Hugging Face's logo

Datasets:
nvidia
/
PhysicalAI-Robotics-Manipulation-Kitchen-Demos

Tasks:
Robotics
Tags:
robotics
License:
Dataset card Files
xet
 Community
1
Abhim03 commited on
Commit
182be62
·
verified ·
1 Parent(s): f1ec474

Add files using upload-large-folder tool

Browse files
Files changed (20) hide show
  1. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000029/ep_meta.json +661 -0
  2. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000043/ep_meta.json +577 -0
  3. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000045/ep_meta.json +660 -0
  4. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000077/ep_meta.json +660 -0
  5. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000085/ep_meta.json +660 -0
  6. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000095/ep_meta.json +666 -0
  7. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000105/ep_meta.json +662 -0
  8. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000205/ep_meta.json +589 -0
  9. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000236/ep_meta.json +592 -0
  10. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000282/ep_meta.json +593 -0
  11. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000319/ep_meta.json +660 -0
  12. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000341/ep_meta.json +589 -0
  13. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000347/ep_meta.json +610 -0
  14. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000350/ep_meta.json +589 -0
  15. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000362/ep_meta.json +578 -0
  16. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000393/ep_meta.json +590 -0
  17. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000407/ep_meta.json +737 -0
  18. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000434/ep_meta.json +487 -0
  19. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000454/ep_meta.json +662 -0
  20. target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000489/ep_meta.json +738 -0
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000029/ep_meta.json ADDED
@@ -0,0 +1,661 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 9,
3
+ "style_id": 9,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_2_main_group_2",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler006/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_2_main_group_2",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_8/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_main_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_2_main_group_2",
113
+ "min_size": [
114
+ 0.06428376305999998,
115
+ 0.09899999801999997,
116
+ 0.02474999999999999
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "sponge",
129
+ "cleaner"
130
+ ],
131
+ "groups": [
132
+ "all"
133
+ ],
134
+ "cat": "sponge",
135
+ "split": "test",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_6/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 2.5,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ -0.25,
145
+ 0.0,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food_container",
153
+ "obj_groups": "cutting_board",
154
+ "placement": {
155
+ "fixture": "counter_main_main_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "stack_2_main_group_2",
158
+ "top_size": [
159
+ 0.5,
160
+ 0.5
161
+ ],
162
+ "min_size": [
163
+ 0.1973472579000001,
164
+ 0.3510000000000001,
165
+ 0.012317523660000006
166
+ ]
167
+ },
168
+ "size": [
169
+ 0.5,
170
+ 0.5
171
+ ],
172
+ "pos": [
173
+ "ref",
174
+ -1.0
175
+ ],
176
+ "try_to_place_in": "cutting_board"
177
+ },
178
+ "type": "object",
179
+ "info": {
180
+ "groups_containing_sampled_obj": [
181
+ "all",
182
+ "cutting_board",
183
+ "receptacle"
184
+ ],
185
+ "groups": [
186
+ "cutting_board"
187
+ ],
188
+ "cat": "cutting_board",
189
+ "split": "test",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_5/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 2.5,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ -0.25,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ },
205
+ {
206
+ "name": "food",
207
+ "obj_groups": "broccoli",
208
+ "placement": {
209
+ "size": [
210
+ 0.01,
211
+ 0.01
212
+ ],
213
+ "ensure_object_boundary_in_range": false,
214
+ "sample_args": {
215
+ "reference": "food_container",
216
+ "on_top": true
217
+ }
218
+ },
219
+ "type": "object",
220
+ "info": {
221
+ "groups_containing_sampled_obj": [
222
+ "all",
223
+ "broccoli",
224
+ "vegetable",
225
+ "food",
226
+ "in_container",
227
+ "oven_ready"
228
+ ],
229
+ "groups": [
230
+ "broccoli"
231
+ ],
232
+ "cat": "broccoli",
233
+ "split": "test",
234
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
235
+ }
236
+ }
237
+ ],
238
+ "fixtures": {
239
+ "wall_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_backing_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_left_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_left_backing_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_right_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "wall_right_backing_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "outlet_room": {
258
+ "cls": "WallAccessory"
259
+ },
260
+ "utensil_rack_room": {
261
+ "cls": "WallAccessory"
262
+ },
263
+ "light_switch_room": {
264
+ "cls": "WallAccessory"
265
+ },
266
+ "light_switch_2_room": {
267
+ "cls": "WallAccessory"
268
+ },
269
+ "outlet_2_room": {
270
+ "cls": "WallAccessory"
271
+ },
272
+ "outlet_3_room": {
273
+ "cls": "WallAccessory"
274
+ },
275
+ "window_group_room": {
276
+ "cls": "Window"
277
+ },
278
+ "floor_room": {
279
+ "cls": "Floor"
280
+ },
281
+ "floor_backing_room": {
282
+ "cls": "Floor"
283
+ },
284
+ "stool_1_room": {
285
+ "cls": "Stool"
286
+ },
287
+ "stool_2_room": {
288
+ "cls": "Stool"
289
+ },
290
+ "stool_3_room": {
291
+ "cls": "Stool"
292
+ },
293
+ "counter_corner_main_group": {
294
+ "cls": "Counter"
295
+ },
296
+ "counter_main_main_group": {
297
+ "cls": "Counter"
298
+ },
299
+ "stovetop_main_group": {
300
+ "cls": "Stovetop"
301
+ },
302
+ "counter_1_main_group": {
303
+ "cls": "Counter"
304
+ },
305
+ "counter_corner_2_main_group": {
306
+ "cls": "Counter"
307
+ },
308
+ "cab_corner_main_group": {
309
+ "cls": "Box"
310
+ },
311
+ "cab_corner_2_main_group": {
312
+ "cls": "Box"
313
+ },
314
+ "cab_1_main_group": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "cab_main_main_group": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "cab_2_main_group": {
321
+ "cls": "SingleCabinet"
322
+ },
323
+ "shelves_1_main_group": {
324
+ "cls": "OpenCabinet"
325
+ },
326
+ "hood_main_group": {
327
+ "cls": "Hood"
328
+ },
329
+ "shelves_2_main_group": {
330
+ "cls": "OpenCabinet"
331
+ },
332
+ "stack_1_main_group_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_1_main_group_1": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_1_main_group_2": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_1_main_group_3": {
342
+ "cls": "Drawer"
343
+ },
344
+ "stack_1_main_group_4": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_2_main_group_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_2_main_group_1": {
351
+ "cls": "HingeCabinet"
352
+ },
353
+ "stack_2_main_group_2": {
354
+ "cls": "Drawer"
355
+ },
356
+ "stack_2_main_group_3": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_3_main_group_base": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_3_main_group_1": {
363
+ "cls": "HingeCabinet"
364
+ },
365
+ "stack_3_main_group_2": {
366
+ "cls": "Drawer"
367
+ },
368
+ "stack_3_main_group_3": {
369
+ "cls": "Drawer"
370
+ },
371
+ "stack_4_main_group_base": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_4_main_group_1": {
375
+ "cls": "HingeCabinet"
376
+ },
377
+ "stack_5_main_group_base": {
378
+ "cls": "Box"
379
+ },
380
+ "stack_5_main_group_1": {
381
+ "cls": "SingleCabinet"
382
+ },
383
+ "stack_5_main_group_2": {
384
+ "cls": "Drawer"
385
+ },
386
+ "coffee_machine_main_group": {
387
+ "cls": "CoffeeMachine"
388
+ },
389
+ "paper_towel_main_group": {
390
+ "cls": "Accessory"
391
+ },
392
+ "toaster_main_group": {
393
+ "cls": "Toaster"
394
+ },
395
+ "toaster_oven_main_group": {
396
+ "cls": "ToasterOven"
397
+ },
398
+ "utensil_set_main_group": {
399
+ "cls": "Accessory"
400
+ },
401
+ "oil_bottle_main_group": {
402
+ "cls": "Accessory"
403
+ },
404
+ "knife_block_main_group": {
405
+ "cls": "Accessory"
406
+ },
407
+ "jar_main_group": {
408
+ "cls": "Accessory"
409
+ },
410
+ "cinnamon_main_group": {
411
+ "cls": "Accessory"
412
+ },
413
+ "turmeric_main_group": {
414
+ "cls": "Accessory"
415
+ },
416
+ "paprika_main_group": {
417
+ "cls": "Accessory"
418
+ },
419
+ "oil_bottle_main_group_auxiliary_main_group": {
420
+ "cls": "Accessory"
421
+ },
422
+ "jar_main_group_auxiliary_main_group": {
423
+ "cls": "Accessory"
424
+ },
425
+ "counter_1_front_group": {
426
+ "cls": "Counter"
427
+ },
428
+ "counter_corner_front_group": {
429
+ "cls": "Counter"
430
+ },
431
+ "salt_shaker_front_group": {
432
+ "cls": "Accessory"
433
+ },
434
+ "salt_shaker_front_group_auxiliary_front_group": {
435
+ "cls": "Accessory"
436
+ },
437
+ "counter_corner_left_group": {
438
+ "cls": "Counter"
439
+ },
440
+ "sink_left_group": {
441
+ "cls": "Sink"
442
+ },
443
+ "counter_1_left_group": {
444
+ "cls": "Counter"
445
+ },
446
+ "counter_corner_right_left_group": {
447
+ "cls": "Counter"
448
+ },
449
+ "stack_1_left_group_base": {
450
+ "cls": "Box"
451
+ },
452
+ "stack_1_left_group_1": {
453
+ "cls": "HingeCabinet"
454
+ },
455
+ "stack_1_left_group_2": {
456
+ "cls": "Drawer"
457
+ },
458
+ "stack_1_left_group_3": {
459
+ "cls": "Drawer"
460
+ },
461
+ "stack_2_left_group_base": {
462
+ "cls": "Box"
463
+ },
464
+ "stack_2_left_group_1": {
465
+ "cls": "HingeCabinet"
466
+ },
467
+ "dishwasher_left_group": {
468
+ "cls": "Dishwasher"
469
+ },
470
+ "stack_3_left_group_base": {
471
+ "cls": "Box"
472
+ },
473
+ "stack_3_left_group_1": {
474
+ "cls": "SingleCabinet"
475
+ },
476
+ "cab_1_left_group": {
477
+ "cls": "HingeCabinet"
478
+ },
479
+ "cab_2_left_group": {
480
+ "cls": "SingleCabinet"
481
+ },
482
+ "plant_left_group": {
483
+ "cls": "Accessory"
484
+ },
485
+ "soap_dispenser_left_group": {
486
+ "cls": "Accessory"
487
+ },
488
+ "fruit_bowl_left_group": {
489
+ "cls": "Accessory"
490
+ },
491
+ "stack_left_right_group_base": {
492
+ "cls": "Box"
493
+ },
494
+ "stack_left_right_group_1": {
495
+ "cls": "SingleCabinet"
496
+ },
497
+ "stack_left_right_group_2": {
498
+ "cls": "SingleCabinet"
499
+ },
500
+ "fridge_right_group": {
501
+ "cls": "FridgeSideBySide"
502
+ },
503
+ "fridge_housing_right_group": {
504
+ "cls": "HousingCabinet"
505
+ },
506
+ "fridge_top_right_group": {
507
+ "cls": "HingeCabinet"
508
+ },
509
+ "stack_right_right_group_base": {
510
+ "cls": "Box"
511
+ },
512
+ "stack_right_right_group_1": {
513
+ "cls": "SingleCabinet"
514
+ },
515
+ "stack_right_right_group_2": {
516
+ "cls": "SingleCabinet"
517
+ },
518
+ "cab_top_corner_right_group": {
519
+ "cls": "Box"
520
+ },
521
+ "bottom_corner_right_group": {
522
+ "cls": "Box"
523
+ },
524
+ "bottom_right_group_base": {
525
+ "cls": "Box"
526
+ },
527
+ "bottom_right_group_1": {
528
+ "cls": "Drawer"
529
+ },
530
+ "bottom_right_group_2": {
531
+ "cls": "Drawer"
532
+ },
533
+ "oven_right_group": {
534
+ "cls": "Oven"
535
+ },
536
+ "oven_housing_right_group": {
537
+ "cls": "HousingCabinet"
538
+ },
539
+ "microwave_right_group": {
540
+ "cls": "Microwave"
541
+ },
542
+ "micro_housing_right_group": {
543
+ "cls": "HousingCabinet"
544
+ },
545
+ "top_right_group": {
546
+ "cls": "HingeCabinet"
547
+ },
548
+ "side_bottom_right_group_base": {
549
+ "cls": "Box"
550
+ },
551
+ "side_bottom_right_group_1": {
552
+ "cls": "Drawer"
553
+ },
554
+ "side_bottom_right_group_2": {
555
+ "cls": "Drawer"
556
+ },
557
+ "side_bottom_right_group_3": {
558
+ "cls": "HingeCabinet"
559
+ }
560
+ },
561
+ "gen_textures": {},
562
+ "lang": "Place the appropriate cutting tool for cutting the broccoli skin on the cutting board.",
563
+ "fixture_refs": {
564
+ "drawer": "stack_2_main_group_2",
565
+ "counter": "counter_main_main_group"
566
+ },
567
+ "cam_configs": {
568
+ "robot0_agentview_center": {
569
+ "pos": [
570
+ -0.6,
571
+ 0.0,
572
+ 1.15
573
+ ],
574
+ "quat": [
575
+ 0.636945903301239,
576
+ 0.3325185477733612,
577
+ -0.3199238181114197,
578
+ -0.6175596117973328
579
+ ],
580
+ "parent_body": "mobilebase0_support"
581
+ },
582
+ "robot0_agentview_left": {
583
+ "pos": [
584
+ -0.5,
585
+ 0.35,
586
+ 1.05
587
+ ],
588
+ "quat": [
589
+ 0.55623853,
590
+ 0.29935253,
591
+ -0.37678665,
592
+ -0.6775092
593
+ ],
594
+ "camera_attribs": {
595
+ "fovy": "60"
596
+ },
597
+ "parent_body": "mobilebase0_support"
598
+ },
599
+ "robot0_agentview_right": {
600
+ "pos": [
601
+ -0.5,
602
+ -0.35,
603
+ 1.05
604
+ ],
605
+ "quat": [
606
+ 0.6775091886520386,
607
+ 0.3767866790294647,
608
+ -0.2993525564670563,
609
+ -0.55623859167099
610
+ ],
611
+ "camera_attribs": {
612
+ "fovy": "60"
613
+ },
614
+ "parent_body": "mobilebase0_support"
615
+ },
616
+ "robot0_frontview": {
617
+ "pos": [
618
+ -0.5,
619
+ 0,
620
+ 0.95
621
+ ],
622
+ "quat": [
623
+ 0.6088936924934387,
624
+ 0.3814677894115448,
625
+ -0.3673907518386841,
626
+ -0.5905545353889465
