759, -0.48518520204278887, 0.5954384351374808, -0.9907494783401489, -0.3505285382270813, -0.7434931397438049, 0.0009557525627315044, -0.001469090254525309, -0.040853868210076284], "max": [0.802425808909513, -0.5350610521027477, 0.7000367127886106, 0.0, 0.0, 1.0, 0.00045957198017276824, 0.4031841492344386, 0.3885172906098925, 0.8430113441575148, 0.905630350112915, 0.25332850217819214, 0.775226891040802, 0.23210817575454712, 0.04093855661225648, -0.0073603864842002025], "mean": [0.7994732297191948, -0.5351865300192622, 0.6999715967452382, 0.0, 0.0, -0.0855614970074618, 7.717343673265499e-05, 0.10751166469817605, -0.06408414501022919, 0.7671963815208958, 0.368977017103032, -0.02128158800582835, 0.3884138535847638, 0.12737129299893957, 0.03467609500151062, -0.03803376716877037], "std": [0.0004533286774044433, 6.010484496100009e-05, 3.767696104173365e-05, 0.0, 0.0, 0.996332890951795, 9.436265838749206e-05, 0.21005041125257815, 0.23986557350270318, 0.04484298687061203, 0.6094177519884835, 0.17827050300205174, 0.5378018920580466, 0.06255429140114402, 0.010162751216399788, 0.004994270137369539], "count": [374]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.31428571428571433, -0.18571428571428572, -0.5371428571428571, -0.33714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6714285714285714, 0.1742857142857143, 0.2057142857142857, 0.30285714285714294, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3176470588235295, -0.05700916730328497, 0.02990832696715052, 0.006279602750190979, -0.022635599694423216, -0.008915202444614202, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7289240275759507, 0.5276015285590984, 0.15816257900128794, 0.07457769472321886, 0.14140103993409248, 0.12342378127477925, 0.0], "count": [374]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07219251245260239], "std": [0.25880640745162964], "count": [374]}, "next.done": {"min": [false], "max": [true], "mean": [0.00267379679144385], "std": [0.05163959335782878], "count": [374]}, "timestamp": {"min": [0.0], "max": [18.65], "mean": [9.325000000000001], "std": [5.398205720422296], "count": [374]}, "frame_index": {"min": [0], "max": [373], "mean": [186.5], "std": [107.96411440844592], "count": [374]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [374]}, "index": {"min": [26195], "max": [26568], "mean": [26381.5], "std": [107.96411440844592], "count": [374]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [374]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47637271716547946]], [[0.4645765051748238]], [[0.4434031653310738]]], "std": [[[0.13596075625852738]], [[0.13509065030962306]], [[0.14512992542316827]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45138185747931986]], [[0.44301701265222887]], [[0.4200460629930683]]], "std": [[[0.19603173469469284]], [[0.19305959153427368]], [[0.1960290306720579]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47564261163449756]], [[0.46156321985581344]], [[0.43532131180108763]]], "std": [[[0.18820860576530113]], [[0.18583549446262165]], [[0.1919654734642877]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [311]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [311]}, "observation.state": {"min": [2.121792305390479, -2.2604219988087366, 0.6999077814506313, 0.0, 0.0, -0.0004038366605527699, 1.0, -0.020072946409857018, -0.6158588258674786, 0.5119912143429941, -0.9856676459312439, -0.4368462562561035, -0.7889401912689209, 0.0005327579565346241, -0.0016054433792669636, -0.03965826927827953], "max": [2.123476646511605, -2.2601075521864042, 0.7001189968418935, 0.0, 0.0, 0.00022122744121588767, 1.0, 0.44329761782834964, 0.43704909995228425, 0.7696734556320648, 0.978654682636261, 0.2757512331008911, 0.7274285554885864, 0.6842113137245178, 0.03939291316613612, 0.0008066343814027422], "mean": [2.1234394092362323, -2.2601729451748485, 0.7000033123320876, 0.0, 0.0, 0.00011881127885109621, 1.0, 0.14123239764445944, -0.11660394172846904, 0.6625086150919475, -0.14333110597355955, 0.028676191566458085, -0.12291012761868848, 0.35588681658017196, 0.00513696269466386, -0.0050374774467976564], "std": [0.00013268081783472438, 5.0192632091508275e-05, 3.346157741590505e-05, 0.0, 0.0, 9.717210921660409e-05, 0.0, 0.14929496111286147, 0.29760699646608396, 0.08378349589270874, 0.6784880151180865, 0.18434455921736412, 0.5483203552358077, 0.20466420518188938, 0.011648303912259123, 0.011766773154770576], "count": [311]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9071428571428573, -0.3485714285714286, -0.29428571428571426, -0.4371428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6928571428571428, 0.2857142857142857, 0.4714285714285714, 0.24571428571428575, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.07827285254937984, -0.0377583830960037, 0.0843592099219109, 0.006982085438677084, -0.05654570509875978, 0.02896646761598529, 0.8006430868167203], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6026521290535197, 0.6293416078712967, 0.33764843378760223, 0.14414912014004702, 0.17862137398291983, 0.13421904879310018, 0.5991415922238981], "count": [311]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05144694447517395], "std": [0.2209075689315796], "count": [311]}, "next.done": {"min": [false], "max": [true], "mean": [0.003215434083601286], "std": [0.05661355904070421], "count": [311]}, "timestamp": {"min": [0.0], "max": [15.5], "mean": [7.75], "std": [4.488875137492688], "count": [311]}, "frame_index": {"min": [0], "max": [310], "mean": [155.0], "std": [89.77750274985377], "count": [311]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [311]}, "index": {"min": [26569], "max": [26879], "mean": [26724.0], "std": [89.77750274985377], "count": [311]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [311]}}} +{"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": [[[0.6814090001723345]], [[0.5069282202627144]], [[0.3271989422966452]]], "std": [[[0.17998860608288744]], [[0.14506553263220487]], [[0.20739252034154318]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5639379721248851]], [[0.460971165675743]], [[0.35933162135703894]]], "std": [[[0.2635994504751384]], [[0.22464267128747079]], [[0.23750558037867076]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6506195188036151]], [[0.5204072187835095]], [[0.39295443546070774]]], "std": [[[0.22023626616320305]], [[0.20625028972098092]], [[0.25436399979781943]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [307]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [307]}, "observation.state": {"min": [0.8423396303297456, -1.7586460148944616, 0.6999080889509367, 0.0, 0.0, -1.0, 9.710136339435849e-08, -0.07719682480063339, -0.4907808538067908, 0.5716577959925133, -0.9948159456253052, -0.22100907564163208, -0.7906669974327087, 0.0015594864962622523, -0.0006906019116851934, -0.03970815330347729], "max": [0.8431943332574228, -1.7583798953697303, 0.7001395501960151, 0.0, 0.0, 1.0, 0.00035666179610416293, 0.4407594855982312, 0.34795579276102706, 0.9187888774843868, 0.9569617509841919, 0.2984609007835388, 0.7655276656150818, 0.47132858633995056, 0.03959411448161826, 0.0013705101000482823], "mean": [0.8423802852163922, -1.758555139655537, 0.7000023403278194, 0.0, 0.0, 0.21172638436482086, 3.513796188316266e-05, 0.14402159958429772, -0.09808607313715134, 0.8019127562343568, -0.23273384901133734, 0.06496332187800144, -0.1892797658128925, 0.1839308262357476, 0.006536348710079998, -0.006343089203438373], "std": [9.857681054497322e-05, 3.64300642697469e-05, 3.41186497509231e-05, 0.0, 0.0, 0.9773289815429596, 6.067608155674257e-05, 0.1609915731755955, 0.24284143327829047, 0.08990556270312068, 0.6407774666424144, 0.14154089504507358, 0.6528932421016901, 0.12271177252862672, 0.012669593371229691, 0.012898203426415502], "count": [307]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.3785714285714286, -0.15714285714285714, -0.4828571428571429, -0.2485714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.1657142857142857, 0.39714285714285713, 0.3514285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.12063750581665889, -0.013959981386691411, 0.07550023266635644, 0.010693345742205679, -0.051698464402047506, 0.01112145183806421, 0.752442996742671], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6994675416876569, 0.5248338802598052, 0.2887280685067773, 0.07163444895207535, 0.17194124214051135, 0.12428771496159091, 0.6586573742492454], "count": [307]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05211726203560829], "std": [0.22226347029209137], "count": [307]}, "next.done": {"min": [false], "max": [true], "mean": [0.003257328990228013], "std": [0.05697998594311369], "count": [307]}, "timestamp": {"min": [0.0], "max": [15.3], "mean": [7.65], "std": [4.431139808220905], "count": [307]}, "frame_index": {"min": [0], "max": [306], "mean": [153.0], "std": [88.6227961644181], "count": [307]}, "episode_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [307]}, "index": {"min": [26880], "max": [27186], "mean": [27033.0], "std": [88.6227961644181], "count": [307]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [307]}}} +{"episode_index": 102, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.058823529411764705]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5924486024145987]], [[0.5358022652420343]], [[0.4760805502498851]]], "std": [[[0.13875119316612275]], [[0.14511215384440423]], [[0.1582039684329004]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5903181768679152]], [[0.5167689107259115]], [[0.4592433022891774]]], "std": [[[0.18415912611068982]], [[0.2016502260588451]], [[0.21460166057433525]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.0392156862745098]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5516276209214154]], [[0.5012791329178156]], [[0.45768061858532477]]], "std": [[[0.21552690626122342]], [[0.21698657331028345]], [[0.21925954970015166]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [166]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [166]}, "observation.state": {"min": [3.5691129632538785, -0.964745336743051, 0.6999160901191545, 0.0, 0.0, -0.000118567309982609, 1.0, -0.3060705397925081, -0.06800476156710944, 0.5863462374481548, -0.9911421537399292, -0.09916985034942627, -0.6736636757850647, 0.0016559467185288668, -0.0008800052521979559, -0.039212682966954404], "max": [3.569360309581047, -0.9644539775360893, 0.7001113784547215, 0.0, 0.0, 0.00030122025054879487, 1.0, 0.37517161035408764, 0.3940268299356937, 0.8659760843088435, 0.7788472175598145, 0.11213701963424683, 0.9043503999710083, 0.5824384093284607, 0.03931602268099957, -0.0002513766707168742], "mean": [3.5693008419441616, -0.9646027337163147, 0.6999971635896405, 0.0, 0.0, 0.00014048151549751167, 1.0, 0.05634902816754028, 0.09859746730875579, 0.7854227561854582, -0.07752864062786102, 0.005385352096643792, 0.18697446315403443, 0.2004070290426039, 0.006759161274974459, -0.0076512711182962195], "std": [8.176581187789193e-05, 5.3056419265303046e-05, 4.230321316530024e-05, 0.0, 0.0, 8.90021640867694e-05, 0.0, 0.238593110315445, 0.15588534933788248, 0.07872469962154753, 0.6968185481693127, 0.06711134848955876, 0.6304227786779012, 0.17704515246683858, 0.012892581383212844, 0.012693717313941526], "count": [166]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.44285714285714284, -0.08285714285714285, -0.6057142857142859, -0.4228571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.17142857142857146, 0.34, 0.2571428571428571, 0.34, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.36454388984509467, -0.09470740103270216, -0.10869191049913939, 0.08960413080895008, -0.13987951807228907, 0.038175559380378664, 0.7469879518072289], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7809407062964746, 0.6081741422200688, 0.1455661737246631, 0.131229796787688, 0.24250604415488022, 0.18435572370341155, 0.664837574039582], "count": [166]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09638553857803345], "std": [0.2951192259788513], "count": [166]}, "next.done": {"min": [false], "max": [true], "mean": [0.006024096385542169], "std": [0.07738091914858511], "count": [166]}, "timestamp": {"min": [0.0], "max": [8.25], "mean": [4.125], "std": [2.395960141571641], "count": [166]}, "frame_index": {"min": [0], "max": [165], "mean": [82.5], "std": [47.91920283143283], "count": [166]}, "episode_index": {"min": [102], "max": [102], "mean": [102.0], "std": [0.0], "count": [166]}, "index": {"min": [27187], "max": [27352], "mean": [27269.5], "std": [47.91920283143283], "count": [166]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [166]}}} +{"episode_index": 103, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.0196078431372549]]], "max": [[[0.984313725490196]], [[0.984313725490196]], [[0.9411764705882353]]], "mean": [[[0.42865991210937504]], [[0.40795014564663756]], [[0.38324762022729014]]], "std": [[[0.18470220529283407]], [[0.17702887617918872]], [[0.18010890487282455]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.050980392156862744]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49551666199927236]], [[0.46634141630284925]], [[0.4407806964949066]]], "std": [[[0.24791264190792484]], [[0.24044742083219692]], [[0.23718698747613992]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5124769783768]], [[0.4844315041934743]], [[0.45120741301891854]]], "std": [[[0.2564212965463237]], [[0.24978533405230494]], [[0.24531020182679478]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [245]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [245]}, "observation.state": {"min": [2.1999981875389607, -0.7682574556873057, 0.6999179751478226, 0.0, 0.0, 0.7070102095603943, 0.7067795991897583, -0.16123273613697708, -0.33565336133880974, 0.5925947586151218, -0.9879248738288879, -0.33035290241241455, -0.8137561678886414, 0.0038677193224430084, 0.020579602649143443, -0.0405642330722747], "max": [2.200373833731624, -0.7678302267443117, 0.7000971331844819, 0.0, 0.0, 0.7074338793754578, 0.7072033286094666, 0.3669497252987413, 0.5458930962018658, 0.8699542601203459, 0.6493967175483704, 0.47631072998046875, 0.7634252905845642, 0.5589972138404846, 0.0412986356929381, -0.020486958134282165], "mean": [2.2002377091804224, -0.7678712322002147, 0.6999936535395183, 0.0, 0.0, 0.7071305863711299, 0.7070829284434416, 0.10976772174571083, 0.08608721365843362, 0.7543388960094046, -0.42528917813787653, 0.09755854016664077, -0.2624115467679744, 0.27846603927639674, 0.038561539372107594, -0.038136430960525367], "std": [5.743855300403397e-05, 6.356419914437076e-05, 2.0972818742014275e-05, 0.0, 0.0, 6.68057177058115e-05, 6.681229621341962e-05, 0.14956783939814053, 0.25385054148603425, 0.06526064408083762, 0.5442790991013922, 0.21118437670512671, 0.5327975263354147, 0.19620530728100696, 0.0035126816425179695, 0.003120178653478933], "count": [245]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7428571428571429, -0.3628571428571429, -0.4542857142857143, -0.41714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5142857142857143, 0.29714285714285715, 0.19714285714285715, 0.2914285714285714, -1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.1247813411078717, -0.003119533527696831, 0.054868804664723055, -0.002857142857142863, -0.05393586005830903, -0.01762099125364428, -1.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.7543831410167273, 0.6930217215172573, 0.2265228750962837, 0.15705727857913981, 0.11793281627918056, 0.14415898239131206, 0.0], "count": [245]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06530611962080002], "std": [0.2470652312040329], "count": [245]}, "next.done": {"min": [false], "max": [true], "mean": [0.004081632653061225], "std": [0.06375714021148289], "count": [245]}, "timestamp": {"min": [0.0], "max": [12.2], "mean": [6.1], "std": [3.5362409420173844], "count": [245]}, "frame_index": {"min": [0], "max": [244], "mean": [122.0], "std": [70.7248188403477], "count": [245]}, "episode_index": {"min": [103], "max": [103], "mean": [103.0], "std": [0.0], "count": [245]}, "index": {"min": [27353], "max": [27597], "mean": [27475.0], "std": [70.7248188403477], "count": [245]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [245]}}} +{"episode_index": 104, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4093190732469746]], [[0.29597723747702204]], [[0.25510486438227636]]], "std": [[[0.16760242439029205]], [[0.21482296291209668]], [[0.23613995894459144]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4966811188342524]], [[0.40853513710171574]], [[0.367730723063151]]], "std": [[[0.2126656024717125]], [[0.2596834697486241]], [[0.28137267688020756]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4312060798196231]], [[0.3523637168734681]], [[0.3156121544931449]]], "std": [[[0.24770309765125048]], [[0.2746828428508779]], [[0.29024398085238745]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [156]}, "annotation.human.task_name": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [156]}, "observation.state": {"min": [5.651780328458212, -0.9678693213406232, 0.699953957382013, 0.0, 0.0, 0.7070121169090271, 0.7067843675613403, -0.012211049806331364, -0.4451638933253861, 0.6158928938438596, -0.9836989641189575, -0.04133264720439911, -0.7195227146148682, 0.02927764691412449, -0.000854485598425809, -0.0394015022807145], "max": [5.65221532986608, -0.9606312109085975, 0.7001611047174228, 0.0, 0.0, 0.707429051399231, 0.7072015404701233, 0.5683107132720695, 0.040684104978264024, 0.7771945827906773, -0.4655894935131073, 0.4483858346939087, -0.17251363396644592, 0.7303856015205383, 0.039805792463447745, 0.0006890174828380817], "mean": [5.652088180136734, -0.9607689153205254, 0.7000105067555654, 0.0, 0.0, 0.7071128021448086, 0.7071007119539456, 0.2218130952958854, -0.16118891355657175, 0.7402986601045942, -0.6711786570839393, 0.1759511941136458, -0.5030057820945214, 0.39099768606516033, 0.011385859828432567, -0.010359380171587412], "std": [6.90981937869989e-05, 0.0007342942725336672, 4.366357040267643e-05, 0.0, 0.0, 6.881489305988237e-05, 6.883601524820007e-05, 0.1879942501054408, 0.16714729812442114, 0.050671179954463415, 0.1523603465766526, 0.14402403263829713, 0.14784563529492226, 0.2164519337631111, 0.015523005702311328, 0.015973400094696694], "count": [156]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.05, -0.045714285714285714, -0.4028571428571428, -0.4571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.46428571428571436, 0.2857142857142857, 0.14, 0.33714285714285713, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.18818681318681316, 0.11762820512820515, 0.1257783882783883, 0.07595238095238094, -0.05963369963369974, -0.0713736263736264, 0.5512820512820513], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5512311121854231, 0.6283567210889011, 0.13885787987910173, 0.09273841851288724, 0.1377955765838745, 0.20379252723123895, 0.8343189437704569], "count": [156]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.10256410390138626], "std": [0.30338871479034424], "count": [156]}, "next.done": {"min": [false], "max": [true], "mean": [0.00641025641025641], "std": [0.07980704870505598], "count": [156]}, "timestamp": {"min": [0.0], "max": [7.75], "mean": [3.875], "std": [2.2516197873234876], "count": [156]}, "frame_index": {"min": [0], "max": [155], "mean": [77.5], "std": [45.032395746469746], "count": [156]}, "episode_index": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [156]}, "index": {"min": [27598], "max": [27753], "mean": [27675.5], "std": [45.032395746469746], "count": [156]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [156]}}} diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/info.