627
+ ],
628
+ "camera_attribs": {
629
+ "fovy": "60"
630
+ },
631
+ "parent_body": "mobilebase0_support"
632
+ },
633
+ "robot0_eye_in_hand": {
634
+ "pos": [
635
+ 0.05,
636
+ 0,
637
+ 0
638
+ ],
639
+ "quat": [
640
+ 0,
641
+ 0.707107,
642
+ 0.707107,
643
+ 0
644
+ ],
645
+ "parent_body": "robot0_right_hand"
646
+ }
647
+ },
648
+ "init_robot_base_pos": [
649
+ 2.383992270549115,
650
+ -0.9221953968923976,
651
+ 0.0
652
+ ],
653
+ "init_robot_base_ori": [
654
+ 0.0,
655
+ 0.0,
656
+ 1.5707963267948966
657
+ ],
658
+ "refs": {
659
+ "food": "broccoli"
660
+ }
661
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000043/ep_meta.json ADDED
@@ -0,0 +1,577 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 4,
3
+ "style_id": 4,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_3_main_group_2",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler004/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_3_main_group_2",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_5/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_1_right_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_3_main_group_2",
113
+ "min_size": [
114
+ 0.05615706712,
115
+ 0.05765544707999999,
116
+ 0.15359830947999997
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "bottled_water",
129
+ "drink"
130
+ ],
131
+ "groups": [
132
+ "all"
133
+ ],
134
+ "cat": "bottled_water",
135
+ "split": "test",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_6/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 0.5338432724415565,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ 0.25,
145
+ -3.469446951953614e-17,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food_container",
153
+ "obj_groups": "cutting_board",
154
+ "placement": {
155
+ "fixture": "counter_1_right_main_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "stack_3_main_group_2",
158
+ "top_size": [
159
+ 0.5,
160
+ 0.5
161
+ ],
162
+ "min_size": [
163
+ 0.21596736834000008,
164
+ 0.3105000062100002,
165
+ 0.013541203080000005
166
+ ]
167
+ },
168
+ "size": [
169
+ 0.5,
170
+ 0.5
171
+ ],
172
+ "pos": [
173
+ "ref",
174
+ -1.0
175
+ ],
176
+ "try_to_place_in": "cutting_board"
177
+ },
178
+ "type": "object",
179
+ "info": {
180
+ "groups_containing_sampled_obj": [
181
+ "all",
182
+ "cutting_board",
183
+ "receptacle"
184
+ ],
185
+ "groups": [
186
+ "cutting_board"
187
+ ],
188
+ "cat": "cutting_board",
189
+ "split": "test",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 0.5338432724415565,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.25,
199
+ -3.469446951953614e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ },
205
+ {
206
+ "name": "food",
207
+ "obj_groups": "cucumber",
208
+ "placement": {
209
+ "size": [
210
+ 0.01,
211
+ 0.01
212
+ ],
213
+ "ensure_object_boundary_in_range": false,
214
+ "sample_args": {
215
+ "reference": "food_container",
216
+ "on_top": true
217
+ }
218
+ },
219
+ "type": "object",
220
+ "info": {
221
+ "groups_containing_sampled_obj": [
222
+ "all",
223
+ "cucumber",
224
+ "vegetable",
225
+ "food",
226
+ "in_container",
227
+ "food_set1"
228
+ ],
229
+ "groups": [
230
+ "cucumber"
231
+ ],
232
+ "cat": "cucumber",
233
+ "split": "test",
234
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_5/model.xml"
235
+ }
236
+ }
237
+ ],
238
+ "fixtures": {
239
+ "wall_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_backing_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_left_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_left_backing_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "outlet_room": {
252
+ "cls": "WallAccessory"
253
+ },
254
+ "outlet_2_room": {
255
+ "cls": "WallAccessory"
256
+ },
257
+ "light_switch_room": {
258
+ "cls": "WallAccessory"
259
+ },
260
+ "light_switch_2_room": {
261
+ "cls": "WallAccessory"
262
+ },
263
+ "window_group_room": {
264
+ "cls": "Window"
265
+ },
266
+ "floor_room": {
267
+ "cls": "Floor"
268
+ },
269
+ "floor_backing_room": {
270
+ "cls": "Floor"
271
+ },
272
+ "stool_1_room": {
273
+ "cls": "Stool"
274
+ },
275
+ "stool_2_room": {
276
+ "cls": "Stool"
277
+ },
278
+ "stool_3_room": {
279
+ "cls": "Stool"
280
+ },
281
+ "counter_corner_main_main_group": {
282
+ "cls": "Counter"
283
+ },
284
+ "counter_main_main_group": {
285
+ "cls": "Counter"
286
+ },
287
+ "stovetop_main_group": {
288
+ "cls": "Stovetop"
289
+ },
290
+ "counter_1_right_main_group": {
291
+ "cls": "Counter"
292
+ },
293
+ "fridge_main_group": {
294
+ "cls": "FridgeFrenchDoor"
295
+ },
296
+ "fridge_housing_main_group": {
297
+ "cls": "HousingCabinet"
298
+ },
299
+ "stack_1_main_group_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_1_main_group_1": {
303
+ "cls": "Drawer"
304
+ },
305
+ "stack_1_main_group_2": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_1_main_group_3": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_1_main_group_4": {
312
+ "cls": "Drawer"
313
+ },
314
+ "stack_2_main_group_base": {
315
+ "cls": "Box"
316
+ },
317
+ "stack_2_main_group_1": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "stack_2_main_group_2": {
321
+ "cls": "PanelCabinet"
322
+ },
323
+ "stack_3_main_group_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_3_main_group_1": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "stack_3_main_group_2": {
330
+ "cls": "Drawer"
331
+ },
332
+ "stack_3_main_group_3": {
333
+ "cls": "Drawer"
334
+ },
335
+ "hood_main_group": {
336
+ "cls": "Hood"
337
+ },
338
+ "cab_main_main_group": {
339
+ "cls": "HingeCabinet"
340
+ },
341
+ "shelves_main_group": {
342
+ "cls": "OpenCabinet"
343
+ },
344
+ "fridge_cab_main_group": {
345
+ "cls": "HingeCabinet"
346
+ },
347
+ "paper_towel_main_group": {
348
+ "cls": "Accessory"
349
+ },
350
+ "knife_block_main_group": {
351
+ "cls": "Accessory"
352
+ },
353
+ "toaster_main_group": {
354
+ "cls": "Toaster"
355
+ },
356
+ "utensil_set_main_group": {
357
+ "cls": "Accessory"
358
+ },
359
+ "toaster_oven_main_group": {
360
+ "cls": "ToasterOven"
361
+ },
362
+ "jar_main_group": {
363
+ "cls": "Accessory"
364
+ },
365
+ "jar_2_main_group": {
366
+ "cls": "Accessory"
367
+ },
368
+ "glass_cup_main_group": {
369
+ "cls": "Accessory"
370
+ },
371
+ "glass_cup_2_main_group": {
372
+ "cls": "Accessory"
373
+ },
374
+ "jar_main_group_auxiliary_main_group": {
375
+ "cls": "Accessory"
376
+ },
377
+ "jar_2_main_group_auxiliary_main_group": {
378
+ "cls": "Accessory"
379
+ },
380
+ "cab_1_left_group": {
381
+ "cls": "SingleCabinet"
382
+ },
383
+ "cab_2_left_group": {
384
+ "cls": "SingleCabinet"
385
+ },
386
+ "cab_corner_3_left_group": {
387
+ "cls": "Box"
388
+ },
389
+ "cab_corner_4_left_group": {
390
+ "cls": "Box"
391
+ },
392
+ "sink_left_group": {
393
+ "cls": "Sink"
394
+ },
395
+ "counter_1_left_left_group": {
396
+ "cls": "Counter"
397
+ },
398
+ "counter_corner_left_group": {
399
+ "cls": "Counter"
400
+ },
401
+ "bottom_left_group_base": {
402
+ "cls": "Box"
403
+ },
404
+ "bottom_left_group_1": {
405
+ "cls": "Drawer"
406
+ },
407
+ "bottom_left_group_2": {
408
+ "cls": "Drawer"
409
+ },
410
+ "oven_left_group": {
411
+ "cls": "Oven"
412
+ },
413
+ "oven_housing_left_group": {
414
+ "cls": "HousingCabinet"
415
+ },
416
+ "microwave_left_group": {
417
+ "cls": "Microwave"
418
+ },
419
+ "micro_housing_left_group": {
420
+ "cls": "HousingCabinet"
421
+ },
422
+ "top_left_group": {
423
+ "cls": "HingeCabinet"
424
+ },
425
+ "stack_1_left_group": {
426
+ "cls": "SingleCabinet"
427
+ },
428
+ "dishwasher_left_group": {
429
+ "cls": "Dishwasher"
430
+ },
431
+ "stack_2_left_group_base": {
432
+ "cls": "Box"
433
+ },
434
+ "stack_2_left_group_1": {
435
+ "cls": "HingeCabinet"
436
+ },
437
+ "stack_2_left_group_2": {
438
+ "cls": "PanelCabinet"
439
+ },
440
+ "stack_3_left_group_base": {
441
+ "cls": "Box"
442
+ },
443
+ "stack_3_left_group_1": {
444
+ "cls": "HingeCabinet"
445
+ },
446
+ "stack_3_left_group_2": {
447
+ "cls": "Drawer"
448
+ },
449
+ "stack_3_left_group_3": {
450
+ "cls": "Drawer"
451
+ },
452
+ "coffee_machine_left_group": {
453
+ "cls": "CoffeeMachine"
454
+ },
455
+ "soap_dispenser_left_group": {
456
+ "cls": "Accessory"
457
+ },
458
+ "tiered_basket_left_group": {
459
+ "cls": "Accessory"
460
+ },
461
+ "island_island_group": {
462
+ "cls": "Counter"
463
+ },
464
+ "plant_island_group": {
465
+ "cls": "Accessory"
466
+ },
467
+ "fruit_bowl_island_group": {
468
+ "cls": "Accessory"
469
+ },
470
+ "salt_shaker_island_group": {
471
+ "cls": "Accessory"
472
+ },
473
+ "salt_shaker_island_group_auxiliary_island_group": {
474
+ "cls": "Accessory"
475
+ }
476
+ },
477
+ "gen_textures": {},
478
+ "lang": "Place the appropriate cutting tool for cutting the cucumber skin on the cutting board.",
479
+ "fixture_refs": {
480
+ "drawer": "stack_3_main_group_2",
481
+ "counter": "counter_1_right_main_group"
482
+ },
483
+ "cam_configs": {
484
+ "robot0_agentview_center": {
485
+ "pos": [
486
+ -0.6,
487
+ 0.0,
488
+ 1.15
489
+ ],
490
+ "quat": [
491
+ 0.636945903301239,
492
+ 0.3325185477733612,
493
+ -0.3199238181114197,
494
+ -0.6175596117973328
495
+ ],
496
+ "parent_body": "mobilebase0_support"
497
+ },
498
+ "robot0_agentview_left": {
499
+ "pos": [
500
+ -0.5,
501
+ 0.35,
502
+ 1.05
503
+ ],
504
+ "quat": [
505
+ 0.55623853,
506
+ 0.29935253,
507
+ -0.37678665,
508
+ -0.6775092
509
+ ],
510
+ "camera_attribs": {
511
+ "fovy": "60"
512
+ },
513
+ "parent_body": "mobilebase0_support"
514
+ },
515
+ "robot0_agentview_right": {
516
+ "pos": [
517
+ -0.5,
518
+ -0.35,
519
+ 1.05
520
+ ],
521
+ "quat": [
522
+ 0.6775091886520386,
523
+ 0.3767866790294647,
524
+ -0.2993525564670563,
525
+ -0.55623859167099
526
+ ],
527
+ "camera_attribs": {
528
+ "fovy": "60"
529
+ },
530
+ "parent_body": "mobilebase0_support"
531
+ },
532
+ "robot0_frontview": {
533
+ "pos": [
534
+ -0.5,
535
+ 0,
536
+ 0.95
537
+ ],
538
+ "quat": [
539
+ 0.6088936924934387,
540
+ 0.3814677894115448,
541
+ -0.3673907518386841,
542
+ -0.5905545353889465
543
+ ],
544
+ "camera_attribs": {
545
+ "fovy": "60"
546
+ },
547
+ "parent_body": "mobilebase0_support"
548
+ },
549
+ "robot0_eye_in_hand": {
550
+ "pos": [
551
+ 0.05,
552
+ 0,
553
+ 0
554
+ ],
555
+ "quat": [
556
+ 0,
557
+ 0.707107,
558
+ 0.707107,
559
+ 0
560
+ ],
561
+ "parent_body": "robot0_right_hand"
562
+ }
563
+ },
564
+ "init_robot_base_pos": [
565
+ 3.4494468624763206,
566
+ -0.9441470599687019,
567
+ 0.0
568
+ ],
569
+ "init_robot_base_ori": [
570
+ 0.0,
571
+ 0.0,
572
+ 1.5707963267948966
573
+ ],
574
+ "refs": {
575
+ "food": "cucumber"
576
+ }
577
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000045/ep_meta.json ADDED
@@ -0,0 +1,660 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 9,
3
+ "style_id": 9,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_1_left_group_3",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler006/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_1_left_group_3",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_5/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_1_left_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_1_left_group_3",
113
+ "min_size": [
114
+ 0.078542112,
115
+ 0.078911616,
116
+ 0.145425504
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "cinnamon",
129
+ "spice"
130
+ ],
131
+ "groups": [
132
+ "all"
133
+ ],
134
+ "cat": "cinnamon",
135
+ "split": "test",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cinnamon/Cinnamon009/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 0.5814935500360288,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ -0.7500000000000004,
145
+ -3.469446951953614e-17,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food_container",
153
+ "obj_groups": "cutting_board",
154
+ "placement": {
155
+ "fixture": "counter_1_left_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "stack_1_left_group_3",
158
+ "top_size": [
159
+ 0.5,
160
+ 0.5
161
+ ],
162
+ "min_size": [
163
+ 0.2102443155000001,
164
+ 0.3375000067500002,
165
+ 0.025346209500000008
166
+ ]
167
+ },
168
+ "size": [
169
+ 0.5,
170
+ 0.5
171
+ ],
172
+ "pos": [
173
+ "ref",
174
+ -1.0
175
+ ],
176
+ "try_to_place_in": "cutting_board"
177
+ },
178
+ "type": "object",
179
+ "info": {
180
+ "groups_containing_sampled_obj": [
181
+ "all",
182
+ "cutting_board",
183
+ "receptacle"
184
+ ],
185
+ "groups": [
186
+ "cutting_board"
187
+ ],
188
+ "cat": "cutting_board",
189
+ "split": "test",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_2/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 0.5814935500360288,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ -0.7500000000000004,
199
+ -3.469446951953614e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ },
205
+ {
206
+ "name": "food",
207
+ "obj_groups": "avocado",
208
+ "placement": {
209
+ "size": [
210
+ 0.01,
211
+ 0.01
212
+ ],
213
+ "ensure_object_boundary_in_range": false,
214
+ "sample_args": {
215
+ "reference": "food_container",
216
+ "on_top": true
217
+ }
218
+ },
219
+ "type": "object",
220
+ "info": {
221
+ "groups_containing_sampled_obj": [
222
+ "all",
223
+ "avocado",
224
+ "vegetable",
225
+ "food",
226
+ "in_container"
227
+ ],
228
+ "groups": [
229
+ "avocado"
230
+ ],
231
+ "cat": "avocado",
232
+ "split": "test",
233
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_6/model.xml"
234
+ }
235
+ }
236
+ ],
237
+ "fixtures": {
238
+ "wall_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "wall_backing_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_left_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_left_backing_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_right_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_right_backing_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "outlet_room": {
257
+ "cls": "WallAccessory"
258
+ },
259
+ "utensil_rack_room": {
260
+ "cls": "WallAccessory"
261
+ },
262
+ "light_switch_room": {
263
+ "cls": "WallAccessory"
264
+ },
265
+ "light_switch_2_room": {
266
+ "cls": "WallAccessory"
267
+ },
268
+ "outlet_2_room": {
269
+ "cls": "WallAccessory"
270
+ },
271
+ "outlet_3_room": {
272
+ "cls": "WallAccessory"
273
+ },
274
+ "window_group_room": {
275
+ "cls": "Window"
276
+ },
277
+ "floor_room": {
278
+ "cls": "Floor"
279
+ },
280
+ "floor_backing_room": {
281
+ "cls": "Floor"
282
+ },
283
+ "stool_1_room": {
284
+ "cls": "Stool"
285
+ },
286
+ "stool_2_room": {
287
+ "cls": "Stool"
288
+ },
289
+ "stool_3_room": {
290
+ "cls": "Stool"
291
+ },
292
+ "counter_corner_main_group": {
293
+ "cls": "Counter"
294
+ },
295
+ "counter_main_main_group": {
296
+ "cls": "Counter"
297
+ },
298
+ "stovetop_main_group": {
299
+ "cls": "Stovetop"
300
+ },
301
+ "counter_1_main_group": {
302
+ "cls": "Counter"
303
+ },
304
+ "counter_corner_2_main_group": {
305
+ "cls": "Counter"
306
+ },
307
+ "cab_corner_main_group": {
308
+ "cls": "Box"
309
+ },
310
+ "cab_corner_2_main_group": {
311
+ "cls": "Box"
312
+ },
313
+ "cab_1_main_group": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "cab_main_main_group": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "cab_2_main_group": {
320
+ "cls": "SingleCabinet"
321
+ },
322
+ "shelves_1_main_group": {
323
+ "cls": "OpenCabinet"
324
+ },
325
+ "hood_main_group": {
326
+ "cls": "Hood"
327
+ },
328
+ "shelves_2_main_group": {
329
+ "cls": "OpenCabinet"
330
+ },
331
+ "stack_1_main_group_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_1_main_group_1": {
335
+ "cls": "Drawer"
336
+ },
337
+ "stack_1_main_group_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_1_main_group_3": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_1_main_group_4": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_2_main_group_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_2_main_group_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_2_main_group_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_2_main_group_3": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_3_main_group_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_3_main_group_1": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "stack_3_main_group_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_3_main_group_3": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_4_main_group_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_4_main_group_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_5_main_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_5_main_group_1": {
380
+ "cls": "SingleCabinet"
381
+ },
382
+ "stack_5_main_group_2": {
383
+ "cls": "Drawer"
384
+ },
385
+ "coffee_machine_main_group": {
386
+ "cls": "CoffeeMachine"
387
+ },
388
+ "paper_towel_main_group": {
389
+ "cls": "Accessory"
390
+ },
391
+ "toaster_main_group": {
392
+ "cls": "Toaster"
393
+ },
394
+ "toaster_oven_main_group": {
395
+ "cls": "ToasterOven"
396
+ },
397
+ "utensil_set_main_group": {
398
+ "cls": "Accessory"
399
+ },
400
+ "oil_bottle_main_group": {
401
+ "cls": "Accessory"
402
+ },
403
+ "knife_block_main_group": {
404
+ "cls": "Accessory"
405
+ },
406
+ "jar_main_group": {
407
+ "cls": "Accessory"
408
+ },
409
+ "cinnamon_main_group": {
410
+ "cls": "Accessory"
411
+ },
412
+ "turmeric_main_group": {
413
+ "cls": "Accessory"
414
+ },
415
+ "paprika_main_group": {
416
+ "cls": "Accessory"
417
+ },
418
+ "oil_bottle_main_group_auxiliary_main_group": {
419
+ "cls": "Accessory"
420
+ },
421
+ "jar_main_group_auxiliary_main_group": {
422
+ "cls": "Accessory"
423
+ },
424
+ "counter_1_front_group": {
425
+ "cls": "Counter"
426
+ },
427
+ "counter_corner_front_group": {
428
+ "cls": "Counter"
429
+ },
430
+ "salt_shaker_front_group": {
431
+ "cls": "Accessory"
432
+ },
433
+ "salt_shaker_front_group_auxiliary_front_group": {
434
+ "cls": "Accessory"
435
+ },
436
+ "counter_corner_left_group": {
437
+ "cls": "Counter"
438
+ },
439
+ "sink_left_group": {
440
+ "cls": "Sink"
441
+ },
442
+ "counter_1_left_group": {
443
+ "cls": "Counter"
444
+ },
445
+ "counter_corner_right_left_group": {
446
+ "cls": "Counter"
447
+ },
448
+ "stack_1_left_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_1_left_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "stack_1_left_group_2": {
455
+ "cls": "Drawer"
456
+ },
457
+ "stack_1_left_group_3": {
458
+ "cls": "Drawer"
459
+ },
460
+ "stack_2_left_group_base": {
461
+ "cls": "Box"
462
+ },
463
+ "stack_2_left_group_1": {
464
+ "cls": "HingeCabinet"
465
+ },
466
+ "dishwasher_left_group": {
467
+ "cls": "Dishwasher"
468
+ },
469
+ "stack_3_left_group_base": {
470
+ "cls": "Box"
471
+ },
472
+ "stack_3_left_group_1": {
473
+ "cls": "SingleCabinet"
474
+ },
475
+ "cab_1_left_group": {
476
+ "cls": "HingeCabinet"
477
+ },
478
+ "cab_2_left_group": {
479
+ "cls": "SingleCabinet"
480
+ },
481
+ "plant_left_group": {
482
+ "cls": "Accessory"
483
+ },
484
+ "soap_dispenser_left_group": {
485
+ "cls": "Accessory"
486
+ },
487
+ "fruit_bowl_left_group": {
488
+ "cls": "Accessory"
489
+ },
490
+ "stack_left_right_group_base": {
491
+ "cls": "Box"
492
+ },
493
+ "stack_left_right_group_1": {
494
+ "cls": "SingleCabinet"
495
+ },
496
+ "stack_left_right_group_2": {
497
+ "cls": "SingleCabinet"
498
+ },
499
+ "fridge_right_group": {
500
+ "cls": "FridgeSideBySide"
501
+ },
502
+ "fridge_housing_right_group": {
503
+ "cls": "HousingCabinet"
504
+ },
505
+ "fridge_top_right_group": {
506
+ "cls": "HingeCabinet"
507
+ },
508
+ "stack_right_right_group_base": {
509
+ "cls": "Box"
510
+ },
511
+ "stack_right_right_group_1": {
512
+ "cls": "SingleCabinet"
513
+ },
514
+ "stack_right_right_group_2": {
515
+ "cls": "SingleCabinet"
516
+ },
517
+ "cab_top_corner_right_group": {
518
+ "cls": "Box"
519
+ },
520
+ "bottom_corner_right_group": {
521
+ "cls": "Box"
522
+ },
523
+ "bottom_right_group_base": {
524
+ "cls": "Box"
525
+ },
526
+ "bottom_right_group_1": {
527
+ "cls": "Drawer"
528
+ },
529
+ "bottom_right_group_2": {
530
+ "cls": "Drawer"
531
+ },
532
+ "oven_right_group": {
533
+ "cls": "Oven"
534
+ },
535
+ "oven_housing_right_group": {
536
+ "cls": "HousingCabinet"
537
+ },
538
+ "microwave_right_group": {
539
+ "cls": "Microwave"
540
+ },
541
+ "micro_housing_right_group": {
542
+ "cls": "HousingCabinet"
543
+ },
544
+ "top_right_group": {
545
+ "cls": "HingeCabinet"
546
+ },
547
+ "side_bottom_right_group_base": {
548
+ "cls": "Box"
549
+ },
550
+ "side_bottom_right_group_1": {
551
+ "cls": "Drawer"
552
+ },
553
+ "side_bottom_right_group_2": {
554
+ "cls": "Drawer"
555
+ },
556
+ "side_bottom_right_group_3": {
557
+ "cls": "HingeCabinet"
558
+ }
559
+ },
560
+ "gen_textures": {},
561
+ "lang": "Place the appropriate cutting tool for cutting the avocado skin on the cutting board.",
562
+ "fixture_refs": {
563
+ "drawer": "stack_1_left_group_3",
564
+ "counter": "counter_1_left_group"
565
+ },
566
+ "cam_configs": {
567
+ "robot0_agentview_center": {
568
+ "pos": [
569
+ -0.6,
570
+ 0.0,
571
+ 1.15
572
+ ],
573
+ "quat": [
574
+ 0.636945903301239,
575
+ 0.3325185477733612,
576
+ -0.3199238181114197,
577
+ -0.6175596117973328
578
+ ],
579
+ "parent_body": "mobilebase0_support"
580
+ },
581
+ "robot0_agentview_left": {
582
+ "pos": [
583
+ -0.5,
584
+ 0.35,
585
+ 1.05
586
+ ],
587
+ "quat": [
588
+ 0.55623853,
589
+ 0.29935253,
590
+ -0.37678665,
591
+ -0.6775092
592
+ ],
593
+ "camera_attribs": {
594
+ "fovy": "60"
595
+ },
596
+ "parent_body": "mobilebase0_support"
597
+ },
598
+ "robot0_agentview_right": {
599
+ "pos": [
600
+ -0.5,
601
+ -0.35,
602
+ 1.05
603
+ ],
604
+ "quat": [
605
+ 0.6775091886520386,
606
+ 0.3767866790294647,
607
+ -0.2993525564670563,
608
+ -0.55623859167099
609
+ ],
610
+ "camera_attribs": {
611
+ "fovy": "60"
612
+ },
613
+ "parent_body": "mobilebase0_support"
614
+ },
615
+ "robot0_frontview": {
616
+ "pos": [
617
+ -0.5,
618
+ 0,
619
+ 0.95
620
+ ],
621
+ "quat": [
622
+ 0.6088936924934387,
623
+ 0.3814677894115448,
624
+ -0.3673907518386841,
625
+ -0.5905545353889465
626
+ ],
627
+ "camera_attribs": {
628
+ "fovy": "60"
629
+ },
630
+ "parent_body": "mobilebase0_support"
631
+ },
632
+ "robot0_eye_in_hand": {
633
+ "pos": [
634
+ 0.05,
635
+ 0,
636
+ 0
637
+ ],
638
+ "quat": [
639
+ 0,
640
+ 0.707107,
641
+ 0.707107,
642
+ 0
643
+ ],
644
+ "parent_body": "robot0_right_hand"
645
+ }
646
+ },
647
+ "init_robot_base_pos": [
648
+ 0.9247747022763863,
649
+ -3.4251323336444317,
650
+ 0.0
651
+ ],
652
+ "init_robot_base_ori": [
653
+ 0.0,
654
+ 0.0,
655
+ 3.1415963267948968
656
+ ],
657
+ "refs": {
658
+ "food": "avocado"
659
+ }
660
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000077/ep_meta.json ADDED
@@ -0,0 +1,660 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 9,
3
+ "style_id": 9,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_5_main_group_2",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler005/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_5_main_group_2",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_7/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_1_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_5_main_group_2",
113
+ "min_size": [
114
+ 0.07691050730999997,
115
+ 0.04483985972467152,
116
+ 0.13798248275120426
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "condiment_bottle",
129
+ "condiment"
130
+ ],
131
+ "groups": [
132
+ "all"
133
+ ],
134
+ "cat": "condiment_bottle",
135
+ "split": "test",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 0.4999999999999998,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ 0.5,
145
+ -3.469446951953614e-17,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food_container",
153
+ "obj_groups": "cutting_board",
154
+ "placement": {
155
+ "fixture": "counter_1_main_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "stack_5_main_group_2",
158
+ "top_size": [
159
+ 0.5,
160
+ 0.5
161
+ ],
162
+ "min_size": [
163
+ 0.2102443155000001,
164
+ 0.3375000067500002,
165
+ 0.025346209500000008
166
+ ]
167
+ },
168
+ "size": [
169
+ 0.5,
170
+ 0.5
171
+ ],
172
+ "pos": [
173
+ "ref",
174
+ -1.0
175
+ ],
176
+ "try_to_place_in": "cutting_board"
177
+ },
178
+ "type": "object",
179
+ "info": {
180
+ "groups_containing_sampled_obj": [
181
+ "all",
182
+ "cutting_board",
183
+ "receptacle"
184
+ ],
185
+ "groups": [
186
+ "cutting_board"
187
+ ],
188
+ "cat": "cutting_board",
189
+ "split": "test",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_2/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 0.4999999999999998,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.5,
199
+ -3.469446951953614e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ },
205
+ {
206
+ "name": "food",
207
+ "obj_groups": "avocado",
208
+ "placement": {
209
+ "size": [
210
+ 0.01,
211
+ 0.01
212
+ ],
213
+ "ensure_object_boundary_in_range": false,
214
+ "sample_args": {
215
+ "reference": "food_container",
216
+ "on_top": true
217
+ }
218
+ },
219
+ "type": "object",
220
+ "info": {
221
+ "groups_containing_sampled_obj": [
222
+ "all",
223
+ "avocado",
224
+ "vegetable",
225
+ "food",
226
+ "in_container"
227
+ ],
228
+ "groups": [
229
+ "avocado"
230
+ ],
231
+ "cat": "avocado",
232
+ "split": "test",
233
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_6/model.xml"
234
+ }
235
+ }
236
+ ],
237
+ "fixtures": {
238
+ "wall_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "wall_backing_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_left_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_left_backing_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_right_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_right_backing_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "outlet_room": {
257
+ "cls": "WallAccessory"
258
+ },
259
+ "utensil_rack_room": {
260
+ "cls": "WallAccessory"
261
+ },
262
+ "light_switch_room": {
263
+ "cls": "WallAccessory"
264
+ },
265
+ "light_switch_2_room": {
266
+ "cls": "WallAccessory"
267
+ },
268
+ "outlet_2_room": {
269
+ "cls": "WallAccessory"
270
+ },
271
+ "outlet_3_room": {
272
+ "cls": "WallAccessory"
273
+ },
274
+ "window_group_room": {
275
+ "cls": "Window"
276
+ },
277
+ "floor_room": {
278
+ "cls": "Floor"
279
+ },
280
+ "floor_backing_room": {
281
+ "cls": "Floor"
282
+ },
283
+ "stool_1_room": {
284
+ "cls": "Stool"
285
+ },
286
+ "stool_2_room": {
287
+ "cls": "Stool"
288
+ },
289
+ "stool_3_room": {
290
+ "cls": "Stool"
291
+ },
292
+ "counter_corner_main_group": {
293
+ "cls": "Counter"
294
+ },
295
+ "counter_main_main_group": {
296
+ "cls": "Counter"
297
+ },
298
+ "stovetop_main_group": {
299
+ "cls": "Stovetop"
300
+ },
301
+ "counter_1_main_group": {
302
+ "cls": "Counter"
303
+ },
304
+ "counter_corner_2_main_group": {
305
+ "cls": "Counter"
306