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..60be60e2c0f106821efa9b856e197186a6552394 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 105, + "total_frames": 27754, + "total_tasks": 2, + "total_videos": 315, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:105" + }, + "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/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/modality.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/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/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/stats.json b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..8d5991480dcbac6782b7dd471977d49b5516f069 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 0.8051452040672302 + ], + "std": [ + 0.3960888683795929 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 2.0 + ], + "std": [ + 0.0 + ], + "min": [ + 2.0 + ], + "max": [ + 2.0 + ], + "q01": [ + 2.0 + ], + "q99": [ + 2.0 + ] + }, + "observation.state": { + "mean": [ + 2.62119460105896, + -1.8357861042022705, + 0.7000272870063782, + 0.0, + 0.0, + 0.36563533544540405, + 0.6202430725097656, + 0.10620809346437454, + -0.0028516289312392473, + 0.74757981300354, + -0.023273883387446404, + 0.08320397138595581, + -0.016284126788377762, + 0.2986808717250824, + 0.018856605514883995, + -0.01901000179350376 + ], + "std": [ + 1.7857176065444946, + 1.492091417312622, + 0.00017960542754735798, + 0.0, + 0.0, + 0.5803340673446655, + 0.3804861009120941, + 0.18450811505317688, + 0.280058354139328, + 0.098164863884449, + 0.6578167676925659, + 0.23413822054862976, + 0.6011010408401489, + 0.23279651999473572, + 0.018647490069270134, + 0.018864838406443596 + ], + "min": [ + -1.243726134300232, + -5.7095417976379395, + 0.6996627449989319, + 0.0, + 0.0, + -1.0, + 0.0, + -0.47367700934410095, + -0.7531132102012634, + 0.3578430116176605, + -0.9957286715507507, + -0.6691520810127258, + -0.9975369572639465, + 1.23144309327472e-05, + -0.0033286619000136852, + -0.041793253272771835 + ], + "max": [ + 5.997841835021973, + 0.33403685688972473, + 0.7023342847824097, + 0.0, + 0.0, + 1.0, + 1.0, + 0.5683107376098633, + 0.7294197082519531, + 1.053884744644165, + 0.9957399368286133, + 0.8314288258552551, + 0.9900747537612915, + 0.9735639095306396, + 0.042971257120370865, + 0.004064009990543127 + ], + "q01": [ + -0.8659204840660095, + -5.655088901519775, + 0.6998986601829529, + 0.0, + 0.0, + -1.0, + 9.297560268350935e-07, + -0.2936212718486786, + -0.6268752217292786, + 0.43909013271331787, + -0.9903202056884766, + -0.42560842633247375, + -0.8847448229789734, + 0.002507835626602173, + -0.0007243594736792147, + -0.04057237133383751 + ], + "q99": [ + 5.9975905418396, + 0.33392080664634705, + 0.7011481523513794, + 0.0, + 0.0, + 1.0, + 1.0, + 0.4517301619052887, + 0.5925402641296387, + 0.9249030947685242, + 0.9724469184875488, + 0.6509942412376404, + 0.8878775835037231, + 0.8871033191680908, + 0.04058112949132919, + 0.0007637603557668626 + ] + }, + "action": { + "mean": [ + -0.0006176714668981731, + 0.00012662267545238137, + -3.2942484722298104e-06, + 0.0, + -0.997261643409729, + 0.11000867187976837, + 0.013759106397628784, + 0.051659733057022095, + 0.006099194288253784, + -0.06440781056880951, + -0.015811976045370102, + 0.05584780499339104 + ], + "std": [ + 0.019946198910474777, + 0.006290002726018429, + 0.0002879707026295364, + 0.0, + 0.0739237368106842, + 0.6913047432899475, + 0.6035334467887878, + 0.2770794630050659, + 0.16641321778297424, + 0.18006500601768494, + 0.17905786633491516, + 0.998470664024353 + ], + "min": [ + -1.0, + 0.0, + -0.03142857179045677, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.7914285659790039, + -0.9257143139839172, + -0.9371428489685059, + -1.0 + ], + "max": [ + 0.0, + 0.41428571939468384, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.8342857360839844, + 0.6600000262260437, + 0.6114285588264465, + 1.0 + ], + "q01": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -1.0, + -1.0, + -0.7142857313156128, + -0.47999998927116394, + -0.545714259147644, + -0.5914285778999329, + -1.0 + ], + "q99": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + 1.0, + 1.0, + 0.8571428656578064, + 0.4285714328289032, + 0.39714285731315613, + 0.41999998688697815, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.0623333565890789 + ], + "std": [ + 0.2417600005865097 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.0037832383532077074 + ], + "std": [ + 0.061391573399305344 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 7.209791660308838 + ], + "std": [ + 4.734213829040527 + ], + "min": [ + 0.0 + ], + "max": [ + 22.149999618530273 + ], + "q01": [ + 0.10000000149011612 + ], + "q99": [ + 18.600000381469727 + ] + }, + "frame_index": { + "mean": [ + 144.19583129882812 + ], + "std": [ + 94.68427276611328 + ], + "min": [ + 0.0 + ], + "max": [ + 443.0 + ], + "q01": [ + 2.0 + ], + "q99": [ + 372.0 + ] + }, + "episode_index": { + "mean": [ + 51.11594772338867 + ], + "std": [ + 30.321537017822266 + ], + "min": [ + 0.0 + ], + "max": [ + 104.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 103.0 + ] + }, + "index": { + "mean": [ + 13876.5 + ], + "std": [ + 8011.89013671875 + ], + "min": [ + 0.0 + ], + "max": [ + 27753.0 + ], + "q01": [ + 277.5299987792969 + ], + "q99": [ + 27475.470703125 + ] + }, + "task_index": { + "mean": [ + 0.8051452040672302 + ], + "std": [ + 0.3960888683795929 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + } +} \ No newline at end of file diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/tasks.jsonl b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a089cb9e992a46f11b48510cfabbaf1047ea63f3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/meta/tasks.jsonl @@ -0,0 +1,3 @@ +{"task_index": 0, "task": "Close the cabinet door."} +{"task_index": 1, "task": "Close the cabinet doors."} +{"task_index": 2, "task": "CloseCabinet"} diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000000.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eadd31ac474827d5c89aa393adb4a09c72b2626b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37ec3b6bae43e2c36ef6aad0b2ef6b2ee1c17604684734aa7a9efe9302d3d396 +size 100981 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000001.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8ac80a256d776cf8a2e21f99fc3c1e514c109648 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6d1061d75ac385495952c0f6fceb472c296cc1e0017fb6e2002abfeb6b7e097 +size 95326 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000002.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d3e97cdc6785a0ce5805ce38b5c8ea686c3396db --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f8a7334f2f355e62512b8407f038d6788f7a7e4ffa09bfb7bb7c836cf889554 +size 302153 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000003.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000003.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7dc4acdd379ce9dd2fa52f3980572bdaffce4092 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000003.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac9bbf65c45986c1989ef8b0938c91145347798c2120c7efe308a1437b65cb35 +size 242874 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000004.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000004.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..023bee32f5530a640bf0b2e1911ae757b9755ac3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000004.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a21912060a7fc459da78eafe45dabc62b58ceb782df681cf28dd19ad1f8e16d7 +size 246852 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000005.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000005.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2b750b1861647e80a6edc3b4611222ed1eca3031 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000005.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63e5aa249bb8948f1768b70025261c27c21acca5f6593a6c77acdaa306fff18b +size 338286 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000006.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000006.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d6053e55ffc5649a180ccac2971bbb1ad012263 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000006.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3b2509cd4c14674e446d4fa1678eb327b34d7dde6f311c96521684bbde6d097f +size 300137 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000007.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000007.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f24095aaeb2a546502685fee774246776e4f7c3e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000007.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb3e060075f391d482e9dad3d851f431e05f2043c6069b0d31200ab8feb286f9 +size 101543 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000008.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000008.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b5fbee33e11542932bd41feafa1ab24f0abeba70 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000008.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a085e3f76ebe3f7774714c0fc727b412ed14b7c0c499c4a6d2186eaf083fc85 +size 175739 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000009.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000009.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..199c2ca9025cd98aec8d59d3ebeb0d32a56822af --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000009.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e779f78526e82baae0559e43896ddb1cefa38a364ad5cba82a2be006b0eb786e +size 296976 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000010.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000010.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f388f87b883c4304f17bbba38fef153fc911bb19 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000010.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5cbf2aed57cb9678f2cc97201b8b6500d466271da22ae8720032da87626d1d54 +size 272862 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000011.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000011.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..09f4ffe9a3995f6104ae0f0a7ef297e0ccb0d4c9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000011.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:116a544789c0ddfb0a3382e20e138d0b958a23aadbfe6ec4843941205e4d401c +size 268172 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000012.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000012.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..db12268a7e57b247d1b58cffd9b88833e55348ae --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000012.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a59d003aa21727db83d3447a5f0702081b8d7fcf3adb85af5d941473856f0534 +size 107081 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000013.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000013.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..615861bbeb021e07c9ffd72a51737726e02adc56 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000013.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b7825b9ec95d3c4fe5ea029eb75d7dcd9642a15bff43a5bd7f18ebf6960454c9 +size 269563 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000014.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000014.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e15e74a370e3277d09ff433b7d462a0ebdcd7c87 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000014.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b43aa41f8da727ce30e7694a5c845976927e58e650c0394956b887ae71144f5 +size 287220 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000015.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000015.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ec9cd0dfadd6d0ff0006884ea185dcedd0e179bc --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000015.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4be8355144e466ceeebbb075930f1afa02ce06532c33d0e7aba372e97ddba7b +size 320460 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000016.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000016.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4530a94d4cf7bca5c51d4a836f105e77e370fb32 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000016.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a09b56ffe84151a9def35a4c9179691164ab7f56bc068f77aa9113d8cf0593b +size 95510 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000017.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000017.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f1504881cc3ea0c3aca51748e7dae48ac526f0b6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000017.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bfb4d05c7f828d81dffda9d326ece1a00d7afba6fd5a6a9be5478cd6d9d8eef +size 276226 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000018.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000018.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..96eff03f7a2f16a52af8926048040488173fccae --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000018.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:71da45bd9c5e6156b46ac4ce7aee522f4e8777e2ddbb7e2af1ee0b96916b9634 +size 330461 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000019.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000019.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..365a11211b22571ab439c55d2233bba5c54d17be --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000019.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76139456278177529cd1ce9211f1d8c13a3bbae77a0ff1554a02776c86b6cc2d +size 263985 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000020.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000020.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..73e7cb56c2dd58fa1a92a3c67244c6cf3302b4fc --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000020.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4075bd2a6fc2cae14284e07557838fbb24001ac0d60b1b92f879e133f8ff201 +size 253778 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000021.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000021.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7dcd21a8ae0a338d7b098eaf5caf7bbd90262d1c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000021.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1885de59041f0d4ce4e2935751744cc5c83750245c15c61594b16baf4cf3ae42 +size 193011 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000022.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000022.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3147e743e0ed9f365be43db0d71eb97531577963 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000022.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b6bf74359292a277eb2ebdd03436fcc4060e1e0ffbea28324ca619e7a7f2398f +size 227063 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000023.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000023.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c83bccde3ba572dae6b4160697bd848fdd6ac71b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000023.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0bd33bf8363c6512826f511707eb67a9fa54d36fa3e603970b045cb5897f033f +size 94068 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000024.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000024.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..554aa87a5e25cd110ff23a3001834e14283a312e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000024.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa7cb027278430e5aedf20b6ba3639e362b2e579aa89a7965e6a6071fc682c42 +size 216669 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000025.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000025.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8b367e9ccdb6c4287be8d3ac947c82694348be16 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000025.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c44c9597af074e22261567ceecef27ba8068b32b4175d9b9499a78c5fe84bd3 +size 232934 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000026.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000026.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bf7c804c1dc582f229757aba1b500e893d3597db --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000026.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c2b527ec6540a333ed26f02985d74e4610277af61870b6825ef9d68c798463f +size 173903 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000027.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000027.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0a02d117673dafc01bf18c235beb5075e6e85fa7 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000027.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac48345da21e6b4e88f7f999f0726d8cc483c7de1f410bc591156fd388e8fab5 +size 257923 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000028.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000028.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0eea58f268332273468f449c49f058c44e0ca10c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000028.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8417b7c8396a2b1e0a26c6489bbb51dfc6f0a8a20cc3ea89d2663a4ce0eaed09 +size 321169 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000029.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000029.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4b56be63819e31e195f17e19692b8946d8258145 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000029.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99463ba90b6c394e09add4d33d231af1ba71d655c07fca9bd6ceb0eab7040c9a +size 230686 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000030.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000030.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f022ac8832f81fd37d0eb71cd03f5b08566ddd78 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000030.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2eb66d015f2ad342cd8bb954a3b77060a1d38280d44ff69a46a37ff9d6d633a +size 206553 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000031.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000031.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4e791116d38b2cde3b633865f614e3b1228b389b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000031.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ac71289f48afb57dfdfe296d1c61b28c36362e87c12f42bc9f21d9a83d0bf81 +size 249317 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000032.