+ },
307
+ "cab_corner_main_group": {
308
+ "cls": "Box"
309
+ },
310
+ "cab_corner_2_main_group": {
311
+ "cls": "Box"
312
+ },
313
+ "cab_1_main_group": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "cab_main_main_group": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "cab_2_main_group": {
320
+ "cls": "SingleCabinet"
321
+ },
322
+ "shelves_1_main_group": {
323
+ "cls": "OpenCabinet"
324
+ },
325
+ "hood_main_group": {
326
+ "cls": "Hood"
327
+ },
328
+ "shelves_2_main_group": {
329
+ "cls": "OpenCabinet"
330
+ },
331
+ "stack_1_main_group_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_1_main_group_1": {
335
+ "cls": "Drawer"
336
+ },
337
+ "stack_1_main_group_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_1_main_group_3": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_1_main_group_4": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_2_main_group_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_2_main_group_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_2_main_group_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_2_main_group_3": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_3_main_group_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_3_main_group_1": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "stack_3_main_group_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_3_main_group_3": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_4_main_group_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_4_main_group_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_5_main_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_5_main_group_1": {
380
+ "cls": "SingleCabinet"
381
+ },
382
+ "stack_5_main_group_2": {
383
+ "cls": "Drawer"
384
+ },
385
+ "coffee_machine_main_group": {
386
+ "cls": "CoffeeMachine"
387
+ },
388
+ "paper_towel_main_group": {
389
+ "cls": "Accessory"
390
+ },
391
+ "toaster_main_group": {
392
+ "cls": "Toaster"
393
+ },
394
+ "toaster_oven_main_group": {
395
+ "cls": "ToasterOven"
396
+ },
397
+ "utensil_set_main_group": {
398
+ "cls": "Accessory"
399
+ },
400
+ "oil_bottle_main_group": {
401
+ "cls": "Accessory"
402
+ },
403
+ "knife_block_main_group": {
404
+ "cls": "Accessory"
405
+ },
406
+ "jar_main_group": {
407
+ "cls": "Accessory"
408
+ },
409
+ "cinnamon_main_group": {
410
+ "cls": "Accessory"
411
+ },
412
+ "turmeric_main_group": {
413
+ "cls": "Accessory"
414
+ },
415
+ "paprika_main_group": {
416
+ "cls": "Accessory"
417
+ },
418
+ "oil_bottle_main_group_auxiliary_main_group": {
419
+ "cls": "Accessory"
420
+ },
421
+ "jar_main_group_auxiliary_main_group": {
422
+ "cls": "Accessory"
423
+ },
424
+ "counter_1_front_group": {
425
+ "cls": "Counter"
426
+ },
427
+ "counter_corner_front_group": {
428
+ "cls": "Counter"
429
+ },
430
+ "salt_shaker_front_group": {
431
+ "cls": "Accessory"
432
+ },
433
+ "salt_shaker_front_group_auxiliary_front_group": {
434
+ "cls": "Accessory"
435
+ },
436
+ "counter_corner_left_group": {
437
+ "cls": "Counter"
438
+ },
439
+ "sink_left_group": {
440
+ "cls": "Sink"
441
+ },
442
+ "counter_1_left_group": {
443
+ "cls": "Counter"
444
+ },
445
+ "counter_corner_right_left_group": {
446
+ "cls": "Counter"
447
+ },
448
+ "stack_1_left_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_1_left_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "stack_1_left_group_2": {
455
+ "cls": "Drawer"
456
+ },
457
+ "stack_1_left_group_3": {
458
+ "cls": "Drawer"
459
+ },
460
+ "stack_2_left_group_base": {
461
+ "cls": "Box"
462
+ },
463
+ "stack_2_left_group_1": {
464
+ "cls": "HingeCabinet"
465
+ },
466
+ "dishwasher_left_group": {
467
+ "cls": "Dishwasher"
468
+ },
469
+ "stack_3_left_group_base": {
470
+ "cls": "Box"
471
+ },
472
+ "stack_3_left_group_1": {
473
+ "cls": "SingleCabinet"
474
+ },
475
+ "cab_1_left_group": {
476
+ "cls": "HingeCabinet"
477
+ },
478
+ "cab_2_left_group": {
479
+ "cls": "SingleCabinet"
480
+ },
481
+ "plant_left_group": {
482
+ "cls": "Accessory"
483
+ },
484
+ "soap_dispenser_left_group": {
485
+ "cls": "Accessory"
486
+ },
487
+ "fruit_bowl_left_group": {
488
+ "cls": "Accessory"
489
+ },
490
+ "stack_left_right_group_base": {
491
+ "cls": "Box"
492
+ },
493
+ "stack_left_right_group_1": {
494
+ "cls": "SingleCabinet"
495
+ },
496
+ "stack_left_right_group_2": {
497
+ "cls": "SingleCabinet"
498
+ },
499
+ "fridge_right_group": {
500
+ "cls": "FridgeSideBySide"
501
+ },
502
+ "fridge_housing_right_group": {
503
+ "cls": "HousingCabinet"
504
+ },
505
+ "fridge_top_right_group": {
506
+ "cls": "HingeCabinet"
507
+ },
508
+ "stack_right_right_group_base": {
509
+ "cls": "Box"
510
+ },
511
+ "stack_right_right_group_1": {
512
+ "cls": "SingleCabinet"
513
+ },
514
+ "stack_right_right_group_2": {
515
+ "cls": "SingleCabinet"
516
+ },
517
+ "cab_top_corner_right_group": {
518
+ "cls": "Box"
519
+ },
520
+ "bottom_corner_right_group": {
521
+ "cls": "Box"
522
+ },
523
+ "bottom_right_group_base": {
524
+ "cls": "Box"
525
+ },
526
+ "bottom_right_group_1": {
527
+ "cls": "Drawer"
528
+ },
529
+ "bottom_right_group_2": {
530
+ "cls": "Drawer"
531
+ },
532
+ "oven_right_group": {
533
+ "cls": "Oven"
534
+ },
535
+ "oven_housing_right_group": {
536
+ "cls": "HousingCabinet"
537
+ },
538
+ "microwave_right_group": {
539
+ "cls": "Microwave"
540
+ },
541
+ "micro_housing_right_group": {
542
+ "cls": "HousingCabinet"
543
+ },
544
+ "top_right_group": {
545
+ "cls": "HingeCabinet"
546
+ },
547
+ "side_bottom_right_group_base": {
548
+ "cls": "Box"
549
+ },
550
+ "side_bottom_right_group_1": {
551
+ "cls": "Drawer"
552
+ },
553
+ "side_bottom_right_group_2": {
554
+ "cls": "Drawer"
555
+ },
556
+ "side_bottom_right_group_3": {
557
+ "cls": "HingeCabinet"
558
+ }
559
+ },
560
+ "gen_textures": {},
561
+ "lang": "Place the appropriate cutting tool for cutting the avocado skin on the cutting board.",
562
+ "fixture_refs": {
563
+ "drawer": "stack_5_main_group_2",
564
+ "counter": "counter_1_main_group"
565
+ },
566
+ "cam_configs": {
567
+ "robot0_agentview_center": {
568
+ "pos": [
569
+ -0.6,
570
+ 0.0,
571
+ 1.15
572
+ ],
573
+ "quat": [
574
+ 0.636945903301239,
575
+ 0.3325185477733612,
576
+ -0.3199238181114197,
577
+ -0.6175596117973328
578
+ ],
579
+ "parent_body": "mobilebase0_support"
580
+ },
581
+ "robot0_agentview_left": {
582
+ "pos": [
583
+ -0.5,
584
+ 0.35,
585
+ 1.05
586
+ ],
587
+ "quat": [
588
+ 0.55623853,
589
+ 0.29935253,
590
+ -0.37678665,
591
+ -0.6775092
592
+ ],
593
+ "camera_attribs": {
594
+ "fovy": "60"
595
+ },
596
+ "parent_body": "mobilebase0_support"
597
+ },
598
+ "robot0_agentview_right": {
599
+ "pos": [
600
+ -0.5,
601
+ -0.35,
602
+ 1.05
603
+ ],
604
+ "quat": [
605
+ 0.6775091886520386,
606
+ 0.3767866790294647,
607
+ -0.2993525564670563,
608
+ -0.55623859167099
609
+ ],
610
+ "camera_attribs": {
611
+ "fovy": "60"
612
+ },
613
+ "parent_body": "mobilebase0_support"
614
+ },
615
+ "robot0_frontview": {
616
+ "pos": [
617
+ -0.5,
618
+ 0,
619
+ 0.95
620
+ ],
621
+ "quat": [
622
+ 0.6088936924934387,
623
+ 0.3814677894115448,
624
+ -0.3673907518386841,
625
+ -0.5905545353889465
626
+ ],
627
+ "camera_attribs": {
628
+ "fovy": "60"
629
+ },
630
+ "parent_body": "mobilebase0_support"
631
+ },
632
+ "robot0_eye_in_hand": {
633
+ "pos": [
634
+ 0.05,
635
+ 0,
636
+ 0
637
+ ],
638
+ "quat": [
639
+ 0,
640
+ 0.707107,
641
+ 0.707107,
642
+ 0
643
+ ],
644
+ "parent_body": "robot0_right_hand"
645
+ }
646
+ },
647
+ "init_robot_base_pos": [
648
+ 4.494425712576578,
649
+ -0.8602729510035445,
650
+ 0.0
651
+ ],
652
+ "init_robot_base_ori": [
653
+ 0.0,
654
+ 0.0,
655
+ 1.5707963267948966
656
+ ],
657
+ "refs": {
658
+ "food": "avocado"
659
+ }
660
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000085/ep_meta.json ADDED
@@ -0,0 +1,660 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 9,
3
+ "style_id": 9,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_2_main_group_2",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler005/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_2_main_group_2",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_6/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_main_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_2_main_group_2",
113
+ "min_size": [
114
+ 0.14579935200000002,
115
+ 0.10867344000000001,
116
+ 0.064043456
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "tupperware",
129
+ "receptacle"
130
+ ],
131
+ "groups": [
132
+ "all"
133
+ ],
134
+ "cat": "tupperware",
135
+ "split": "test",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 2.5,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ -0.25,
145
+ 0.0,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food_container",
153
+ "obj_groups": "cutting_board",
154
+ "placement": {
155
+ "fixture": "counter_main_main_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "stack_2_main_group_2",
158
+ "top_size": [
159
+ 0.5,
160
+ 0.5
161
+ ],
162
+ "min_size": [
163
+ 0.1973472579000001,
164
+ 0.3510000000000001,
165
+ 0.012317523660000006
166
+ ]
167
+ },
168
+ "size": [
169
+ 0.5,
170
+ 0.5
171
+ ],
172
+ "pos": [
173
+ "ref",
174
+ -1.0
175
+ ],
176
+ "try_to_place_in": "cutting_board"
177
+ },
178
+ "type": "object",
179
+ "info": {
180
+ "groups_containing_sampled_obj": [
181
+ "all",
182
+ "cutting_board",
183
+ "receptacle"
184
+ ],
185
+ "groups": [
186
+ "cutting_board"
187
+ ],
188
+ "cat": "cutting_board",
189
+ "split": "test",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_5/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 2.5,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ -0.25,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ },
205
+ {
206
+ "name": "food",
207
+ "obj_groups": "garlic",
208
+ "placement": {
209
+ "size": [
210
+ 0.01,
211
+ 0.01
212
+ ],
213
+ "ensure_object_boundary_in_range": false,
214
+ "sample_args": {
215
+ "reference": "food_container",
216
+ "on_top": true
217
+ }
218
+ },
219
+ "type": "object",
220
+ "info": {
221
+ "groups_containing_sampled_obj": [
222
+ "all",
223
+ "garlic",
224
+ "vegetable",
225
+ "food",
226
+ "in_container"
227
+ ],
228
+ "groups": [
229
+ "garlic"
230
+ ],
231
+ "cat": "garlic",
232
+ "split": "test",
233
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_4/model.xml"
234
+ }
235
+ }
236
+ ],
237
+ "fixtures": {
238
+ "wall_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "wall_backing_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_left_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_left_backing_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_right_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_right_backing_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "outlet_room": {
257
+ "cls": "WallAccessory"
258
+ },
259
+ "utensil_rack_room": {
260
+ "cls": "WallAccessory"
261
+ },
262
+ "light_switch_room": {
263
+ "cls": "WallAccessory"
264
+ },
265
+ "light_switch_2_room": {
266
+ "cls": "WallAccessory"
267
+ },
268
+ "outlet_2_room": {
269
+ "cls": "WallAccessory"
270
+ },
271
+ "outlet_3_room": {
272
+ "cls": "WallAccessory"
273
+ },
274
+ "window_group_room": {
275
+ "cls": "Window"
276
+ },
277
+ "floor_room": {
278
+ "cls": "Floor"
279
+ },
280
+ "floor_backing_room": {
281
+ "cls": "Floor"
282
+ },
283
+ "stool_1_room": {
284
+ "cls": "Stool"
285
+ },
286
+ "stool_2_room": {
287
+ "cls": "Stool"
288
+ },
289
+ "stool_3_room": {
290
+ "cls": "Stool"
291
+ },
292
+ "counter_corner_main_group": {
293
+ "cls": "Counter"
294
+ },
295
+ "counter_main_main_group": {
296
+ "cls": "Counter"
297
+ },
298
+ "stovetop_main_group": {
299
+ "cls": "Stovetop"
300
+ },
301
+ "counter_1_main_group": {
302
+ "cls": "Counter"
303
+ },
304
+ "counter_corner_2_main_group": {
305
+ "cls": "Counter"
306
+ },
307
+ "cab_corner_main_group": {
308
+ "cls": "Box"
309
+ },
310
+ "cab_corner_2_main_group": {
311
+ "cls": "Box"
312
+ },
313
+ "cab_1_main_group": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "cab_main_main_group": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "cab_2_main_group": {
320
+ "cls": "SingleCabinet"
321
+ },
322
+ "shelves_1_main_group": {
323
+ "cls": "OpenCabinet"
324
+ },
325
+ "hood_main_group": {
326
+ "cls": "Hood"
327
+ },
328
+ "shelves_2_main_group": {
329
+ "cls": "OpenCabinet"
330
+ },
331
+ "stack_1_main_group_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_1_main_group_1": {
335
+ "cls": "Drawer"
336
+ },
337
+ "stack_1_main_group_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_1_main_group_3": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_1_main_group_4": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_2_main_group_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_2_main_group_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_2_main_group_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_2_main_group_3": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_3_main_group_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_3_main_group_1": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "stack_3_main_group_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_3_main_group_3": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_4_main_group_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_4_main_group_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_5_main_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_5_main_group_1": {