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000032.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..175a09bd9e1b7d2a0531c21cd1894de16bf220d5 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000032.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:122d65e1428acff523f4850108399602491880ee262a1dbc3ec426daaf47f112 +size 117509 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000033.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000033.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6d87b434b065d60cafac91b437e864ccae776c8c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000033.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16be26d57e3d110f6c160062752c3249550a9b5ce9bf7e07e7b92b3c44754853 +size 238193 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000034.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000034.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ed98b90c7efdf0433908a359559cf05a2e60c78e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000034.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47684b9108711cf1eedbeee2e3d93a8d34159b278ca972cd0c1818755e955d9c +size 276439 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000035.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000035.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9b82f1e71ec301fe9207bb380bc010b7a744ff9c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000035.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83ad519b0efcb6e57b7e7e2d04c8e692b2513d23f8467eb476a2607c49204eb2 +size 223306 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000036.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000036.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cd5288994c5e77817bf63dd75be637e1548bb331 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000036.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:957d304cd85919a312863ed88a2aaef5e5512cd57549f73d1e0e4db20d236f42 +size 261458 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000037.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000037.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..19636dc9c1149d909de3f4131c61c9a410a909a2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000037.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:67f54b24cba5d0e58ada4a1f42bccff7858eee5989383fc5f82b58343f9a0903 +size 264579 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000038.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000038.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c83d3d676e6d9bdb7542e76e5f2292f3dd0ead3e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000038.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2b9a7705f25e7841efc03bf3d4eafcb1d759faeff3acd75ba36d097419adeea +size 85121 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000039.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000039.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..af04f6709749eb9ec9de2906bfbb86495e56b7de --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000039.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ac72455f15785226633893809257d91ef99e7efcfcc996bbddac1b3daa4fb53 +size 227151 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000040.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000040.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6f23d3a653e6bafbaf9b2ab39ed4b6ad3a3dde02 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000040.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8273368d4d6f6d7bb55f3dae61304cfb3b050f5e024ffb1f31bd67a0a1cf23c5 +size 261387 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000041.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000041.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a13ec9c8442f9a407fb827ab2365acb42b9e3300 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000041.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8117b47b4da5bd3c54a8bdeddc81f46f203ed66c953a6cd945013ecc46e8edbe +size 190326 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000042.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000042.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..81ec616fadbc6d6cd7afc619ccc4807b7f840f61 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000042.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:716db7f0f334b3d15bf20d02f3e7d251076c9b2a6b42327507f502a504b315a2 +size 263333 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000043.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000043.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b9518e7b99311bca1a72fc7c51f7324e0c0c4793 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000043.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:777cfac5458f12207d58d0b983987aae723a887803f91390d9c5acd01d4aa9b4 +size 252379 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000044.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000044.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ff5179e5fd07c0da92b5ae16d598f872fa30b160 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000044.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8571d4bb0733df92b17400bcebfde7d1514ea26d4de1b10d3c888cd43debb49 +size 243765 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000045.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000045.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b286ed3a9b96a8c8074a01365b957f5190fab846 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000045.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4fb01f1f2c36fc398a5339008951d821cf7e558fb1198e49f3389800c7e772ba +size 192494 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000046.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000046.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cf7f0a2cf78b98d6c033c27bd107767ed132cc38 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000046.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6df711ed9d27105d602f4b130f3b09522eb2f975e5de7540ba853a3c38594d82 +size 186049 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000047.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000047.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..90927310bf2f038d09a13187741ca6378d0b9077 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000047.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1517f1c714043338e0d65c993b0e014b10a18041a510295940bc563e08f5a52 +size 179116 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000048.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000048.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..270d2332525e0e5d95ee04a02a5cae1ac3096757 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000048.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5f572c1dff70bfacafc1e68ad81404d99e635ecafeac15990a70375de53c749a +size 246167 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000049.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000049.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bbccda0b23e3ef1b51a017319218bf6fd46f4e88 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000049.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c6701bc268b0fbabc05adf7051cfe6ccb34f6d00130f7522a5bf032b0950c157 +size 111531 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000050.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000050.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8a4c4b7d3cae0a2ba353c6c2a438b34c6ee89484 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000050.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2f13e09385f061629fcc3d12c9a020f3f39d33993799329f31dbee7ce44410b +size 177744 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000051.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000051.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7460d2b6d3531559c5f10025a23b22ce6ce40c7f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000051.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd62ab99dec958ddac847d607d34f4a5c28eb98438a85c01cd6f76b862909e31 +size 143346 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000052.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000052.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..233f99bab12180820c19784f56b184e1e2fc6dea --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000052.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d27f3ea41c11a9e2d9f1f0dccbf2b5d15b32571ff6cf56dae5ff0050fe2db981 +size 210508 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000053.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000053.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f5af1d1fa44d1d3d34d4db21f0487106023b3a49 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000053.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1e4dd7a96578a94f1395cf8de6a2c6c1e0f77fdc4ca5ea8a5f8a8900628fb36 +size 290536 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000054.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000054.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6c2734616891a477b2fef3efc7165ed84d68f52c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000054.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2669693388a2eaf98142354546b5a4ed956debc2b99eba56b27c474114286b48 +size 248581 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000055.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000055.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..14bb03ea4d335eeca27e96480fb798e4f5e43b6a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000055.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:947671c77c9b5f9d426069541af91d019cd348b27fff73b490ce73cad3f7758b +size 147671 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000056.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000056.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..387af66cb5cd3a2480c6aba94e3ea26032b7a720 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000056.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7f721d11dcc21c598e79d33ae92e5730dfd2a9a11a19ccce4ff18ac7eef88807 +size 174845 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000057.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000057.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3780d2aa7b370c914c6e021f50a100638e483a15 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000057.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0597a6a16feaddd56ffa55a447c4d489824295339309666d9a5496ae32fb43e +size 267818 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000058.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000058.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c6447d9cc728e2784c3ac99b0b74708b75bf9295 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000058.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1ed918c3ee8a6ae4be1890009b45b8216af72d53741f01a650326e74420476d +size 202006 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000059.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000059.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..031da0ea53a77cccff35cf0970ec21e7158c3379 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000059.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:701a977f5f0549db76344ffe3d167131645ae57a738a391b3c3e935748f1ad3e +size 279912 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000060.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000060.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ca60654d966810de8edb345e36c0d0f6b0f29360 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000060.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:da8e286ff4b44f38c1a836721aadc079d642a28d4903fefe6dd343a0258479e5 +size 155852 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000061.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000061.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5f17d3f0c13892d29bfc4cc367cf6abdac83b868 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000061.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bbc764be3b8ca6152bf07fd70ed549860cd302f80d50ab10755f3d606d100b1 +size 284052 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000062.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000062.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a09e182197d68187f8bbae3d36f562cd97fe0f1c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000062.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cedcc0bbcb8993478b329326e4deee618efdd970de072b2773bb753566a4c590 +size 253627 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000063.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000063.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2cb95968d443934326584f009df0552f24a68a4e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000063.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bd42b77d43356abace022c641bf76fe4dce39baa1a5bc45ac7c72fb0995818d +size 278079 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000064.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000064.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fb5b0185bc7c5cb08ba098eaaa9f696a60b4a079 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000064.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3deb535db9684aa9ea6088218120723f76a051353b41cb2ff40a98c44b070ba7 +size 244436 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000065.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000065.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5aa0dae1ba9f937eeaa15af9cbf9744336c43041 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000065.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffc350a38c4ad657a77f74a07a1bb011fef0694c3820ff171cba0e97bddee5e7 +size 132493 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000066.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000066.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..089a96990b97112396a4474c58f4a8ea97d3e048 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000066.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7a94ed61aa3d720e8592e29c94710d5d94be6d4353a9f1ecfb2df31008ed00a +size 154786 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000067.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000067.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b6ab6ddd3fab8a6ba1fae653b0da3facd5306bcb --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000067.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8fc4535580a557f12c262ac704899feb27528e8ada7f8c1d8bf2578d161ed09 +size 130601 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000068.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000068.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d6e89aca997173eaae9f1f4165d6969a4e932c9d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000068.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ed13fd21c47e47001706fc436542334282efeab36cc8786e6deed051637049a +size 189496 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000069.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000069.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6ff02994b3c48595b018f13a304ebf866f88f0d0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000069.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8007d2c923de5d2049f056ce4e0c0c9f737ca65bed526d00b97172f05ecc9111 +size 235539 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000070.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000070.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3fd395c2daedfb8b1f1b06e9014355ba298e422d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000070.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fc860e065eb8d8708204188ad675c32d8542d3e7a90412070fbca6db3f876bb +size 225788 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000071.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000071.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fc50585fae1bfa43e369042b72acd8204efe8bba --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000071.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b9793f50eb9d5ef6d7c29775fbf91483e8ae75dfdeb2bab8dff2dbbd7ba3caf +size 183225 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000072.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000072.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4aff47da5f45b70aef302cea0ff1fe4580520802 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000072.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6058796e1a46a4618cd99de6b88a9af8385ce77d3b241571de6820a59fa234fc +size 293761 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000073.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000073.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1db7b6a02a851bca000dd2e3b7e70c933925f17a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000073.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11c7ae33b8ae0ebbe65c543895f5e308540cb7397edaa9c7ccf3459e72f62492 +size 293746 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000074.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000074.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4d879f411d79f195ab4564a8752dbd0ef7100e6d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000074.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:674c86aac715920989efb2d85b916f8927e9ab4bdb3ae8caf8aebf3800c18486 +size 305625 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000075.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000075.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d87cd1344376c26ba109fbe7310509c390bb2bfd --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000075.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f81a429dfb31abb68fd7eb7020a030ea000f299a687caba67aa526b883e663cc +size 98250 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000076.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000076.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4948c64db4f2ad14eae2b5e673402a330d0c2882 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000076.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e170042580fa2c4d2335909bdc205a97700052ed976385dc16c8650b3ac9adb9 +size 243610 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000077.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000077.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..15bca85b7cc1c106bf2c233f9cb1a79e04a6d5ba --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000077.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79447e2261dd6ae3c514547e5bbda243c66eb199488a57aad4aae11c4863b951 +size 192426 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000078.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000078.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..307bea5b09fdf4a760fd8869ab7f5adc0b1b1c40 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000078.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77a82b089bda49ae0c0bebf981ab6cba951480a450b2c494e03ead7111f1a292 +size 131274 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000079.