380
+ "cls": "SingleCabinet"
381
+ },
382
+ "stack_5_main_group_2": {
383
+ "cls": "Drawer"
384
+ },
385
+ "coffee_machine_main_group": {
386
+ "cls": "CoffeeMachine"
387
+ },
388
+ "paper_towel_main_group": {
389
+ "cls": "Accessory"
390
+ },
391
+ "toaster_main_group": {
392
+ "cls": "Toaster"
393
+ },
394
+ "toaster_oven_main_group": {
395
+ "cls": "ToasterOven"
396
+ },
397
+ "utensil_set_main_group": {
398
+ "cls": "Accessory"
399
+ },
400
+ "oil_bottle_main_group": {
401
+ "cls": "Accessory"
402
+ },
403
+ "knife_block_main_group": {
404
+ "cls": "Accessory"
405
+ },
406
+ "jar_main_group": {
407
+ "cls": "Accessory"
408
+ },
409
+ "cinnamon_main_group": {
410
+ "cls": "Accessory"
411
+ },
412
+ "turmeric_main_group": {
413
+ "cls": "Accessory"
414
+ },
415
+ "paprika_main_group": {
416
+ "cls": "Accessory"
417
+ },
418
+ "oil_bottle_main_group_auxiliary_main_group": {
419
+ "cls": "Accessory"
420
+ },
421
+ "jar_main_group_auxiliary_main_group": {
422
+ "cls": "Accessory"
423
+ },
424
+ "counter_1_front_group": {
425
+ "cls": "Counter"
426
+ },
427
+ "counter_corner_front_group": {
428
+ "cls": "Counter"
429
+ },
430
+ "salt_shaker_front_group": {
431
+ "cls": "Accessory"
432
+ },
433
+ "salt_shaker_front_group_auxiliary_front_group": {
434
+ "cls": "Accessory"
435
+ },
436
+ "counter_corner_left_group": {
437
+ "cls": "Counter"
438
+ },
439
+ "sink_left_group": {
440
+ "cls": "Sink"
441
+ },
442
+ "counter_1_left_group": {
443
+ "cls": "Counter"
444
+ },
445
+ "counter_corner_right_left_group": {
446
+ "cls": "Counter"
447
+ },
448
+ "stack_1_left_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_1_left_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "stack_1_left_group_2": {
455
+ "cls": "Drawer"
456
+ },
457
+ "stack_1_left_group_3": {
458
+ "cls": "Drawer"
459
+ },
460
+ "stack_2_left_group_base": {
461
+ "cls": "Box"
462
+ },
463
+ "stack_2_left_group_1": {
464
+ "cls": "HingeCabinet"
465
+ },
466
+ "dishwasher_left_group": {
467
+ "cls": "Dishwasher"
468
+ },
469
+ "stack_3_left_group_base": {
470
+ "cls": "Box"
471
+ },
472
+ "stack_3_left_group_1": {
473
+ "cls": "SingleCabinet"
474
+ },
475
+ "cab_1_left_group": {
476
+ "cls": "HingeCabinet"
477
+ },
478
+ "cab_2_left_group": {
479
+ "cls": "SingleCabinet"
480
+ },
481
+ "plant_left_group": {
482
+ "cls": "Accessory"
483
+ },
484
+ "soap_dispenser_left_group": {
485
+ "cls": "Accessory"
486
+ },
487
+ "fruit_bowl_left_group": {
488
+ "cls": "Accessory"
489
+ },
490
+ "stack_left_right_group_base": {
491
+ "cls": "Box"
492
+ },
493
+ "stack_left_right_group_1": {
494
+ "cls": "SingleCabinet"
495
+ },
496
+ "stack_left_right_group_2": {
497
+ "cls": "SingleCabinet"
498
+ },
499
+ "fridge_right_group": {
500
+ "cls": "FridgeSideBySide"
501
+ },
502
+ "fridge_housing_right_group": {
503
+ "cls": "HousingCabinet"
504
+ },
505
+ "fridge_top_right_group": {
506
+ "cls": "HingeCabinet"
507
+ },
508
+ "stack_right_right_group_base": {
509
+ "cls": "Box"
510
+ },
511
+ "stack_right_right_group_1": {
512
+ "cls": "SingleCabinet"
513
+ },
514
+ "stack_right_right_group_2": {
515
+ "cls": "SingleCabinet"
516
+ },
517
+ "cab_top_corner_right_group": {
518
+ "cls": "Box"
519
+ },
520
+ "bottom_corner_right_group": {
521
+ "cls": "Box"
522
+ },
523
+ "bottom_right_group_base": {
524
+ "cls": "Box"
525
+ },
526
+ "bottom_right_group_1": {
527
+ "cls": "Drawer"
528
+ },
529
+ "bottom_right_group_2": {
530
+ "cls": "Drawer"
531
+ },
532
+ "oven_right_group": {
533
+ "cls": "Oven"
534
+ },
535
+ "oven_housing_right_group": {
536
+ "cls": "HousingCabinet"
537
+ },
538
+ "microwave_right_group": {
539
+ "cls": "Microwave"
540
+ },
541
+ "micro_housing_right_group": {
542
+ "cls": "HousingCabinet"
543
+ },
544
+ "top_right_group": {
545
+ "cls": "HingeCabinet"
546
+ },
547
+ "side_bottom_right_group_base": {
548
+ "cls": "Box"
549
+ },
550
+ "side_bottom_right_group_1": {
551
+ "cls": "Drawer"
552
+ },
553
+ "side_bottom_right_group_2": {
554
+ "cls": "Drawer"
555
+ },
556
+ "side_bottom_right_group_3": {
557
+ "cls": "HingeCabinet"
558
+ }
559
+ },
560
+ "gen_textures": {},
561
+ "lang": "Place the appropriate cutting tool for cutting the garlic skin on the cutting board.",
562
+ "fixture_refs": {
563
+ "drawer": "stack_2_main_group_2",
564
+ "counter": "counter_main_main_group"
565
+ },
566
+ "cam_configs": {
567
+ "robot0_agentview_center": {
568
+ "pos": [
569
+ -0.6,
570
+ 0.0,
571
+ 1.15
572
+ ],
573
+ "quat": [
574
+ 0.636945903301239,
575
+ 0.3325185477733612,
576
+ -0.3199238181114197,
577
+ -0.6175596117973328
578
+ ],
579
+ "parent_body": "mobilebase0_support"
580
+ },
581
+ "robot0_agentview_left": {
582
+ "pos": [
583
+ -0.5,
584
+ 0.35,
585
+ 1.05
586
+ ],
587
+ "quat": [
588
+ 0.55623853,
589
+ 0.29935253,
590
+ -0.37678665,
591
+ -0.6775092
592
+ ],
593
+ "camera_attribs": {
594
+ "fovy": "60"
595
+ },
596
+ "parent_body": "mobilebase0_support"
597
+ },
598
+ "robot0_agentview_right": {
599
+ "pos": [
600
+ -0.5,
601
+ -0.35,
602
+ 1.05
603
+ ],
604
+ "quat": [
605
+ 0.6775091886520386,
606
+ 0.3767866790294647,
607
+ -0.2993525564670563,
608
+ -0.55623859167099
609
+ ],
610
+ "camera_attribs": {
611
+ "fovy": "60"
612
+ },
613
+ "parent_body": "mobilebase0_support"
614
+ },
615
+ "robot0_frontview": {
616
+ "pos": [
617
+ -0.5,
618
+ 0,
619
+ 0.95
620
+ ],
621
+ "quat": [
622
+ 0.6088936924934387,
623
+ 0.3814677894115448,
624
+ -0.3673907518386841,
625
+ -0.5905545353889465
626
+ ],
627
+ "camera_attribs": {
628
+ "fovy": "60"
629
+ },
630
+ "parent_body": "mobilebase0_support"
631
+ },
632
+ "robot0_eye_in_hand": {
633
+ "pos": [
634
+ 0.05,
635
+ 0,
636
+ 0
637
+ ],
638
+ "quat": [
639
+ 0,
640
+ 0.707107,
641
+ 0.707107,
642
+ 0
643
+ ],
644
+ "parent_body": "robot0_right_hand"
645
+ }
646
+ },
647
+ "init_robot_base_pos": [
648
+ 2.3801884312347115,
649
+ -0.9201917020600517,
650
+ 0.0
651
+ ],
652
+ "init_robot_base_ori": [
653
+ 0.0,
654
+ 0.0,
655
+ 1.5707963267948966
656
+ ],
657
+ "refs": {
658
+ "food": "garlic"
659
+ }
660
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000095/ep_meta.json ADDED
@@ -0,0 +1,666 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 10,
3
+ "style_id": 10,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_3_main_group_3",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler005/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_3_main_group_3",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_5/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_1_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_3_main_group_3",
113
+ "min_size": [
114
+ 0.006818,
115
+ 0.175496,
116
+ 0.006854
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "straw"
129
+ ],
130
+ "groups": [
131
+ "all"
132
+ ],
133
+ "cat": "straw",
134
+ "split": "test",
135
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
136
+ },
137
+ "reset_region": {
138
+ "size": [
139
+ 1.4999999999999993,
140
+ 0.65
141
+ ],
142
+ "offset": [
143
+ -0.15000000000000036,
144
+ 0.0,
145
+ 0.46
146
+ ],
147
+ "name": "geom_0"
148
+ }
149
+ },
150
+ {
151
+ "name": "food_container",
152
+ "obj_groups": "cutting_board",
153
+ "placement": {
154
+ "fixture": "counter_1_main_group",
155
+ "sample_region_kwargs": {
156
+ "ref": "stack_3_main_group_3",
157
+ "top_size": [
158
+ 0.5,
159
+ 0.5
160
+ ],
161
+ "min_size": [
162
+ 0.21596736834000008,
163
+ 0.3105000062100002,
164
+ 0.013541203080000005
165
+ ]
166
+ },
167
+ "size": [
168
+ 0.5,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ "ref",
173
+ -1.0
174
+ ],
175
+ "try_to_place_in": "cutting_board"
176
+ },
177
+ "type": "object",
178
+ "info": {
179
+ "groups_containing_sampled_obj": [
180
+ "all",
181
+ "cutting_board",
182
+ "receptacle"
183
+ ],
184
+ "groups": [
185
+ "cutting_board"
186
+ ],
187
+ "cat": "cutting_board",
188
+ "split": "test",
189
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml"
190
+ },
191
+ "reset_region": {
192
+ "size": [
193
+ 1.4999999999999993,
194
+ 0.65
195
+ ],
196
+ "offset": [
197
+ -0.15000000000000036,
198
+ 0.0,
199
+ 0.46
200
+ ],
201
+ "name": "geom_0"
202
+ }
203
+ },
204
+ {
205
+ "name": "food",
206
+ "obj_groups": "broccoli",
207
+ "placement": {
208
+ "size": [
209
+ 0.01,
210
+ 0.01
211
+ ],
212
+ "ensure_object_boundary_in_range": false,
213
+ "sample_args": {
214
+ "reference": "food_container",
215
+ "on_top": true
216
+ }
217
+ },
218
+ "type": "object",
219
+ "info": {
220
+ "groups_containing_sampled_obj": [
221
+ "all",
222
+ "broccoli",
223
+ "vegetable",
224
+ "food",
225
+ "in_container",
226
+ "oven_ready"
227
+ ],
228
+ "groups": [
229
+ "broccoli"
230
+ ],
231
+ "cat": "broccoli",
232
+ "split": "test",
233
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
234
+ }
235
+ }
236
+ ],
237
+ "fixtures": {
238
+ "wall_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "wall_backing_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_front_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_front_backing_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_left_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_left_backing_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "wall_left_2_room": {
257
+ "cls": "Wall"
258
+ },
259
+ "wall_2_left_backing_room": {
260
+ "cls": "Wall"
261
+ },
262
+ "wall_right_room": {
263
+ "cls": "Wall"
264
+ },
265
+ "wall_right_backing_room": {
266
+ "cls": "Wall"
267
+ },
268
+ "utensil_rack_room": {
269
+ "cls": "WallAccessory"
270
+ },
271
+ "outlet_room": {
272
+ "cls": "WallAccessory"
273
+ },
274
+ "outlet_2_room": {
275
+ "cls": "WallAccessory"
276
+ },
277
+ "outlet_3_room": {
278
+ "cls": "WallAccessory"
279
+ },
280
+ "light_switch_room": {
281
+ "cls": "WallAccessory"
282
+ },
283
+ "light_switch_2_room": {
284
+ "cls": "WallAccessory"
285
+ },
286
+ "window_group_room": {
287
+ "cls": "Window"
288
+ },
289
+ "floor_room": {
290
+ "cls": "Floor"
291
+ },
292
+ "floor_backing_room": {
293
+ "cls": "Floor"
294
+ },
295
+ "floor_front_room": {
296
+ "cls": "Floor"
297
+ },
298
+ "floor_front_backing_room": {
299
+ "cls": "Floor"
300
+ },
301
+ "stool_1_room": {
302
+ "cls": "Stool"
303
+ },
304
+ "stool_2_room": {
305
+ "cls": "Stool"
306
+ },
307
+ "stool_3_room": {
308
+ "cls": "Stool"
309
+ },
310
+ "counter_corner_1_main_group": {
311
+ "cls": "Counter"
312
+ },
313
+ "counter_main_main_group": {
314
+ "cls": "Counter"
315
+ },
316
+ "stove_main_group": {
317
+ "cls": "Stove"
318
+ },
319
+ "counter_1_main_group": {
320
+ "cls": "Counter"
321
+ },
322
+ "counter_corner_2_main_group": {
323
+ "cls": "Counter"
324
+ },
325
+ "cab_corner_main_group": {
326
+ "cls": "Box"
327
+ },
328
+ "cab_main_main_group": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "cab_1_main_group": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "hood_main_group": {
335
+ "cls": "Hood"
336
+ },
337
+ "shelves_main_group": {
338
+ "cls": "OpenCabinet"
339
+ },
340
+ "cab_corner_3_main_group": {
341
+ "cls": "Box"
342
+ },
343
+ "cab_corner_4_main_group": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_1_main_group_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_1_main_group_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_1_main_group_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_1_main_group_3": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_2_main_group_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_2_main_group_1": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "stack_2_main_group_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_2_main_group_3": {
368
+ "cls": "Drawer"
369
+ },
370
+ "right_corner_box_main_group": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_3_main_group_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_3_main_group_1": {
377
+ "cls": "HingeCabinet"
378
+ },
379
+ "stack_3_main_group_2": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_3_main_group_3": {
383
+ "cls": "Drawer"
384
+ },
385
+ "stack_4_main_group_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_4_main_group_1": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_4_main_group_2": {
392
+ "cls": "Drawer"
393
+ },
394
+ "stack_4_main_group_3": {
395
+ "cls": "Drawer"
396
+ },
397
+ "stack_4_main_group_4": {
398
+ "cls": "Drawer"
399
+ },
400
+ "coffee_machine_main_group": {
401
+ "cls": "CoffeeMachine"
402
+ },
403
+ "knife_block_main_group": {
404
+ "cls": "Accessory"
405
+ },
406
+ "plant_main_group": {
407
+ "cls": "Accessory"
408
+ },
409
+ "toaster_main_group": {
410
+ "cls": "Toaster"
411
+ },
412
+ "toaster_oven_main_group": {
413
+ "cls": "ToasterOven"
414
+ },
415
+ "tiered_basket_main_group": {
416
+ "cls": "Accessory"
417
+ },
418
+ "jar_main_group": {
419
+ "cls": "Accessory"
420
+ },
421
+ "paprika_main_group": {
422
+ "cls": "Accessory"
423
+ },
424
+ "cinnamon_main_group": {
425
+ "cls": "Accessory"
426
+ },
427
+ "turmeric_main_group": {
428
+ "cls": "Accessory"
429
+ },
430
+ "salt_shaker_main_group": {
431
+ "cls": "Accessory"
432
+ },
433
+ "jar_main_group_auxiliary_main_group": {
434
+ "cls": "Accessory"
435
+ },
436
+ "salt_shaker_main_group_auxiliary_main_group": {
437
+ "cls": "Accessory"
438
+ },
439