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000079.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..42171225dd6980736d86870298d68c4f610d30c9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000079.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:202a1bc34688c3f7ce435d4fcd94a142b16ffeaaaf6bb1e2608a6d6ee72ab80e +size 251364 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000080.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000080.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9e9c7018b7699da75800496153cf232858d5a288 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000080.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bd1ced7a57acb9765546b50d9d068a1b893350f18e5313022da61343aa638f0 +size 264052 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000081.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000081.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2125e8884b8c6d4194a1b7b6b4c82a20ee74b411 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000081.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04f96eb9aea7132ad85362d9957d244b615a73b87bcc1d7f635979554963d526 +size 137130 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000082.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000082.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..564bd0165ec04009891a7cd03f722e030670b736 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000082.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7daca09427a3382562cab517ee4b5d8c3ff3492f27123d0078de910a5f2d5c79 +size 124103 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000083.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000083.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0f1b79e0d5e74f4fa04eb32900be9196296967fe --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000083.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dfa4dafd95bcaa781fb4a71f8d07b6b5c2e71164c2eb2b2e09d51ca056dc4855 +size 114257 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000084.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000084.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b4a9d0cbec2bc36f64d6c8ca00c6a7fdebaee31b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000084.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae8c91e6e2fd354279a851b4d3888e4261cc6e0b035b3f5f7b15bba7565d768b +size 280633 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000085.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000085.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8d6a6e48c33a5e59bd975cb201e7a8c034727990 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000085.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55811804cae859624472fe41ae29d2bd9bd74d60cddb28f94d48705c71d95fc0 +size 183704 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000086.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000086.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..67e1b2713134fc70b92377249553f911273097a6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000086.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2749149920f2168e9d98744f25321137f1082063f77e2e64c5b510164f970bf +size 205234 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000087.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000087.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6e5e86e16c03d774593874f7c346ad54f37c2a1b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000087.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db06d0ad7ce76cc3ae15ccaaa13bc32e2341cc57fb107dfd93342a0bb2f15210 +size 185726 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000088.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000088.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c1974045bca22f55d6928bf5c46f1dda2f794bc8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000088.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5db2626829df4a139564cc0de71fd2cd0c90a2c87c64f0db1d7436c79c3ef0ca +size 270471 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000089.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000089.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c35d107656654a1e83889bf2f514c5e204b00282 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000089.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a51e75f56c2c9f4bfff6fcfdcf3c05f623d1503d695239c22154f452b70447d9 +size 280994 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000090.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000090.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d097cc1c69c7203e9b01b97934e405da24a159e0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000090.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7557272fa4b13b30d151e9f4149f090723f6dc3bbc9ae8e893c8ccc6625cdf34 +size 247902 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000091.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000091.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..589825876ac923be10483035fc386268de4ea0f2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000091.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6fe5f7e668f00b5e901621277cd82334c76827c3be3ab667b436706a7c0beba +size 102911 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000092.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000092.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cc2ac2e99ad4dd14c2adc3d743d171aa3d257d52 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000092.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79cf6f0258a29fb29bc5ba2b9ceb72531234568cb92e8c258656d24243530562 +size 153000 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000093.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000093.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..97e7d74c5328e1c9c97219415173962f8188394e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000093.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e9c01c701808eff8efd88ac4ef11424da17a4092223d0e8312d1b47b1f3973c +size 156132 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000094.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000094.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7b25779e10d2a3db28742a4ee9d8b1f5ba19654f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000094.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e66ef5c8f973942e8a688f48dfad1969a3ff03eb0079c6001f7eb1d9d073aae8 +size 170095 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000095.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000095.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dc0226ebc8abb023bf184c16896c17f411d1a796 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000095.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c08d013629046fd932f7a8a45655ac3fb5e0b74050a6b2a1aedab2da1950356 +size 323886 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000096.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000096.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6840c77795315abc29e6a5aae85ee00654cb717d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000096.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:72a5376e6a28cd9dac29c9136949289eb5bb283bebac087efcc3b6dfb422157f +size 90878 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000097.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000097.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e93572fa245062e9cd490d87c0e36dfa96d05af4 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000097.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b067737812a16e16dc6869b3a253600af29dd5da5cb6b99216c9e44e82074e70 +size 280683 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000098.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000098.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7a6e9186da5f1f9a2b8a7ecde35298a1f233f7d0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000098.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d439c9d01aeb7ee02cfd0e9e4648824007a0ed8cac5605e3a66c55470383751 +size 320814 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000099.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000099.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..248d8fd1e9765b71745379f947c4474ddbea3c2e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000099.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dd3a5709f87bb2dab06403c3ace2c0836b158f5289d4614e510804a7ac17fe5d +size 287708 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000100.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000100.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..772a314812fb3562b842c553576b7c4085d8e11f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000100.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6d2a99bffcd1674044513d9523db87a40f1ea2ef62b150b47b4200971e954f2 +size 219288 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000101.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000101.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e6146438a882ece1450ddd5a20bb567a5fd2325c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000101.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e73b361a7c8ac269a8a6f8ea05a53728fdfccc567bb981edd353a9ce5ed4b4fb +size 220149 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000102.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000102.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..78b6ea53ead9008cfadf7ebaf3bf4b508effd07e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000102.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c1f82831d54cec904f3473757bb67ae57b911ebf8bb3eec5557101a9bb8013d +size 179696 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000103.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000103.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..df9558cdee98db4a2409fe854b0f95dba33815f1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000103.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c52576d587c1572a3b4a1fabc5dd5527226a1c04e29d852efa1c356d76378833 +size 223219 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000104.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000104.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..835e957806deb868a3a9fe986ebb7ea68aaa959d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000104.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c81762c9410c7bc3f290301daedb070327c655eb6f260c72f192a9f071a406d7 +size 109052 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000000.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e492aadc382a33b488994982ea3e6e12aa204144 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1274e6bce5f6ae42abd4503be8f0dc3fe38fe1a5591803378c5e2a0b25b7a60b +size 176046 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000001.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..65900413625444db23078e453181ae71faa28b49 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:254d42aeabec8e475c2d6cd80e95396447a9ff1fb5495d6c38a372ead3dda547 +size 151250 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000002.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8a142609ae4d893fb614016ea6472247a7c115f1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9e92dc14f95146f24f8154d9103699e5f1b1d18435fb6f3da517a2ae0a8858f1 +size 257270 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000003.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000003.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1627ad97f0f766352c288000c36936828834878c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000003.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:135a4e799479b103fbf0a10785daa16cc67557b2e58cea05850496ff540f749e +size 216397 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000004.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000004.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d62a69cbf757926457fc154697f1e57038bc8e8c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000004.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:327fa8f3c9c4a1b001d07193cda3fa5f743f22449d1431a61a20065165a6f34f +size 244688 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000005.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000005.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d257bab8139b797ca692a77e7eee1c8b6eb8de95 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000005.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:879bab737015ee279dd5cd056328950ffce65b6f4b024d2b974e6640f510d8e4 +size 279730 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000006.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000006.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eba542ad419af1062fec227757b1ef29328808b7 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000006.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bc9279865457129e530f4785c0429e80a0e48a93c3bc715586bfcaa73a5ced0 +size 258626 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000007.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000007.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c10876ba95681e068bfca08736bbbd6a272c59f2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000007.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4aaee3c9ee5af362ff6eaa51675fc3f086ce025a7e67bec5c899a6458cc57ade +size 174000 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000008.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000008.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..23ff878bfe702655a5b488e075b89f9449e0ce21 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000008.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b83a7f27de11558753647be792f3caddf4c6b242ba83356395f52b056c0631b3 +size 79615 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000009.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000009.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a3eb03b0bb1e4d19f47883ab0bda489f26837dcf --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000009.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffe651c938b90914b3aafc2e3468a8c15cf3300ee4b42bc2f2fb20d59e5c720d +size 309318 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000010.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000010.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f1df3c899d6c2b3a0373504674a65aa8bb6b26cb --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000010.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5958e40f85efdc2f475e881ed1bef471b48a5bad0a670b8d69184d4404e7366 +size 247105 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000011.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000011.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ea6dc2561efb529c1b08dab6bc51d071b33f751b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000011.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50f448edcb3f5c4b5cc7362f81b4ee076672e7a8ce9061c131ea54771bfe8c8b +size 235067 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000012.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000012.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cdb5cfd05fd032faafe5d896eeef532e25331df4 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000012.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd1e19763fdd4518b3f392a948e8e8bff9d86c80eba2ae1f48490c9616e572e4 +size 179436 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000013.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000013.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..335d659e222b49d344b8e51caa482991bb165664 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000013.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d73879f43570e0190b259b961741aa8c83c48b77c4dfe671133b91cb4b3c67f4 +size 282661 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000014.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000014.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..35472495feaefca4625313e6d5ec5f89dae2b130 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000014.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3263ebb091d9bf685a07efa2089ca4513ff1107ad79ec1e790b75d2751b1f1bd +size 230259 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000015.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000015.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..12c998cf25f540e850a9b8c6a1b868f0a3615342 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000015.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c4ec5e16653f0250a6cb34b1e39ae87c15bda69b0aae7b9be8a2817b4dd0fec +size 307042 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000016.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000016.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e9ace06bed38d56c6fe2a3f1f2643debff4d486d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000016.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6b6eb600ae6f274175ad170dd42122e274ace7ecce2ce1f2794f9468539fe9a7 +size 187257 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000017.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000017.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d877cbf13c56233d19fdaf52df5b5c8e91b60c14 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000017.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:349e93903be9363b477a840d74036871341cda92745ffbd6814f05edc86b5eb2 +size 288255 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000018.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000018.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9a0f0a401bf45580f94041e96f6fdff8a359d6de --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000018.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c89f4cf77396754c8e85da3fa99b90e00a243de9e53c1390b6d0772ae5d9f53 +size 325796 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000019.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000019.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9f42e776ff9b13a8d6aaf5ded90a1f905698e9df --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000019.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7bfcf2ac2743e4cda9919f61f734b20e0888fbfa928bdd9dc56bd4aff6529628 +size 180564 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000020.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000020.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dcd293e3ca300b0517160641b3a2dcb2ee49184f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000020.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:418de35205b0bf006b0a7a2593868ef5176e52e2d49b4eb0f3f17f885c2181c0 +size 288043 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000021.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000021.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c1aeb3a6e57503ce727ec729a50e4cee6d2fc847 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000021.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:909fb978752a2a500a843e93080745691c29827a5a75c7dc1a430398813f9fd6 +size 181558 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000022.