+ "fridge_left_group": {
440
+ "cls": "FridgeFrenchDoor"
441
+ },
442
+ "fridge_housing_left_group": {
443
+ "cls": "HousingCabinet"
444
+ },
445
+ "fridge_top_left_group": {
446
+ "cls": "HingeCabinet"
447
+ },
448
+ "stack_left_left_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_left_left_group_1": {
452
+ "cls": "SingleCabinet"
453
+ },
454
+ "stack_left_left_group_2": {
455
+ "cls": "SingleCabinet"
456
+ },
457
+ "stack_right_left_group_base": {
458
+ "cls": "Box"
459
+ },
460
+ "stack_right_left_group_1": {
461
+ "cls": "SingleCabinet"
462
+ },
463
+ "stack_right_left_group_2": {
464
+ "cls": "SingleCabinet"
465
+ },
466
+ "box_left_top_left_group": {
467
+ "cls": "Box"
468
+ },
469
+ "box_left_bottom_left_group": {
470
+ "cls": "Box"
471
+ },
472
+ "box_right_top_left_group": {
473
+ "cls": "Box"
474
+ },
475
+ "box_right_bottom_left_group": {
476
+ "cls": "Box"
477
+ },
478
+ "sink_right_group": {
479
+ "cls": "Sink"
480
+ },
481
+ "counter_1_right_group": {
482
+ "cls": "Counter"
483
+ },
484
+ "counter_corner_right_group": {
485
+ "cls": "Counter"
486
+ },
487
+ "stack_1_right_group_base": {
488
+ "cls": "Box"
489
+ },
490
+ "stack_1_right_group_1": {
491
+ "cls": "HingeCabinet"
492
+ },
493
+ "stack_1_right_group_2": {
494
+ "cls": "PanelCabinet"
495
+ },
496
+ "dishwasher_right_group": {
497
+ "cls": "Dishwasher"
498
+ },
499
+ "stack_2_right_group_base": {
500
+ "cls": "Box"
501
+ },
502
+ "stack_2_right_group_1": {
503
+ "cls": "SingleCabinet"
504
+ },
505
+ "cab_1_right_group": {
506
+ "cls": "HingeCabinet"
507
+ },
508
+ "cab_2_right_group": {
509
+ "cls": "SingleCabinet"
510
+ },
511
+ "soap_dispenser_right_group": {
512
+ "cls": "Accessory"
513
+ },
514
+ "counter_corner_1_front_group": {
515
+ "cls": "Counter"
516
+ },
517
+ "counter_1_front_group": {
518
+ "cls": "Counter"
519
+ },
520
+ "stack_1_front_group_base": {
521
+ "cls": "Box"
522
+ },
523
+ "stack_1_front_group_1": {
524
+ "cls": "HingeCabinet"
525
+ },
526
+ "stack_1_front_group_2": {
527
+ "cls": "Drawer"
528
+ },
529
+ "shelves_front_group": {
530
+ "cls": "OpenCabinet"
531
+ },
532
+ "bottom_front_group_base": {
533
+ "cls": "Box"
534
+ },
535
+ "bottom_front_group_1": {
536
+ "cls": "Drawer"
537
+ },
538
+ "bottom_front_group_2": {
539
+ "cls": "Drawer"
540
+ },
541
+ "cab_middle_front_group": {
542
+ "cls": "HingeCabinet"
543
+ },
544
+ "microwave_front_group": {
545
+ "cls": "Microwave"
546
+ },
547
+ "micro_housing_front_group": {
548
+ "cls": "HousingCabinet"
549
+ },
550
+ "top_front_group": {
551
+ "cls": "HingeCabinet"
552
+ },
553
+ "utensil_set_front_group": {
554
+ "cls": "Accessory"
555
+ },
556
+ "counter_1_dining_area_group": {
557
+ "cls": "Counter"
558
+ },
559
+ "paper_towel_dining_area_group": {
560
+ "cls": "Accessory"
561
+ },
562
+ "fruit_bowl_dining_area_group": {
563
+ "cls": "Accessory"
564
+ }
565
+ },
566
+ "gen_textures": {},
567
+ "lang": "Place the appropriate cutting tool for cutting the broccoli skin on the cutting board.",
568
+ "fixture_refs": {
569
+ "drawer": "stack_3_main_group_3",
570
+ "counter": "counter_1_main_group"
571
+ },
572
+ "cam_configs": {
573
+ "robot0_agentview_center": {
574
+ "pos": [
575
+ -0.6,
576
+ 0.0,
577
+ 1.15
578
+ ],
579
+ "quat": [
580
+ 0.636945903301239,
581
+ 0.3325185477733612,
582
+ -0.3199238181114197,
583
+ -0.6175596117973328
584
+ ],
585
+ "parent_body": "mobilebase0_support"
586
+ },
587
+ "robot0_agentview_left": {
588
+ "pos": [
589
+ -0.5,
590
+ 0.35,
591
+ 1.05
592
+ ],
593
+ "quat": [
594
+ 0.55623853,
595
+ 0.29935253,
596
+ -0.37678665,
597
+ -0.6775092
598
+ ],
599
+ "camera_attribs": {
600
+ "fovy": "60"
601
+ },
602
+ "parent_body": "mobilebase0_support"
603
+ },
604
+ "robot0_agentview_right": {
605
+ "pos": [
606
+ -0.5,
607
+ -0.35,
608
+ 1.05
609
+ ],
610
+ "quat": [
611
+ 0.6775091886520386,
612
+ 0.3767866790294647,
613
+ -0.2993525564670563,
614
+ -0.55623859167099
615
+ ],
616
+ "camera_attribs": {
617
+ "fovy": "60"
618
+ },
619
+ "parent_body": "mobilebase0_support"
620
+ },
621
+ "robot0_frontview": {
622
+ "pos": [
623
+ -0.5,
624
+ 0,
625
+ 0.95
626
+ ],
627
+ "quat": [
628
+ 0.6088936924934387,
629
+ 0.3814677894115448,
630
+ -0.3673907518386841,
631
+ -0.5905545353889465
632
+ ],
633
+ "camera_attribs": {
634
+ "fovy": "60"
635
+ },
636
+ "parent_body": "mobilebase0_support"
637
+ },
638
+ "robot0_eye_in_hand": {
639
+ "pos": [
640
+ 0.05,
641
+ 0,
642
+ 0
643
+ ],
644
+ "quat": [
645
+ 0,
646
+ 0.707107,
647
+ 0.707107,
648
+ 0
649
+ ],
650
+ "parent_body": "robot0_right_hand"
651
+ }
652
+ },
653
+ "init_robot_base_pos": [
654
+ 3.797396770011009,
655
+ -0.9455548106191115,
656
+ 0.0
657
+ ],
658
+ "init_robot_base_ori": [
659
+ 0.0,
660
+ 0.0,
661
+ 1.5707963267948966
662
+ ],
663
+ "refs": {
664
+ "food": "broccoli"
665
+ }
666
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000105/ep_meta.json ADDED
@@ -0,0 +1,662 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 9,
3
+ "style_id": 9,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_2_main_group_3",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler006/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_2_main_group_3",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_8/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_main_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_2_main_group_3",
113
+ "min_size": [
114
+ 0.060109425899999985,
115
+ 0.10455434518499995,
116
+ 0.05523648650999999
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "canned_food",
129
+ "packaged_food"
130
+ ],
131
+ "groups": [
132
+ "all"
133
+ ],
134
+ "cat": "canned_food",
135
+ "split": "test",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_9/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 2.5,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ 0.25,
145
+ 0.0,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food_container",
153
+ "obj_groups": "cutting_board",
154
+ "placement": {
155
+ "fixture": "counter_main_main_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "stack_2_main_group_3",
158
+ "top_size": [
159
+ 0.5,
160
+ 0.5
161
+ ],
162
+ "min_size": [
163
+ 0.22229021025000018,
164
+ 0.3374063910000002,
165
+ 0.007644037500000005
166
+ ]
167
+ },
168
+ "size": [
169
+ 0.5,
170
+ 0.5
171
+ ],
172
+ "pos": [
173
+ "ref",
174
+ -1.0
175
+ ],
176
+ "try_to_place_in": "cutting_board"
177
+ },
178
+ "type": "object",
179
+ "info": {
180
+ "groups_containing_sampled_obj": [
181
+ "all",
182
+ "cutting_board",
183
+ "receptacle"
184
+ ],
185
+ "groups": [
186
+ "cutting_board"
187
+ ],
188
+ "cat": "cutting_board",
189
+ "split": "test",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_4/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 2.5,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.25,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ },
205
+ {
206
+ "name": "food",
207
+ "obj_groups": "potato",
208
+ "placement": {
209
+ "size": [
210
+ 0.01,
211
+ 0.01
212
+ ],
213
+ "ensure_object_boundary_in_range": false,
214
+ "sample_args": {
215
+ "reference": "food_container",
216
+ "on_top": true
217
+ }
218
+ },
219
+ "type": "object",
220
+ "info": {
221
+ "groups_containing_sampled_obj": [
222
+ "all",
223
+ "potato",
224
+ "vegetable",
225
+ "food",
226
+ "in_container",
227
+ "food_set1",
228
+ "oven_ready"
229
+ ],
230
+ "groups": [
231
+ "potato"
232
+ ],
233
+ "cat": "potato",
234
+ "split": "test",
235
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_9/model.xml"
236
+ }
237
+ }
238
+ ],
239
+ "fixtures": {
240
+ "wall_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "wall_backing_room": {
244
+ "cls": "Wall"
245
+ },
246
+ "wall_left_room": {
247
+ "cls": "Wall"
248
+ },
249
+ "wall_left_backing_room": {
250
+ "cls": "Wall"
251
+ },
252
+ "wall_right_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "wall_right_backing_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "outlet_room": {
259
+ "cls": "WallAccessory"
260
+ },
261
+ "utensil_rack_room": {
262
+ "cls": "WallAccessory"
263
+ },
264
+ "light_switch_room": {
265
+ "cls": "WallAccessory"
266
+ },
267
+ "light_switch_2_room": {
268
+ "cls": "WallAccessory"
269
+ },
270
+ "outlet_2_room": {
271
+ "cls": "WallAccessory"
272
+ },
273
+ "outlet_3_room": {
274
+ "cls": "WallAccessory"
275
+ },
276
+ "window_group_room": {
277
+ "cls": "Window"
278
+ },
279
+ "floor_room": {
280
+ "cls": "Floor"
281
+ },
282
+ "floor_backing_room": {
283
+ "cls": "Floor"
284
+ },
285
+ "stool_1_room": {
286
+ "cls": "Stool"
287
+ },
288
+ "stool_2_room": {
289
+ "cls": "Stool"
290
+ },
291
+ "stool_3_room": {
292
+ "cls": "Stool"
293
+ },
294
+ "counter_corner_main_group": {
295
+ "cls": "Counter"
296
+ },
297
+ "counter_main_main_group": {
298
+ "cls": "Counter"
299
+ },
300
+ "stovetop_main_group": {
301
+ "cls": "Stovetop"
302
+ },
303
+ "counter_1_main_group": {
304
+ "cls": "Counter"
305
+ },
306
+ "counter_corner_2_main_group": {
307
+ "cls": "Counter"
308
+ },
309
+ "cab_corner_main_group": {
310
+ "cls": "Box"
311
+ },
312
+ "cab_corner_2_main_group": {
313
+ "cls": "Box"
314
+ },
315
+ "cab_1_main_group": {
316
+ "cls": "HingeCabinet"
317
+ },
318
+ "cab_main_main_group": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "cab_2_main_group": {
322
+ "cls": "SingleCabinet"
323
+ },
324
+ "shelves_1_main_group": {
325
+ "cls": "OpenCabinet"
326
+ },
327
+ "hood_main_group": {
328
+ "cls": "Hood"
329
+ },
330
+ "shelves_2_main_group": {
331
+ "cls": "OpenCabinet"
332
+ },
333
+ "stack_1_main_group_base": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_1_main_group_1": {
337
+ "cls": "Drawer"
338
+ },
339
+ "stack_1_main_group_2": {
340
+ "cls": "Drawer"
341
+ },
342
+ "stack_1_main_group_3": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_1_main_group_4": {
346
+ "cls": "Drawer"
347
+ },
348
+ "stack_2_main_group_base": {
349
+ "cls": "Box"
350
+ },
351
+ "stack_2_main_group_1": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "stack_2_main_group_2": {
355
+ "cls": "Drawer"
356
+ },
357
+ "stack_2_main_group_3": {
358
+ "cls": "Drawer"
359
+ },
360
+ "stack_3_main_group_base": {
361
+ "cls": "Box"
362
+ },
363
+ "stack_3_main_group_1": {
364
+ "cls": "HingeCabinet"
365
+ },
366
+ "stack_3_main_group_2": {
367
+ "cls": "Drawer"
368
+ },
369
+ "stack_3_main_group_3": {
370
+ "cls": "Drawer"
371
+ },
372
+ "stack_4_main_group_base": {
373
+ "cls": "Box"
374
+ },
375
+ "stack_4_main_group_1": {
376
+ "cls": "HingeCabinet"
377
+ },
378
+ "stack_5_main_group_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_5_main_group_1": {
382
+ "cls": "SingleCabinet"
383
+ },
384
+ "stack_5_main_group_2": {
385
+ "cls": "Drawer"
386
+ },
387
+ "coffee_machine_main_group": {
388
+ "cls": "CoffeeMachine"
389
+ },
390
+ "paper_towel_main_group": {
391
+ "cls": "Accessory"
392
+ },
393
+ "toaster_main_group": {
394
+ "cls": "Toaster"
395
+ },
396
+ "toaster_oven_main_group": {
397
+ "cls": "ToasterOven"
398
+ },
399
+ "utensil_set_main_group": {
400
+ "cls": "Accessory"
401
+ },
402
+ "oil_bottle_main_group": {
403
+ "cls": "Accessory"
404
+ },
405
+ "knife_block_main_group": {
406
+ "cls": "Accessory"
407
+ },
408
+ "jar_main_group": {
409
+ "cls": "Accessory"
410
+ },
411
+ "cinnamon_main_group": {
412
+ "cls": "Accessory"
413
+ },
414
+ "turmeric_main_group": {
415
+ "cls": "Accessory"
416
+ },
417
+ "paprika_main_group": {
418
+ "cls": "Accessory"
419
+ },
420
+ "oil_bottle_main_group_auxiliary_main_group": {
421
+ "cls": "Accessory"
422
+ },
423
+ "jar_main_group_auxiliary_main_group": {
424
+ "cls": "Accessory"
425
+ },
426
+ "counter_1_front_group": {
427
+ "cls": "Counter"
428
+ },
429
+ "counter_corner_front_group": {
430
+ "cls": "Counter"
431
+ },
432
+ "salt_shaker_front_group": {
433
+ "cls": "Accessory"
434
+ },
435
+ "salt_shaker_front_group_auxiliary_front_group": {
436
+ "cls": "Accessory"
437
+ },
438
+ "counter_corner_left_group": {
439
+ "cls": "Counter"
440
+ },
441
+ "sink_left_group": {
442
+ "cls": "Sink"
443
+ },
444
+ "counter_1_left_group": {
445
+ "cls": "Counter"
446
+ },
447
+ "counter_corner_right_left_group": {
448
+ "cls": "Counter"
449
+ },
450
+ "stack_1_left_group_base": {
451
+ "cls": "Box"
452
+ },
453
+ "stack_1_left_group_1": {
454
+ "cls": "HingeCabinet"
455
+ },
456
+ "stack_1_left_group_2": {
457
+ "cls": "Drawer"
458
+ },
459
+ "stack_1_left_group_3": {
460
+ "cls": "Drawer"
461
+ },
462
+ "stack_2_left_group_base": {
463
+ "cls": "Box"
464
+ },
465
+ "stack_2_left_group_1": {
466
+ "cls": "HingeCabinet"
467
+ },
468
+ "dishwasher_left_group": {
469
+ "cls": "Dishwasher"
470
+ },
471
+ "stack_3_left_group_base": {
472
+ "cls": "Box"
473
+ },
474
+ "stack_3_left_group_1": {
475
+ "cls": "SingleCabinet"
476
+ },
477
+ "cab_1_left_group": {
478
+ "cls": "HingeCabinet"
479
+ },
480
+ "cab_2_left_group": {
481
+ "cls": "SingleCabinet"
482
+ },
483
+ "plant_left_group": {
484
+ "cls": "Accessory"
485
+ },
486
+ "soap_dispenser_left_group": {
487
+ "cls": "Accessory"
488
+ },
489
+ "fruit_bowl_left_group": {
490
+ "cls": "Accessory"
491
+ },
492
+ "stack_left_right_group_base": {
493
+ "cls": "Box"
494
+ },
495
+ "stack_left_right_group_1": {
496
+ "cls": "SingleCabinet"
497
+ },
498
+ "stack_left_right_group_2": {
499
+ "cls": "SingleCabinet"