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000022.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5d06cd07d08413b4b3f31a51d946e209c92011c4 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000022.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc519b20b714ef79eea07b2deb3741daeb47d935445c72ce43e129b96c07d98d +size 229395 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000023.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000023.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..78f808013c4d1e6ffebca596042f52a5c4782425 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000023.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ec48bc75c5bd426a4b23b5e35d71981223f5f64cf66b66528fd6da7087ecc7c +size 154888 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000024.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000024.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2bb80d4763ea5a347e5c7b11fe14c86cdd0fdae9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000024.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:149ec43fef9a6e4cce3717b1d314ce1d2fbb4407ba4f243e7b9e2ca708639f2b +size 253621 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000025.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000025.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..93397b445f3c1b32bbe791ede5672270eb94b3ba --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000025.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ba58ad4d179dbacb121b5241388187433b1f8022282e174f108112a08a41588 +size 228311 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000026.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000026.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8ae58010282b352ad83d95ef72c6401ddec9452e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000026.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1a6f31f859da5e3f796524d8a0b41b7dfccb3ebfd0080acaa45d3a2b3f68c3d +size 153111 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000027.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000027.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8fb89d6a663c21d027ad7d1ff6194c2030591e8e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000027.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf0126cfbe96cf7d5c4f8de7a7838d92ad240b673e6157bc3ef1024bff5cc386 +size 272481 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000028.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000028.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ec8071271514ff3417d8d53847140e125548c74b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000028.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a11d0b90defdbf10ee471c14f81f7cc19ef072d907477c6013120e415ea5199b +size 292526 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000029.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000029.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e7b5cf7af6772cbe13bd62e2a1ae4221e6b8e29c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000029.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b57ce4e75f66eb40b4fd90e95c5d0fc50d978d3cff768b33a5b3d507ae9c6e90 +size 304781 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000030.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000030.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..435d03f9f77859b688cc043bab5772c1b8439ce4 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000030.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:25b1d71f9da8e9c2166ee80f548050b35abb3a299a029e97cd10f6a3b9fbe862 +size 233699 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000031.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000031.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..df3646d2b321857242f378f4c6038a2606f7214b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000031.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65987e43035f626bb39451de648ecdda257b5c87557f17a0cc7fd41af7996430 +size 265069 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000032.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000032.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fedb3ad1f9d05cf546b9cd709478afecc40a74e2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000032.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8ff8de2ae3977f25f0a0b7f8fd8f0a1af49a67d435889fec1eceb95d9ca4d74 +size 144813 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000033.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000033.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..584946b369d99eae193d237cbe99a24b7cd8812f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000033.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f1b1028f87f3c5e169056f2531a92f959703fb2831b3e58e32d429337c0a9676 +size 258016 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000034.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000034.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3de192922fabf8dda9326aa125dec1b3c9ee6b37 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000034.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6b62bacc4193053cbed24335c40cca83aa7ba85a24f0bbc344ea666ed2f1fbf +size 257966 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000035.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000035.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..41b2885aedd575bfa2a4c8363b4a0622df5475b9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000035.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74f519d7eaf0f7d7b05bede57a4d47bf4d52e20efd9baec1fd8d3af912d09239 +size 234234 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000036.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000036.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ac72c8c1a56ce822660adbd842a44229124b499d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000036.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:091a4db6300cb963b5541dca077209ee17b5391be477848219b1852433804ca4 +size 295577 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000037.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000037.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e3f922c598f14c9d89cb7750ca4f75329e444540 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000037.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f628f5125c81758d40689ba0b7ad88c9ac8003a91911a680da7b3751b8fc1e4 +size 270514 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000038.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000038.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9adfab86d8f50efbecb92dbb1462086f14316479 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000038.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2aafbbd4c6ed4fc7aff96bf6861b30f97599714c57857049181ce2e84df356d2 +size 112756 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000039.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000039.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..83d86fc797c792a5ccca1ffb0c2fe5e54d0b318e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000039.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e4f9f0b5fde9b72531a9d894bd38f9b76c17439349e8c13a30847744d592ec2f +size 187029 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000040.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000040.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9f10c22eb91d01191bf30fe7a41ce1f5ffe41402 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000040.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91fcf11f0ae4938d9dfd11d75b123f6c6d450310e30b735d7c69c64ce43f025f +size 217026 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000041.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000041.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8c2831a5c4fc4495c8ea8b41780c58fce59320c8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000041.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c1f3b478f91f51757284b0bd0b8bcf32838c8e603d6f43d3366b31178c9fa8b +size 214250 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000042.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000042.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..85c243af242ffb6beb6325d4f7f9660a9e67ba98 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000042.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:723b462e8f51857cb33e91c515a344887f9741eba5dae08f89889affcbaccb3d +size 293107 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000043.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000043.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e2428444a2bad99c47e49549b70b729e5814f67f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000043.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1a9cf03d5a2c433a4c53a83f6ca0bc657e14eeced82c430eca33d6f4862c9b9f +size 273477 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000044.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000044.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fa793dcdd5f79f2457a4f33b64a07036250c3e1f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000044.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4dd3eed1739945a6651d69a7c5cc3fd7cab65981064fe43898fcf0419b4e458 +size 209449 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000045.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000045.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..126a2884783d9e6dcef28c5e289777a7a8b5365a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000045.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1fe5d077771e7ca0eeb44cc22268f8279d4bb2ee73e66f92b7be68a239f45e0 +size 211382 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000046.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000046.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c4887694b1315419ed6de925e50b2e4ddaff79de --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000046.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74bf95f760d1bb30da398ad9c9c4bca42c74adfff9b52c3b3db6c53ce59e3420 +size 95295 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000047.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000047.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a7db9aaa0de60a85efb39bef47625ff01535c721 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000047.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02243e5bb0741a4f78aea363b5a30b0113e0ab257b64dbd1c4971c034beb065f +size 209377 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000048.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000048.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e69b6732969d8d3510f9df567cced50e3fcc6e66 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000048.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c8ecd18a1013ed2cfc35393bd5b595d6cf619e7537ff558aaa313bff2a50cf6 +size 247632 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000049.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000049.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2d641dd4d64c020a215603483080d585828023ca --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000049.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ec6714a4b6716e0306e8c19a0c78635c4c137d76407f75d42ed67af1d76f916 +size 166556 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000050.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000050.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f962725c03d85d640f41ad99a9ddf5092f6e2b47 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000050.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:20973a6c3093980b2582135a2d0408f8c712bdf9c7347f79461bef67c1a5844a +size 199499 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000051.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000051.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c086891d5cb35c1519173155913f5a39a7d2ef8f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000051.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50dfae10914deb0798024b38baae0ac247ba3162073d808357336c3def0d9341 +size 153243 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000052.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000052.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..43dd4d02e205aa3958646509e8b772987c699183 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000052.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f29f81697503875894292f0435851d58b25cecf5a26f4d954295b34f99f00c06 +size 87134 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000053.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000053.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bc8229d00772274f1337e6e032f87fffa621f48b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000053.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:552093b18b56931da4ac558922f466aa2e406664daf533701c36a9790d9b1510 +size 253853 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000054.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000054.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ebbad15e97f3697385130b09ddfa34ca3c8969cf --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000054.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ce9807a1402886568b347567317021580f65bcd8301dee410c299e2bd5530f75 +size 300049 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000055.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000055.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7867b851109ad799cff0fdcad0c0de74c4e7fb70 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000055.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2d2c0366466d579d06068c4c1727fe02feb339d5f07ed0b4927fcdd5b2d5cf93 +size 114103 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000056.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000056.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3a5ae4c3a21a0fc5d1443b95412e423abf23e20e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000056.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58835e5471f7a71fd4c3acc63c0b705735c286bd5527ad395996bdfe84360f29 +size 201125 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000057.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000057.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d510bd54d3f321d17995ea820ee8dc0a8f896612 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000057.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ef507fc35f9f3e01d916b4aada8fa06c7712d8b9d75ffa0e1c0b8ca4790d7a1a +size 271352 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000058.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000058.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..206a37f43d35be4dbe27d10ca9eeb7014aa33240 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000058.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6b1b373e749b7700837b3780e0a8a2ee1dad9e4a7caf572b149ce443559cb76 +size 213552 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000059.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000059.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b14720dac6786276bb0c6d749395bf6541b909c3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000059.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0048602ba59d9531bb149f9edc499f780d5c6d8987d26567ecf0c68d957e7af +size 250318 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000060.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000060.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0f12f5c0bd81220718d23106fd31a72b84486275 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000060.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0ad1e83c5350a8455969d50f2d8366966022b603b3740ab39faabc726f251b5 +size 82964 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000061.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000061.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8b18aa12ca5ca260e92525d93d085bd5eee73cde --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000061.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:903a8dcf7910cc0dc5dce1f385189d4162cc24d3e6b54734a211aa07c4f2b672 +size 254578 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000062.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000062.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6fcd6df8d559465db82c11edf43c4d013ef8ae60 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000062.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b110a59844805b94b97a80b0f4f1626695740ffc6f4594859b93eb189e3c4c7 +size 225304 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000063.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000063.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..77ac0cdda08a97bedf6cad8b338feb19e85238f0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000063.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b89bf3ddbe93e45af87a92d30e827ffdbe6a3d3c760d32ca9e48b2c604db2ad5 +size 230079 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000064.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000064.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2fe3615161b8e8e054a1673c849cfec0ec3ef37c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000064.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02971406e08362c6967e677cb887a63b981bedd38db58efbd244c9125403b264 +size 268936 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000065.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000065.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7c982b8f2911d46a7b9e51810fafe70fc1e900c3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000065.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca3ede33958df074241800b8882e3b6935899d86ff4f4f518667f182002b280b +size 107656 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000066.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000066.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..8292bb5e7fa01b94e192ceca976dc75ad0cd4f76 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000066.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ef783134d68c5a1481f787553b867a8d495add6aab0a3a417d0cadd7937232f +size 87369 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000067.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000067.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1293e03e921c4306dda0b27eb37f1ddecb600b6e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000067.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cc234a17e847b096907e962c43ead1c0c840468683a1babb0dc9789b333a616 +size 130734 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000068.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000068.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..19b05138a6e33cec2630342706114b6ee8b601d9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000068.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:388d0f9e1df383cc813cab8ce2465837322a32ba9655a24868f33c8168bc18e8 +size 160743 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000069.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000069.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fa5158355f850332f010aa0ebb1c6bf105c47eec --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000069.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca3b7f08d94c7241da7113bbb2edd8d266a5c5a870d69b9b239a868d8b71e36f +size 168458 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000070.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000070.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9ab757fff8fe003dfac2bf36e7e82e11d02f1ce9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000070.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f58a0619639d8f6a758ffe327a786c9c3825236637f00d656f09f89adfbe156 +size 252274 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000071.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000071.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..abee5282463bb52302b79ee10b21b8436ca48b59 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000071.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c310368e5410f797f26db8cf5d87f69846e259fbce6679eec9463f40f36e342 +size 198291 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000072.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000072.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ae3b765b48f839a0740dbee1dbb0c32bb9d2b932 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000072.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:258725de4b0a719565d0bd7883f2f79eecab1595f09023f353fb9ee1f1c363e4 +size 306492 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000073.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000073.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6e48e2bd3d46b7f6349bdd6ec04eabcfb0141e9e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000073.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3976d6d71019b5bc628acad5f276e9f95fc7121086838eddf065a4ee02703022 +size 276707 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000074.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000074.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..65f0a2f731f4d7668a8bb0b795de058881e852fb --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000074.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80afb4608d14a591a79d40128431a705bc7d8bf636ab9cb0c9fcb0f1d2d5b94f +size 312388 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000075.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000075.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..63587f5d3d90a7ad2b7948242ab976c9d2b0f6ed --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000075.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d15f5f639ea754067aa7239a34cab7053cd73f0ec044c37830861711aba0cb0 +size 120197 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000076.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000076.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2138200a9befe69109fd79c2e55c206476fb6c1e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000076.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af9869ac4f8d688400f6d385b7bede9c5fea5efd4d0f653d8261bb531a726611 +size 261787 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000077.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000077.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d5a312c88624fe7569a41f8be07503229e7501bb --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000077.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bcfef11f46415a431b9587ee642efe6be892cbb20eb533282d4c57053ba0803 +size 234242 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000078.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000078.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..944e4791c0c0aa0124009cc85fffe2f67a52cd5d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000078.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcf3fdc89647ad977057c825d9a66c154453f8a2494b5f35bfe77a41b128ec74 +size 189940 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000079.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000079.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e5d5f81441e0fc7a784b03f3fea79ef73fc083d2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000079.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e2b5a5bc61eb525198f1e2e11cd3730f6d78e83407b26fd09be2c7654567f43 +size 200670 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000080.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000080.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3ac9f668a264f9fbf250eb61900b916d052a791f --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000080.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e6c31bce6527b4dd50e7cc92b2915bf22ba282f0519379a493444a951325cd6 +size 230296 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000081.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000081.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..05b4db2abb8fa3a339c24013f4184b5660c961e1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000081.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a0da02f122d3c17fea50943fc342dcfa5bdccbe6f8a968547fcd2be52ff8372a +size 110952 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000082.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000082.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ee27c155351d494b5ce9628eca435e8c433dbef6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000082.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07e3973028b52a923676c86e668cfa58f0cf366e282b80a57ca849089db76a3e +size 78389 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000083.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000083.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5ee93f1094f4b21e2dec7ee1cd02bc65cca281f0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000083.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e13a7d89609422b5b3670d1301dd3b89a72866ac79c5c321660f580955a6b06 +size 168459 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000084.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000084.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ab5f770a92508344dcf8eb7b55780f1572ab3844 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000084.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8cb1462b9076955e799cdb8b6ce19d44be5173f3e3c34c1750ccbc41ab741516 +size 232224 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000085.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000085.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0c6539230192df8fef627bdb24d476fe7da0fe27 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000085.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:865e6892a6fe6b15c482250d03daee826dc108e132f32ca5dda28621731ba1ca +size 92263 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000086.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000086.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bc3b865669fc769e87d8c55cd31206940f7ecfe3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000086.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f34df62986cdb7b12edc7bfbaf93652af05d6a110e41894577fa46239b3c28e +size 192355 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000087.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000087.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2483386abacdfeff68fec68eb3dae1f72c70c7f6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000087.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:613f2fd899ee2c1c1e0eddef989c9294a116bf2e43977e2cea609049e06c2a32 +size 212516 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000088.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000088.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..518c370984c18fcc55e40688b358e65b4a81c63e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000088.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cd48224bc7fb652411236b30fada34734776f33b1bbcad4c2b71399b32d8b542 +size 263657 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000089.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000089.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..af79a1eed4fbdcdd35258203af7e612eef90b278 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000089.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ec1e3a6f9468944c0fe2588f21ab9db8fc84c9cbcde0a9191563712aa238bf94 +size 304074 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000090.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000090.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..825e0d322ddb2f2ea16cdf23c0e7e7477f52b473 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000090.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3eb88a9f7afa39cfefd0c6b5a1be4ece51d2ceffd0df24edd0d11aea5e948092 +size 265430 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000091.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000091.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f7a6f11b03e81b77c5b72b1bfa8f781626f327bf --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000091.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ee5e03a419911066f41d327d2b586155d1ccb3e9d155c4ae11c0b4b0628f6a8 +size 171863 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000092.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000092.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0e57d22e35efad9a7cff93e1db4dd149c812bc42 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000092.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e1901cbf4d9bdca55966b6a9946fb41a5d541b50e302474890444438de853e19 +size 141080 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000093.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000093.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d499ace2461987e71422439cc530aa4f12c8b8d0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000093.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04e7250f7e0e038b7b9cac4400eb1354768c54c1401e8db851a7da1ff8803daa +size 148782 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000094.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000094.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e06f9525da65b4bcd5003fef3793cd4ecdd8c568 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000094.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94e0c0cd06df169702c90741a78251801d5a3d5c96fe7d95696eeb6dfd76e8c9 +size 125842 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000095.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000095.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7d75e9fa2e3998ec74cb0bcb8f70a9b4716f5492 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000095.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cc459a1f25689b151b8683e8e376184f37d062d1bf472fe9581feb2d2683782 +size 327261 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000096.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000096.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f847615b4e7335fca12b6e7612da579020e46c12 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000096.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e03692cd191915c63d5f4f88e5327db4dd31d47f2682883facc7191407061cb +size 114553 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000097.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000097.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f708fb567b59a705ccc9d6517cbbb25183fc3ce2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000097.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4290f1b8bc0bb14c445f047534c15bf75e366f8ddcf091bf8e7f9bf9618e9d8 +size 280971 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000098.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000098.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d7dc45516e304bf2c274f8893e222da4646ea280 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000098.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:811c878265772d74618e662a80190e02e6209744e6df41dd58bc267006416f8f +size 230940 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000099.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000099.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..782bfe7be2da8f7f92eae6cb832001cd9069246c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000099.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d6cde0a49c0bf2c539b00c78d170dec3b21c1bb24f95b4b9e79e9300e903b694 +size 312913 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000100.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000100.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0c544ab3a727f2df20693e739e3e4157cc20a82e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000100.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f06261f678cc25efa0f2a349ca1f443e73f9bcc35f9a3487aab2acd3ca9784ef +size 256392 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000101.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000101.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4595cd43446e63866a5afeb93694c18ef0489d60 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000101.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18d3e5c40a99f1d84ad85c5fe4e4216e4d353f69bdd5f85cbf6f72ba5b513a95 +size 279548 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000102.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000102.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..77a14087623bee999d11e0301cf823d24a4dfb8a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000102.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1b002a78253277cca9c0d14a98b9ace0c6ba37eb63da9053f4d9e4a5bc1f678 +size 117282 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000103.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000103.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..31b8c10adaae7da0364cf298443124d46b4e854c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000103.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ac6bc271f281709f0cbb02f5bfa5c61ead8cbf5b931760457e2e408441b53f3a +size 187637 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000104.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000104.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0a8898a93a0a904f2cfb1c81b25b2c4005c7c3a8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000104.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:614b953b93f1c8e8cd89dff142d260ed54c14952da7cec3522ed5e6c9f642654 +size 184194 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000000.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000000.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..221366c233ee04843909cd78ec3006e534386ece --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000000.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ab804d60d4781542e71654e982b6d951e32b6d763a246f82cef7006fbe93bd9 +size 268397 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000001.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000001.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bfc4430f22a2215e4db076a0d77f3abdbfefbcc8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000001.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69a3081ce49d583176a4db2140e877ba22cba51034ca19074a2dead86350b813 +size 125294 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000002.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000002.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..a58b04feebde998773f36b73771161e75fe9588d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000002.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0120badb3fbb4d9ea2fbe44af3dd118e37bfb00b0c7bbf70bc5381b7421aa1d +size 418613 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000003.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000003.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..36fdbff44a34874c5f4806c4e49edac749615b5b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000003.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43e4fa313cd74924d23df40d69e8ae3aaab8862a9f30cbef968485f24d61d37a +size 305216 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000004.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000004.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..84f63c9ba49520fd9ea000beb5a24589e0249090 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000004.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1a9b687997adc110a455b5ecedfdd2cb0e14c6388f599afd790b98022ea7579 +size 475794 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000005.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000005.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..495a25860f6af5f9a5a626aee15f6235b9e9b3c4 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000005.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b5cd11d1d8ecd56c517243484ff0f279ea852a8fe4f7f207a0881bc2674661e +size 503860 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000006.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000006.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6dcca3aa532dace451fd6068d12643de59816aa5 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000006.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb27200af90f86dcc6fc13ccbc4c556842e073bcb540b00cf115ee01696ef89f +size 351698 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000007.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000007.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d9cc4230506418afe8e84a65904109126fd96680 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000007.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6fc6700e609afb071bca0e251649452828d89b18361eff377ff8533be6aab8e +size 197749 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000008.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000008.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e42dbb46d87ee753bb77a907b9eac0de33493e26 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000008.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d110803c2c119977c17f9ca68fba2e8d2e42fb2cfc152e483981c309eeb54bc +size 175274 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000009.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000009.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ca6b0b3389c27340c1701e541ce43db1430f01c1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000009.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1045b2163227ce238f8e4e14339af20b445d8f9d446dcd51398420ddf841446b +size 353957 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000010.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000010.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d0a029be222171c16a3b2d9c9fec37498ba1cf3b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000010.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2fdb92b930b415c39efc259da007e6f99c9ccd39786683c5e3ebd1274029483c +size 367623 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000011.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000011.