500
+ },
501
+ "fridge_right_group": {
502
+ "cls": "FridgeSideBySide"
503
+ },
504
+ "fridge_housing_right_group": {
505
+ "cls": "HousingCabinet"
506
+ },
507
+ "fridge_top_right_group": {
508
+ "cls": "HingeCabinet"
509
+ },
510
+ "stack_right_right_group_base": {
511
+ "cls": "Box"
512
+ },
513
+ "stack_right_right_group_1": {
514
+ "cls": "SingleCabinet"
515
+ },
516
+ "stack_right_right_group_2": {
517
+ "cls": "SingleCabinet"
518
+ },
519
+ "cab_top_corner_right_group": {
520
+ "cls": "Box"
521
+ },
522
+ "bottom_corner_right_group": {
523
+ "cls": "Box"
524
+ },
525
+ "bottom_right_group_base": {
526
+ "cls": "Box"
527
+ },
528
+ "bottom_right_group_1": {
529
+ "cls": "Drawer"
530
+ },
531
+ "bottom_right_group_2": {
532
+ "cls": "Drawer"
533
+ },
534
+ "oven_right_group": {
535
+ "cls": "Oven"
536
+ },
537
+ "oven_housing_right_group": {
538
+ "cls": "HousingCabinet"
539
+ },
540
+ "microwave_right_group": {
541
+ "cls": "Microwave"
542
+ },
543
+ "micro_housing_right_group": {
544
+ "cls": "HousingCabinet"
545
+ },
546
+ "top_right_group": {
547
+ "cls": "HingeCabinet"
548
+ },
549
+ "side_bottom_right_group_base": {
550
+ "cls": "Box"
551
+ },
552
+ "side_bottom_right_group_1": {
553
+ "cls": "Drawer"
554
+ },
555
+ "side_bottom_right_group_2": {
556
+ "cls": "Drawer"
557
+ },
558
+ "side_bottom_right_group_3": {
559
+ "cls": "HingeCabinet"
560
+ }
561
+ },
562
+ "gen_textures": {},
563
+ "lang": "Place the appropriate cutting tool for cutting the potato skin on the cutting board.",
564
+ "fixture_refs": {
565
+ "drawer": "stack_2_main_group_3",
566
+ "counter": "counter_main_main_group"
567
+ },
568
+ "cam_configs": {
569
+ "robot0_agentview_center": {
570
+ "pos": [
571
+ -0.6,
572
+ 0.0,
573
+ 1.15
574
+ ],
575
+ "quat": [
576
+ 0.636945903301239,
577
+ 0.3325185477733612,
578
+ -0.3199238181114197,
579
+ -0.6175596117973328
580
+ ],
581
+ "parent_body": "mobilebase0_support"
582
+ },
583
+ "robot0_agentview_left": {
584
+ "pos": [
585
+ -0.5,
586
+ 0.35,
587
+ 1.05
588
+ ],
589
+ "quat": [
590
+ 0.55623853,
591
+ 0.29935253,
592
+ -0.37678665,
593
+ -0.6775092
594
+ ],
595
+ "camera_attribs": {
596
+ "fovy": "60"
597
+ },
598
+ "parent_body": "mobilebase0_support"
599
+ },
600
+ "robot0_agentview_right": {
601
+ "pos": [
602
+ -0.5,
603
+ -0.35,
604
+ 1.05
605
+ ],
606
+ "quat": [
607
+ 0.6775091886520386,
608
+ 0.3767866790294647,
609
+ -0.2993525564670563,
610
+ -0.55623859167099
611
+ ],
612
+ "camera_attribs": {
613
+ "fovy": "60"
614
+ },
615
+ "parent_body": "mobilebase0_support"
616
+ },
617
+ "robot0_frontview": {
618
+ "pos": [
619
+ -0.5,
620
+ 0,
621
+ 0.95
622
+ ],
623
+ "quat": [
624
+ 0.6088936924934387,
625
+ 0.3814677894115448,
626
+ -0.3673907518386841,
627
+ -0.5905545353889465
628
+ ],
629
+ "camera_attribs": {
630
+ "fovy": "60"
631
+ },
632
+ "parent_body": "mobilebase0_support"
633
+ },
634
+ "robot0_eye_in_hand": {
635
+ "pos": [
636
+ 0.05,
637
+ 0,
638
+ 0
639
+ ],
640
+ "quat": [
641
+ 0,
642
+ 0.707107,
643
+ 0.707107,
644
+ 0
645
+ ],
646
+ "parent_body": "robot0_right_hand"
647
+ }
648
+ },
649
+ "init_robot_base_pos": [
650
+ 1.9769498909710046,
651
+ -0.9163747107465761,
652
+ 0.0
653
+ ],
654
+ "init_robot_base_ori": [
655
+ 0.0,
656
+ 0.0,
657
+ 1.5707963267948966
658
+ ],
659
+ "refs": {
660
+ "food": "potato"
661
+ }
662
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000205/ep_meta.json ADDED
@@ -0,0 +1,589 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 2,
3
+ "style_id": 2,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_4_main_group_2",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler004/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_4_main_group_2",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_6/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_main_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_4_main_group_2",
113
+ "min_size": [
114
+ 0.08613000704000001,
115
+ 0.08556622848000003,
116
+ 0.2538399692800001
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "wine",
129
+ "alcohol",
130
+ "drink"
131
+ ],
132
+ "groups": [
133
+ "all"
134
+ ],
135
+ "cat": "wine",
136
+ "split": "test",
137
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/wine/wine_9/model.xml"
138
+ },
139
+ "reset_region": {
140
+ "size": [
141
+ 1.019460818110389,
142
+ 0.65
143
+ ],
144
+ "offset": [
145
+ -1.3902695909448055,
146
+ -3.469446951953614e-17,
147
+ 0.46
148
+ ],
149
+ "name": "geom_0"
150
+ }
151
+ },
152
+ {
153
+ "name": "food_container",
154
+ "obj_groups": "cutting_board",
155
+ "placement": {
156
+ "fixture": "counter_main_main_group",
157
+ "sample_region_kwargs": {
158
+ "ref": "stack_4_main_group_2",
159
+ "top_size": [
160
+ 0.5,
161
+ 0.5
162
+ ],
163
+ "min_size": [
164
+ 0.21596736834000008,
165
+ 0.3105000062100002,
166
+ 0.013541203080000005
167
+ ]
168
+ },
169
+ "size": [
170
+ 0.5,
171
+ 0.5
172
+ ],
173
+ "pos": [
174
+ "ref",
175
+ -1.0
176
+ ],
177
+ "try_to_place_in": "cutting_board"
178
+ },
179
+ "type": "object",
180
+ "info": {
181
+ "groups_containing_sampled_obj": [
182
+ "all",
183
+ "cutting_board",
184
+ "receptacle"
185
+ ],
186
+ "groups": [
187
+ "cutting_board"
188
+ ],
189
+ "cat": "cutting_board",
190
+ "split": "test",
191
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml"
192
+ },
193
+ "reset_region": {
194
+ "size": [
195
+ 1.019460818110389,
196
+ 0.65
197
+ ],
198
+ "offset": [
199
+ -1.3902695909448055,
200
+ -3.469446951953614e-17,
201
+ 0.46
202
+ ],
203
+ "name": "geom_0"
204
+ }
205
+ },
206
+ {
207
+ "name": "food",
208
+ "obj_groups": "garlic",
209
+ "placement": {
210
+ "size": [
211
+ 0.01,
212
+ 0.01
213
+ ],
214
+ "ensure_object_boundary_in_range": false,
215
+ "sample_args": {
216
+ "reference": "food_container",
217
+ "on_top": true
218
+ }
219
+ },
220
+ "type": "object",
221
+ "info": {
222
+ "groups_containing_sampled_obj": [
223
+ "all",
224
+ "garlic",
225
+ "vegetable",
226
+ "food",
227
+ "in_container"
228
+ ],
229
+ "groups": [
230
+ "garlic"
231
+ ],
232
+ "cat": "garlic",
233
+ "split": "test",
234
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_5/model.xml"
235
+ }
236
+ }
237
+ ],
238
+ "fixtures": {
239
+ "wall_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_backing_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_left_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_left_backing_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_right_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "wall_right_backing_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "floor_room": {
258
+ "cls": "Floor"
259
+ },
260
+ "floor_backing_room": {
261
+ "cls": "Floor"
262
+ },
263
+ "outlet_room": {
264
+ "cls": "WallAccessory"
265
+ },
266
+ "outlet_2_room": {
267
+ "cls": "WallAccessory"
268
+ },
269
+ "light_switch_room": {
270
+ "cls": "WallAccessory"
271
+ },
272
+ "light_switch_2_room": {
273
+ "cls": "WallAccessory"
274
+ },
275
+ "utensil_rack_room": {
276
+ "cls": "WallAccessory"
277
+ },
278
+ "stool_1_room": {
279
+ "cls": "Stool"
280
+ },
281
+ "stool_2_room": {
282
+ "cls": "Stool"
283
+ },
284
+ "stool_3_room": {
285
+ "cls": "Stool"
286
+ },
287
+ "stovetop_main_group": {
288
+ "cls": "Stovetop"
289
+ },
290
+ "counter_main_main_group": {
291
+ "cls": "Counter"
292
+ },
293
+ "bottom_main_group_base": {
294
+ "cls": "Box"
295
+ },
296
+ "bottom_main_group_1": {
297
+ "cls": "Drawer"
298
+ },
299
+ "bottom_main_group_2": {
300
+ "cls": "Drawer"
301
+ },
302
+ "oven_main_group": {
303
+ "cls": "Oven"
304
+ },
305
+ "oven_housing_main_group": {
306
+ "cls": "HousingCabinet"
307
+ },
308
+ "microwave_main_group": {
309
+ "cls": "Microwave"
310
+ },
311
+ "micro_housing_main_group": {
312
+ "cls": "HousingCabinet"
313
+ },
314
+ "top_main_group": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "fridge_main_group": {
318
+ "cls": "FridgeSideBySide"
319
+ },
320
+ "fridge_housing_main_group": {
321
+ "cls": "HousingCabinet"
322
+ },
323
+ "fridge_top_main_group": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "cab_main_main_group": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "hood_main_group": {
330
+ "cls": "Hood"
331
+ },
332
+ "shelves_main_group": {
333
+ "cls": "OpenCabinet"
334
+ },
335
+ "cab_2_main_group": {
336
+ "cls": "HingeCabinet"
337
+ },
338
+ "stack_3_main_group_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_3_main_group_1": {
342
+ "cls": "HingeCabinet"
343
+ },
344
+ "stack_3_main_group_2": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_3_main_group_3": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_4_main_group_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_4_main_group_1": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "stack_4_main_group_2": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_4_main_group_3": {
360
+ "cls": "Drawer"
361
+ },
362
+ "stack_5_main_group_base": {
363
+ "cls": "Box"
364
+ },
365
+ "stack_5_main_group_1": {
366
+ "cls": "HingeCabinet"
367
+ },
368
+ "stack_5_main_group_2": {
369
+ "cls": "Drawer"
370
+ },
371
+ "stack_5_main_group_3": {
372
+ "cls": "Drawer"
373
+ },
374
+ "stack_6_main_group_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_6_main_group_1": {
378
+ "cls": "Drawer"
379
+ },
380
+ "stack_6_main_group_2": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_6_main_group_3": {
384
+ "cls": "Drawer"
385
+ },
386
+ "stack_6_main_group_4": {
387
+ "cls": "Drawer"
388
+ },
389
+ "toaster_main_group": {
390
+ "cls": "Toaster"
391
+ },
392
+ "knife_block_main_group": {
393
+ "cls": "Accessory"
394
+ },
395
+ "paper_towel_main_group": {
396
+ "cls": "Accessory"
397
+ },
398
+ "coffee_machine_main_group": {
399
+ "cls": "CoffeeMachine"
400
+ },
401
+ "digital_scale_main_group": {
402
+ "cls": "Accessory"
403
+ },
404
+ "oil_bottle_main_group": {
405
+ "cls": "Accessory"
406
+ },
407
+ "jar_main_group": {
408
+ "cls": "Accessory"
409
+ },
410
+ "paprika_main_group": {
411
+ "cls": "Accessory"
412
+ },
413
+ "cinnamon_main_group": {
414
+ "cls": "Accessory"
415
+ },
416
+ "turmeric_main_group": {
417
+ "cls": "Accessory"
418
+ },
419
+ "oil_bottle_main_group_auxiliary_main_group": {
420
+ "cls": "Accessory"
421
+ },
422
+ "jar_main_group_auxiliary_main_group": {
423
+ "cls": "Accessory"
424
+ },
425
+ "sink_island_group": {
426
+ "cls": "Sink"
427
+ },
428
+ "island_island_group": {
429
+ "cls": "Counter"
430
+ },
431
+ "island_stack_1_island_group_base": {
432
+ "cls": "Box"
433
+ },
434
+ "island_stack_1_island_group_1": {
435
+ "cls": "HingeCabinet"
436
+ },
437
+ "island_stack_1_island_group_2": {
438
+ "cls": "PanelCabinet"
439
+ },
440
+ "dishwasher_island_group": {
441
+ "cls": "Dishwasher"
442
+ },
443
+ "island_panel_cab_right_island_group_base": {
444
+ "cls": "Box"
445
+ },
446
+ "island_panel_cab_right_island_group_1": {
447
+ "cls": "PanelCabinet"
448
+ },
449
+ "island_cab_left_island_group_base": {
450
+ "cls": "Box"
451
+ },
452
+ "island_cab_left_island_group_1": {
453
+ "cls": "Drawer"
454
+ },
455
+ "island_cab_left_island_group_2": {
456
+ "cls": "Drawer"
457
+ },
458
+ "island_cab_left_island_group_3": {
459
+ "cls": "Drawer"
460
+ },
461
+ "island_cab_left_island_group_4": {
462
+ "cls": "Drawer"
463
+ },
464
+ "island_panel_cab_left_island_group_base": {
465
+ "cls": "Box"
466
+ },
467
+ "island_panel_cab_left_island_group_1": {
468
+ "cls": "PanelCabinet"
469
+ },
470
+ "island_base_box_island_group": {
471
+ "cls": "Box"
472
+ },
473
+ "plant_island_group": {
474
+ "cls": "Accessory"
475
+ },
476
+ "soap_dispenser_island_group": {
477
+ "cls": "Accessory"
478
+ },
479
+ "fruit_bowl_island_group": {
480
+ "cls": "Accessory"
481
+ },
482
+ "salt_shaker_island_group": {
483
+ "cls": "Accessory"
484
+ },
485
+ "salt_shaker_island_group_auxiliary_island_group": {
486
+ "cls": "Accessory"
487
+ }
488
+ },
489
+ "gen_textures": {},
490
+ "lang": "Place the appropriate cutting tool for cutting the garlic skin on the cutting board.",
491
+ "fixture_refs": {
492
+ "drawer": "stack_4_main_group_2",
493
+ "counter": "counter_main_main_group"
494
+ },
495
+ "cam_configs": {
496
+ "robot0_agentview_center": {
497
+ "pos": [
498
+ -0.6,
499
+ 0.0,
500
+ 1.15
501
+ ],
502
+ "quat": [
503
+ 0.636945903301239,
504
+ 0.3325185477733612,
505
+ -0.3199238181114197,
506
+ -0.6175596117973328
507
+ ],
508
+ "parent_body": "mobilebase0_support"
509
+ },
510
+ "robot0_agentview_left": {
511
+ "pos": [
512
+ -0.5,
513
+ 0.35,
514
+ 1.05
515
+ ],
516
+ "quat": [
517
+ 0.55623853,
518
+ 0.29935253,
519
+ -0.37678665,
520
+ -0.6775092
521
+ ],
522
+ "camera_attribs": {
523
+ "fovy": "60"
524
+ },
525
+ "parent_body": "mobilebase0_support"
526
+ },
527
+ "robot0_agentview_right": {
528
+ "pos": [
529
+ -0.5,
530
+ -0.35,
531
+ 1.05
532
+ ],
533
+ "quat": [
534
+ 0.6775091886520386,
535
+ 0.3767866790294647,
536
+ -0.2993525564670563,
537
+ -0.55623859167099
538
+ ],
539
+ "camera_attribs": {
540
+ "fovy": "60"
541
+ },
542
+ "parent_body": "mobilebase0_support"
543
+ },
544
+ "robot0_frontview": {
545
+ "pos": [
546
+ -0.5,
547
+ 0,
548
+ 0.95
549
+ ],
550
+ "quat": [
551
+ 0.6088936924934387,
552
+ 0.3814677894115448,
553
+ -0.3673907518386841,
554
+ -0.5905545353889465
555
+ ],
556
+ "camera_attribs": {
557
+ "fovy": "60"
558
+ },
559