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4590e0006ca2d0e95086c8de64831df327021035 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000011.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41370e009129582762c889496204369d47d286d40e8b05bf3aa21c70e2d98a76 +size 400911 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000012.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000012.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1bd80116dcebdecbf936bd2b6b172cd5539e154e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000012.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:61629c96440bd46cfe7398165a2844e90a7d02cdbf2ff494d369263bc3044d03 +size 264971 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000013.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000013.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2fb13d6d00e4a58190ca7b2cb2953d3f97879b1c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000013.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1b20e36d8382de00ac42993dedb2a912caabafdf3dbaf2e69833e7b962e38d46 +size 466112 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000014.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000014.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4071dc5396d49a96464dd87dc3c872225c089f70 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000014.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ec69752e75e8e28ae1c49d756e4713175419183e59ed8452d5e55c2a30f1e8e +size 406900 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000015.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000015.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ef2254fb7995aff42f541d5a374345b724861710 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000015.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ea91210c57a2723ed10f3058ee530a61b0740c04c8077d627634efa643a15b6 +size 569026 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000016.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000016.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7485b093eb76594edd0a735be63d21d82790e145 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000016.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:93f7dafd43bec6565fe25b9040428200a4d66455e6194173278c8e7d3929cbef +size 224710 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000017.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000017.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..95fd9c959551a180a7416105bcea4984360622c8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000017.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a5e7874c91dcaf167774ab4b3719c66cfe506ade2560f908bd4b062729d3473 +size 559069 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000018.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000018.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4322589a84e10f42c682c08561edc1227ec24adf --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000018.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d446098ac7205bc3d6359601dced4ba9b1743b6b0158a5c1b9a7fe0f6393d13e +size 332123 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000019.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000019.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..66c20d2c367f8c7a397aa8a649243b033385de44 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000019.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbbb034cf7d0e7f77361630351fb77957fd83254153db3df0c6ca94541935f89 +size 304881 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000020.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000020.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..31fd9d62c06bd8474e21ff08fb30f5a6352e0486 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000020.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c62681db5eb5e8ac2f3746b5c35ffd8cf675d9f76c268e2c82f5dc322739e4be +size 488450 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000021.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000021.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..54213c2f39f2b994bd1f9f3eb1d6a69b2036d7ce --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000021.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05fb8b118a868fab61927784ef04d51fec4b81e6f9ffb1df42969a795e1195a7 +size 270352 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000022.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000022.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..41c5b5110abb15de978b6df68592167aabee185c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000022.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c74b1412ec656ca822af6f9a59ae27720d81dd4225f43b81cffb139b66aae0a +size 346706 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000023.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000023.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..137a242d478c51229d2054b43bd8599efa1b5be3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000023.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f7bd34ff0438e5a89b9bd50857c16098d7564aacbe57e5c1720f9fd709bb52ff +size 169658 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000024.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000024.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b5ea4f10068f65267d2123d4392e63e639b2ad58 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000024.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f619723c9a7e94391776b62d88c0bcfd7da2d126481f557b458ec555f7552dd0 +size 293140 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000025.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000025.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5365813558889ddd0387610e7852930840db2698 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000025.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a68cc6f4e72b2a9dce3ec2ed6823cc9bdd97a75a6e8041e77332177182ba071a +size 213670 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000026.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000026.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9b9a8bbab89eb4e89cc57de105d735a70ee17311 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000026.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:82cf1aceda53585f25ccb191749c9efe8385cb3314eeaeac348fec91bdeec631 +size 306933 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000027.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000027.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6f0b1344e01cea02f5ba98df6d4760c8eea7063c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000027.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d25fd1b1e4d026e91314f114786f90c9da3b08479b21b09a517b5424d01921f +size 319826 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000028.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000028.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..86f387e1c609ab949eeebed4af9342bca7326b88 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000028.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9768be81961b34cf0674fce90f123f15af33b9fceb874309796ca9184e07e451 +size 334184 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000029.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000029.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b90249396be38a458a9dc00f1333675912c1945b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000029.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:415c3e9e0aee0787cca0597d7f39666c648595589f75cda8c8c1fe92a3d25aa7 +size 370561 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000030.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000030.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0226f0a553aac54eb2d2719c88a4d1a1f316be70 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000030.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e2be6bdcb87b55abdb449572170a3507b0a784f5c81636fbbe30ce191c1dd9a6 +size 373895 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000031.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000031.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2d35ee2ea3e576704e75747b259d59d389a4b42d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000031.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:295f64f575281e1e19705e2617b649183442bade1b39bd3d2b2da87700d1433a +size 348667 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000032.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000032.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c081f733efed04522db77248c70203fd6c91cfe5 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000032.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a8c9fa75811480dde2fa19a45283ceb0aec2d0bf64de55b023c11aa93fe8496 +size 214188 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000033.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000033.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7f1b9af04993985e59c6895ea16572b1ee741050 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000033.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:deb47b5e8d95f228c1412594791aac3aa8434f19a93d1400f2a0f816021d4adc +size 234409 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000034.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000034.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..715a152a49d940d67225e24a81aeebe5dccacbbe --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000034.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:930041bee9798729818e1003bc7d3b3133e21e14fcc56e566d459c6c6e691190 +size 372470 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000035.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000035.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c0b9464ec702ebdfa13e6cf91bace93278ba7555 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000035.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7f0166344ffe0b3fc868467d55a5ff6ab880c52fed602ae7e22a5e4fac549f8 +size 206968 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000036.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000036.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d35ffb96769f4797bb4065871b5341d2837ef0dd --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000036.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57056d94084a8fbae984ea248453935dbb515133ddacb1d99d5b51e6efc1a009 +size 361231 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000037.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000037.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..98b71bd9e3a4a1996c3eeb1e1bec967ff851d122 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000037.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:468c54f5ba4fd352c072898f95a92fee6ba8dde144c6f54b84974b12b5490165 +size 351785 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000038.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000038.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..5bad3b466abab338db00ff7417bf2d86975a67ea --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000038.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1536ccb815b284a662da92fbdd2918b0507b82c13f11e40b5845fd88dc8ed65e +size 150379 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000039.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000039.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1944215258beaaf3b4746a9bec42fc094ad91c1d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000039.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:17986e549f768d4c46f8964e3fd9e7a16c88c66f33d61d1ad0a171c1ee19be32 +size 344682 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000040.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000040.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..499618b76e9b154a071c431bd2d88153d4e132ec --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000040.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:baf997651515e7a38ad7e0128c195dfbd66fdc380770f28ffe20644433a03462 +size 413239 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000041.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000041.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7ef1f4d5e576a9eeaa97cb973c0e9ce719b2b0b0 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000041.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ffd5409026f4844b20997b1e87af7f2a0ee0ce76a468aed396375eb31440bae1 +size 193548 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000042.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000042.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0055f45c7f6dab00c80539cf3175db96c20413ab --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000042.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b4e5988f5c0d12ccc353312afa495d3955ae937b2d851f54e89b697ded57a5f +size 326148 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000043.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000043.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..751232f4fe2ad6c15b82827d1fc4b88af1519e69 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000043.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:954a6dcba6ccc1cf32e7fef8945ff6b88f81c2566406619678b07f82efa215a4 +size 310562 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000044.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000044.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..09e37c04fe4cfca96a6d4a6fbc1b98920c7d28a3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000044.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5344a587a4723518c9920b08e9afb7702f706b1b4b3c50cc89b396513d528d50 +size 221773 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000045.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000045.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d4fa0685495a7ac77797a5ee7b7d8278369cd91c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000045.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:882c6c0a9dc3c9d79101152ffa3219bc57c181fd8004fbbb198e6b6dd5b32cd6 +size 299518 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000046.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000046.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b0f41a5fe15f30cac17c61c6eb5e85ca7666f66b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000046.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f5437b93e575cf94f21088148ff288ff6bfd40a4ffc0bd21e7210b6e5ff9a2e +size 333082 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000047.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000047.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c215eef30af9ab4d6ae028e9670328cece25b197 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000047.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70a5bb6f36c835b02e27c5f53fbce7d905fbac91abc964d1b910e2a88b468acd +size 221019 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000048.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000048.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f3234e5001575e6cffa294a9a77e6cec0f6e341c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000048.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1ff77fcd9b7bd3da7956c11e87a68ab25d19c19cf9a4b72ea75d7898f0d63251 +size 362057 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000049.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000049.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..39985ce3ab87055938ca68607293e7aadc6345ac --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000049.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ded94d11071a224c2b656f84898bae2248ea26167516c7343ba8595a4beb956a +size 205780 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000050.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000050.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2ef1e3eacf079788ab81cc55c914a4f9a0bc1e76 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000050.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7301bbb344680ecc5fa4a90fd8f77f4f61615fc780c75ddd008674ee0f119404 +size 236851 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000051.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000051.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e70c48da3a6e7864d20d542464c04ea4acabe841 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000051.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:02aa9563959e9aad462dd31044f3ee9848d1bb71750c85060f6389191ce82b8c +size 222264 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000052.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000052.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0f138aa3a2649e9f8175c443793a8d82e2b3b26b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000052.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e7af1fbae9da186ab1826ed1f64e008972dcc8a5a7f098ad3129ef135c56b13 +size 207730 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000053.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000053.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0ad338bc03e14d04639bf9a187be8c485feb58d4 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000053.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b581701b6151c6089fed05c5dcb87d1e2b8c323308ae25ccf5b96a9308014bd2 +size 354191 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000054.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000054.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ffcab57f5648e7d3e7e9987cb2aa1d58d019555e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000054.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:965e1306a09b5813ff0f81e3f7fbf752c871024dfad357af9474188673c2a0f5 +size 514937 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000055.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000055.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..48cd438e6d82ffc0ede0c3e2c6a433ac12ab0cc4 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000055.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f412dcb28b92b381e57f5615daf8b941f715ae7e282835a56cef89bcead2ec8 +size 164707 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000056.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000056.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..22b05d7eb323271e78cc3e738aa01886bc075c05 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000056.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f95e8c5c6ab5bba11d5c0839cd3b508924184a1fe6c28dd298097fae92f708a0 +size 353425 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000057.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000057.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..794255eda48a51643fc00160be9d0f7a3a4ae06a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000057.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:951956a8d3ddbfcfceacd91f2acbf717806ba9d5b301e1c322bcb345cffc63ec +size 495235 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000058.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000058.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..426440ccdd70f36529731e3f6a092b82f869aa34 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000058.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34977d4f2d23372b591e2c88ca16ed922c2194989ea64f3c574b7fed65619b70 +size 210455 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000059.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000059.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..38d0c6d22e4cc6e94d7963dd0dca40f49435309c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000059.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f02a754ab608b379d17caeda68eaa6731fe628495c93758137e75e87ea40a71 +size 419471 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000060.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000060.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..466e8f76ea6ac92587b5f708e3f784f943c6525b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000060.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18317dfe2eca7e0584a63ed0f7450d449fe1a453935267ccf5f4f38377bad28f +size 149793 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000061.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000061.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..f3e60f4f67cc998a2174f70b8a20e6efb49e071d --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000061.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bdc51ffabb3a8f11161047561954d47bce94a2003dfbc175b561f7c522cf2c59 +size 432084 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000062.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000062.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..10fb6f35910174b578bfed586086b2b3531543fd --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000062.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f47a08d5b6bd065bdb406e78647e01f89679d7bdd7424f240c9ce46555c469f +size 374214 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000063.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000063.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d26035c8c8d55d92776a173317f151db78adc43a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000063.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c848fcc4fc5c342dcbc3c81e400d626a9b1bc9e4539049a438f454c68885b61e +size 268488 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000064.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000064.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..b978736093b72856f68bea0e14b1b3402d72d025 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000064.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:953c9bdfd5bbc1123416536f3c04b1bbc71e041889139b03ac1613365a99e96e +size 421896 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000065.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000065.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..565437470991d46ee33f45758b56b000ba0fb087 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000065.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09872fc91982504328ed92292b03442014058ad6808ff6ced717f6bd0ee00a53 +size 227432 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000066.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000066.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..d3482908ff67d0f86e587244c1f6f384d380f059 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000066.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b349f6cb5eeddb5398296fdcaf8139aedde94cc2343434f4819262d39a76e574 +size 223458 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000067.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000067.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..7ce291ad975297714b322a6a481c54edca624bb8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000067.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c726c9b9fe84304811842359129c53c6f19e993dab4f1b20e694f7356a39d0e +size 176010 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000068.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000068.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..72cc6eb733527ae92a5c9c87d7697e500350b474 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000068.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e00e5b2fded2fe3bf09ccc5588faa50710268d11918efb306e02e1e7a9263a1a +size 236980 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000069.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000069.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2f127e1fa2bc86d60cd6d43196336d4f8ac7f447 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000069.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c32e47d8cb22a57173a9d60cff5740d57020f2f7377b6dedd68b87ae07374f53 +size 257525 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000070.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000070.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9dd0aceab837ef49ee321963cc4cf2edf28949e4 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000070.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bdd839310ae411dc9f4b8f6692bb406324b05318583d980f415f0f5767887bbb +size 384076 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000071.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000071.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..95bb66e24894a52fa3d97a03e1d545038d502a4b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000071.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dcc6afb8de815fc505b2f7c145430f491aecbc7698edc795afac70002bb5ec3 +size 363081 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000072.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000072.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..22dc7a7dffdb6795c61edd645a98b05e2f20d5cf --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000072.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:524663d164356a75a418b8e523fa547ce18418a0bcabe8f3730e9fa27a93262d +size 413890 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000073.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000073.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..2587c8b39a08410ae9b93369be54d156f368f893 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000073.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d54b0b912783325d7a03a55e78d7633eb797d85c19187b4a95aff288921efc0 +size 432809 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000074.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000074.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..233e122af25702ce4d9fc351b9b19dcc25d6fe34 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000074.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a95e3dc81b6bbdfe27249894476b9b382e54a6daadd6ae7807ff1e61198ee5ba +size 481304 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000075.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000075.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..021e72afc9ba72e6f70732e0effaa955a30d9698 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000075.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:594a1d7d7387214e9286530e380399a3846326d3d7dc727c701b55ea59488ead +size 210097 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000076.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000076.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4b29ea794ce8aac664625f00837e467fb6f80b04 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000076.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:14ebe8abc9f53b2d7db4fd57d87dedd3e786a276d63b7be6483092fb927c8e2b +size 470302 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000077.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000077.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c5e679783574144840ac31ebb86d439f18272aa8 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000077.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3e61735d7e3889296529e668271373c7834ee9a9a80593e7c33a937abd2039db +size 234187 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000078.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000078.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..396ade91be83995f40653e2b1377f43df26fddde --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000078.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb3ba3e90ce2841d27051adb9505ef601593e7d70b6b3027a600b840068ffa38 +size 224817 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000079.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000079.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..c237f7876b59d41bae6ce32acc56bcafc40e0d1a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000079.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a185223e63fe567ad1ddbf95998c11a61c380be220a534c69fb619e6f91cc1b8 +size 381582 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000080.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000080.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fbbbb73a5041e4afcd76a1a01eb06c807dace435 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000080.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5ef62b7403eb65d175415cd28499fbb2d7c43dee5d79821b0033ab3e9c18f32 +size 319509 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000081.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000081.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..42216a0429841d1288fb98d0683d0cb8580ed011 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000081.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:65828121c16808db29f8cbec9288bab9efcf8ef97c31aa086554142dae1ca095 +size 122933 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000082.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000082.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..19bac0ad0a978f4d0001580837b5566909a108eb --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000082.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c715752fbb464e76ebb5b51d06718b4ced127b8812339ed4304e34b058989084 +size 132228 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000083.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000083.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4ab7499eb717650cd33b7d130fc5375c8f455193 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000083.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e97e73d6093f37fdfe6127039dc6c5526f6c63d05481061a12e70e1b76a9f20 +size 190214 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000084.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000084.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0a5d2dea7badf44d16214ce56655a0593379b41b --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000084.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:045884297a5b1113597910d506d6ad6974c7e3d17d8b9538dc3b195bd09f1ebe +size 348124 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000085.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000085.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..cf970d7644c54f4268111290e7594ec20ca75681 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000085.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f8e7f6995bb5973574502c27c306f723ac34a691f8651c1f6ef6d40d5e89b4c1 +size 205885 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000086.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000086.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0c27ca94418a708880f40411a332d47b911ad70c --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000086.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68d800b72200310576b592b93f9fdca6b88825b9ede180b764f6af263596c8dd +size 305173 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000087.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000087.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..532a82ec57afaf8c57c8e50a57bd51978bf01930 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000087.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:73243e243c768b107df6b5f855e69bdb5565fd5f4980e16d86b5730406ed0587 +size 271316 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000088.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000088.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6f93fde2f9dbce68a5b0d556049487b2ba6bb8f9 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000088.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7537c8ce0aab9036750b46f769010929c92a6a465eeaac8e5afdd34ff1ae2816 +size 349682 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000089.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000089.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..e7b5acd1e48433b072329dc2525a01cc9071cb75 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000089.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af33684509b963ec6b2617a83f2965c6a1ab48dd3dfdb9d8035d6a917cd765ab +size 457978 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000090.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000090.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..dc8b07273f27ea27ef9091b7a6ef304cb4f6ec97 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000090.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d61b6c8ecddaf0a97720b69bb7717a5fc9cf8a7ad797ae49b2ea7194c73b86d +size 469221 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000091.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000091.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..bd3ceae427316bdc526cebaab027a6ed2895bda2 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000091.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:188225a4ecf26451496711b2b60c3e74a8755ba8e76bcdbc4ee4cc1f87ab4611 +size 215769 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000092.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000092.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..6af51cbab169d722ecbf08462b0ad8c01a780269 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000092.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51588bfe84d621841c506b4bbdcd54861a5cc67227228dd550ceed89d0cf5d7f +size 217643 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000093.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000093.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3662885b2cfcc9778b94cc7c09a21bbfefc30e3e --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000093.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5df601f4187391b80bd948fed65145bbfb94f48e90eb9d3da11bac39994a9750 +size 180857 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000094.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000094.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..ed7e6e7551392cb0cab039a819dcfc1595392bc3 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000094.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:055cb42572f1d411b0c6e64b652271fa5cd022945c7e60fcd51f75e79b00250d +size 215347 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000095.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000095.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..4fbd4430ad1a33bcd8008444f16cf29db8f6a4a6 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000095.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18d54daa1a4c90185bbfc98b29b0364c220b3acf47885f3ef6b304291a4c5edb +size 602282 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000096.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000096.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..389ba79e2431829791eaed48b6e5ea7bf087065a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000096.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84ffc05db8777bb4948ef1a8c64d283268b6f90c60b802e795de219b34fc9cd2 +size 209316 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000097.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000097.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..3e9b68d8d9ee64b4c725799544e32fe90fabc8cf --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000097.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e5e6ef924ec338120a2e5e2d1562ea2820848952ed621bdba213b9c8c3646f7e +size 295633 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000098.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000098.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..9b7524b26dba1821e004c5a8289d33877ee8ec6a --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000098.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c33b6848a37429d2d70e1cf96f1595246872c88c123d9ea938c5cdd9a14a71d2 +size 279357 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000099.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000099.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..78a7e57e258343d2cdbc3d70e27a058f879cbd93 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000099.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16c40f49a8c9111a504861ed19b795fd80866122bfcccecfedfd2d5bdd6e2acb +size 442979 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000100.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000100.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..0c5c7e8e0691190443b1df784d57997ebc075e18 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000100.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c36b3cd8936a38493e42b01afa072cd98ea055c482a693d921a07b5e45c966cb +size 360897 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000101.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000101.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..eb68798681d644151e362b27e3c8de2c10cf8342 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000101.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e01d429581626ecc36945a5248a7c9d09e24ecf9e4b110c2638387f57e3bda9 +size 297296 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000102.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000102.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..79fd608e1cf8c995f4fd51c058d8d58975792262 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000102.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92c0747d8f87f259e8f4f11db22e04db9b2901f15c4e1a68a9b828aa36ec9689 +size 168263 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000103.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000103.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..860f5f84bcc28e455ef32b327875c2c81f6b80f1 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000103.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:589159db59d7740ca1ed6e310ee8b7d1ed8022764498129035e0bb155292771b +size 286325 diff --git a/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000104.mp4 b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000104.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..1b537c786f796c7bf1620dec412abbd00c80c197 --- /dev/null +++ b/v1.0/pretrain/atomic/CloseCabinet/20250819/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000104.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7f9c9e13b2e9a976a2cda7c4e05cfd3f8f3ac7e039908af12a2d5694434e3e2 +size 244989