+ "parent_body": "mobilebase0_support"
560
+ },
561
+ "robot0_eye_in_hand": {
562
+ "pos": [
563
+ 0.05,
564
+ 0,
565
+ 0
566
+ ],
567
+ "quat": [
568
+ 0,
569
+ 0.707107,
570
+ 0.707107,
571
+ 0
572
+ ],
573
+ "parent_body": "robot0_right_hand"
574
+ }
575
+ },
576
+ "init_robot_base_pos": [
577
+ 2.947064380259554,
578
+ -0.8962500639901488,
579
+ 0.0
580
+ ],
581
+ "init_robot_base_ori": [
582
+ 0.0,
583
+ 0.0,
584
+ 1.5707963267948966
585
+ ],
586
+ "refs": {
587
+ "food": "garlic"
588
+ }
589
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000236/ep_meta.json ADDED
@@ -0,0 +1,592 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 6,
3
+ "style_id": 6,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_2_left_group_3",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler005/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_2_left_group_3",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_9/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_1_left_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_2_left_group_3",
113
+ "min_size": [
114
+ 0.15364547639999993,
115
+ 0.11905007219999994,
116
+ 0.1799999999999999
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "jug",
129
+ "receptacle"
130
+ ],
131
+ "groups": [
132
+ "all"
133
+ ],
134
+ "cat": "jug",
135
+ "split": "test",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_5/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 2.5000000000000004,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ 0.1499999999999997,
145
+ 0.0,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food_container",
153
+ "obj_groups": "cutting_board",
154
+ "placement": {
155
+ "fixture": "counter_1_left_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "stack_2_left_group_3",
158
+ "top_size": [
159
+ 0.5,
160
+ 0.5
161
+ ],
162
+ "min_size": [
163
+ 0.21110849100000012,
164
+ 0.33280476075000015,
165
+ 0.014705681625000007
166
+ ]
167
+ },
168
+ "size": [
169
+ 0.5,
170
+ 0.5
171
+ ],
172
+ "pos": [
173
+ "ref",
174
+ -1.0
175
+ ],
176
+ "try_to_place_in": "cutting_board"
177
+ },
178
+ "type": "object",
179
+ "info": {
180
+ "groups_containing_sampled_obj": [
181
+ "all",
182
+ "cutting_board",
183
+ "receptacle"
184
+ ],
185
+ "groups": [
186
+ "cutting_board"
187
+ ],
188
+ "cat": "cutting_board",
189
+ "split": "test",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_7/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 2.5000000000000004,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.1499999999999997,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ },
205
+ {
206
+ "name": "food",
207
+ "obj_groups": "cucumber",
208
+ "placement": {
209
+ "size": [
210
+ 0.01,
211
+ 0.01
212
+ ],
213
+ "ensure_object_boundary_in_range": false,
214
+ "sample_args": {
215
+ "reference": "food_container",
216
+ "on_top": true
217
+ }
218
+ },
219
+ "type": "object",
220
+ "info": {
221
+ "groups_containing_sampled_obj": [
222
+ "all",
223
+ "cucumber",
224
+ "vegetable",
225
+ "food",
226
+ "in_container",
227
+ "food_set1"
228
+ ],
229
+ "groups": [
230
+ "cucumber"
231
+ ],
232
+ "cat": "cucumber",
233
+ "split": "test",
234
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_5/model.xml"
235
+ }
236
+ }
237
+ ],
238
+ "fixtures": {
239
+ "wall_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_backing_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_left_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_left_backing_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_right_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "wall_right_backing_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "outlet_room": {
258
+ "cls": "WallAccessory"
259
+ },
260
+ "outlet_2_room": {
261
+ "cls": "WallAccessory"
262
+ },
263
+ "outlet_3_room": {
264
+ "cls": "WallAccessory"
265
+ },
266
+ "light_switch_room": {
267
+ "cls": "WallAccessory"
268
+ },
269
+ "light_switch_2_room": {
270
+ "cls": "WallAccessory"
271
+ },
272
+ "utensil_rack_room": {
273
+ "cls": "WallAccessory"
274
+ },
275
+ "window_group_room": {
276
+ "cls": "Window"
277
+ },
278
+ "floor_room": {
279
+ "cls": "Floor"
280
+ },
281
+ "floor_backing_room": {
282
+ "cls": "Floor"
283
+ },
284
+ "cab_main_main_group": {
285
+ "cls": "HingeCabinet"
286
+ },
287
+ "cab_corner_main_group": {
288
+ "cls": "Box"
289
+ },
290
+ "cab_corner_2_main_group": {
291
+ "cls": "Box"
292
+ },
293
+ "counter_corner_left_main_group": {
294
+ "cls": "Counter"
295
+ },
296
+ "sink_main_group": {
297
+ "cls": "Sink"
298
+ },
299
+ "counter_main_main_group": {
300
+ "cls": "Counter"
301
+ },
302
+ "counter_corner_right_main_group": {
303
+ "cls": "Counter"
304
+ },
305
+ "stack_1_main_group_base": {
306
+ "cls": "Box"
307
+ },
308
+ "stack_1_main_group_1": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_1_main_group_2": {
312
+ "cls": "Drawer"
313
+ },
314
+ "stack_1_main_group_3": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_1_main_group_4": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_2_main_group_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_2_main_group_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "stack_2_main_group_2": {
327
+ "cls": "PanelCabinet"
328
+ },
329
+ "dishwasher_main_group": {
330
+ "cls": "Dishwasher"
331
+ },
332
+ "stack_3_main_group_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_3_main_group_1": {
336
+ "cls": "HingeCabinet"
337
+ },
338
+ "stack_3_main_group_2": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_3_main_group_3": {
342
+ "cls": "Drawer"
343
+ },
344
+ "toaster_oven_main_group": {
345
+ "cls": "ToasterOven"
346
+ },
347
+ "knife_block_main_group": {
348
+ "cls": "Accessory"
349
+ },
350
+ "utensil_set_main_group": {
351
+ "cls": "Accessory"
352
+ },
353
+ "tiered_basket_main_group": {
354
+ "cls": "Accessory"
355
+ },
356
+ "paper_towel_main_group": {
357
+ "cls": "Accessory"
358
+ },
359
+ "soap_dispenser_main_group": {
360
+ "cls": "Accessory"
361
+ },
362
+ "counter_1_right_group": {
363
+ "cls": "Counter"
364
+ },
365
+ "stove_right_group": {
366
+ "cls": "Stove"
367
+ },
368
+ "counter_2_right_group": {
369
+ "cls": "Counter"
370
+ },
371
+ "fridge_right_group": {
372
+ "cls": "FridgeFrenchDoor"
373
+ },
374
+ "fridge_housing_right_group": {
375
+ "cls": "HousingCabinet"
376
+ },
377
+ "counter_corner_right_group": {
378
+ "cls": "Counter"
379
+ },
380
+ "stack_1_right_group_base": {
381
+ "cls": "Box"
382
+ },
383
+ "stack_1_right_group_1": {
384
+ "cls": "SingleCabinet"
385
+ },
386
+ "stack_1_right_group_2": {
387
+ "cls": "Drawer"
388
+ },
389
+ "stack_2_right_group_base": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_2_right_group_1": {
393
+ "cls": "SingleCabinet"
394
+ },
395
+ "stack_2_right_group_2": {
396
+ "cls": "Drawer"
397
+ },
398
+ "cab_1_right_group": {
399
+ "cls": "SingleCabinet"
400
+ },
401
+ "microwave_right_group": {
402
+ "cls": "Microwave"
403
+ },
404
+ "cab_micro_right_group": {
405
+ "cls": "HingeCabinet"
406
+ },
407
+ "cab_2_right_group": {
408
+ "cls": "SingleCabinet"
409
+ },
410
+ "cab_3_right_group": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "toaster_right_group": {
414
+ "cls": "Toaster"
415
+ },
416
+ "counter_1_left_group": {
417
+ "cls": "Counter"
418
+ },
419
+ "counter_corner_left_group": {
420
+ "cls": "Counter"
421
+ },
422
+ "stack_1_left_group_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_1_left_group_1": {
426
+ "cls": "Drawer"
427
+ },
428
+ "stack_1_left_group_2": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_1_left_group_3": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_1_left_group_4": {
435
+ "cls": "Drawer"
436
+ },
437
+ "stack_2_left_group_base": {
438
+ "cls": "Box"
439
+ },
440
+ "stack_2_left_group_1": {
441
+ "cls": "HingeCabinet"
442
+ },
443
+ "stack_2_left_group_2": {
444
+ "cls": "Drawer"
445
+ },
446
+ "stack_2_left_group_3": {
447
+ "cls": "Drawer"
448
+ },
449
+ "stack_3_left_group_base": {
450
+ "cls": "Box"
451
+ },
452
+ "stack_3_left_group_1": {
453
+ "cls": "HingeCabinet"
454
+ },
455
+ "stack_3_left_group_2": {
456
+ "cls": "Drawer"
457
+ },
458
+ "cab_1_left_group": {
459
+ "cls": "HingeCabinet"
460
+ },
461
+ "shelves_left_group": {
462
+ "cls": "OpenCabinet"
463
+ },
464
+ "coffee_machine_left_group": {
465
+ "cls": "CoffeeMachine"
466
+ },
467
+ "plant_left_group": {
468
+ "cls": "Accessory"
469
+ },
470
+ "oil_bottle_left_group": {
471
+ "cls": "Accessory"
472
+ },
473
+ "salt_shaker_left_group": {
474
+ "cls": "Accessory"
475
+ },
476
+ "paprika_left_group": {
477
+ "cls": "Accessory"
478
+ },
479
+ "cinnamon_left_group": {
480
+ "cls": "Accessory"
481
+ },
482
+ "turmeric_left_group": {
483
+ "cls": "Accessory"
484
+ },
485
+ "oil_bottle_left_group_auxiliary_left_group": {
486
+ "cls": "Accessory"
487
+ },
488
+ "salt_shaker_left_group_auxiliary_left_group": {
489
+ "cls": "Accessory"
490
+ }
491
+ },
492
+ "gen_textures": {},
493
+ "lang": "Place the appropriate cutting tool for cutting the cucumber skin on the cutting board.",
494
+ "fixture_refs": {
495
+ "drawer": "stack_2_left_group_3",
496
+ "counter": "counter_1_left_group"
497
+ },
498
+ "cam_configs": {
499
+ "robot0_agentview_center": {
500
+ "pos": [
501
+ -0.6,
502
+ 0.0,
503
+ 1.15
504
+ ],
505
+ "quat": [
506
+ 0.636945903301239,
507
+ 0.3325185477733612,
508
+ -0.3199238181114197,
509
+ -0.6175596117973328
510
+ ],
511
+ "parent_body": "mobilebase0_support"
512
+ },
513
+ "robot0_agentview_left": {
514
+ "pos": [
515
+ -0.5,
516
+ 0.35,
517
+ 1.05
518
+ ],
519
+ "quat": [
520
+ 0.55623853,
521
+ 0.29935253,
522
+ -0.37678665,
523
+ -0.6775092
524
+ ],
525
+ "camera_attribs": {
526
+ "fovy": "60"
527
+ },
528
+ "parent_body": "mobilebase0_support"
529
+ },
530
+ "robot0_agentview_right": {
531
+ "pos": [
532
+ -0.5,
533
+ -0.35,
534
+ 1.05
535
+ ],
536
+ "quat": [
537
+ 0.6775091886520386,
538
+ 0.3767866790294647,
539
+ -0.2993525564670563,
540
+ -0.55623859167099
541
+ ],
542
+ "camera_attribs": {
543
+ "fovy": "60"
544
+ },
545
+ "parent_body": "mobilebase0_support"
546
+ },
547
+ "robot0_frontview": {
548
+ "pos": [
549
+ -0.5,
550
+ 0,
551
+ 0.95
552
+ ],
553
+ "quat": [
554
+ 0.6088936924934387,
555
+ 0.3814677894115448,
556
+ -0.3673907518386841,
557
+ -0.5905545353889465
558
+ ],
559
+ "camera_attribs": {
560
+ "fovy": "60"
561
+ },
562
+ "parent_body": "mobilebase0_support"
563
+ },
564
+ "robot0_eye_in_hand": {
565
+ "pos": [
566
+ 0.05,
567
+ 0,
568
+ 0
569
+ ],
570
+ "quat": [
571
+ 0,
572
+ 0.707107,
573
+ 0.707107,
574
+ 0
575
+ ],
576
+ "parent_body": "robot0_right_hand"
577
+ }
578
+ },
579
+ "init_robot_base_pos": [
580
+ 0.9362537421511025,
581
+ -2.4117160552103205,
582
+ 0.0
583
+ ],
584
+ "init_robot_base_ori": [
585
+ 0.0,
586
+ 0.0,
587
+ 3.1415963267948968
588
+ ],
589
+ "refs": {
590
+ "food": "cucumber"
591
+ }
592
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000282/ep_meta.json ADDED
@@ -0,0 +1,593 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 6,
3
+ "style_id": 6,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_3_main_group_3",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler006/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.303,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_3_main_group_3",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_9/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.303,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_main_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_3_main_group_3",
113
+ "min_size": [
114
+ 0.0557291526,
115
+ 0.057331665600000005,
116
+ 0.1648075539
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "bottled_water",
129
+ "drink"
130
+ ],
131
+ "groups": [
132
+ "all"
133
+ ],
134
+ "cat": "bottled_water",
135
+ "split": "test",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_2/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 0.42500000000000027,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ 1.2875,
145
+ -3.469446951953614e-17,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food_container",
153
+ "obj_groups": "cutting_board",
154
+ "placement": {
155
+ "fixture": "counter_main_main_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "stack_3_main_group_3",
158
+ "top_size": [
159
+ 0.5,
160
+ 0.5
161
+ ],
162
+ "min_size": [
163
+ 0.21596736834000008,
164
+ 0.3105000062100002,
165
+ 0.013541203080000005
166
+ ]
167
+ },
168
+ "size": [
169
+ 0.5,
170
+ 0.5
171
+ ],
172
+ "pos": [
173
+ "ref",
174
+ -1.0
175
+ ],
176
+ "try_to_place_in": "cutting_board"
177
+ },
178
+ "type": "object",
179
+ "info": {
180
+ "groups_containing_sampled_obj": [
181
+ "all",
182
+ "cutting_board",
183
+ "receptacle"
184
+ ],
185
+ "groups": [
186
+ "cutting_board"
187
+ ],
188
+ "cat": "cutting_board",
189
+ "split": "test",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 0.42500000000000027,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 1.2875,
199
+ -3.469446951953614e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ },
205
+ {
206
+ "name": "food",
207
+ "obj_groups": "potato",
208
+ "placement": {
209
+ "size": [
210
+ 0.01,
211
+ 0.01
212
+ ],
213
+ "ensure_object_boundary_in_range": false,
214
+ "sample_args": {
215
+ "reference": "food_container",
216
+ "on_top": true
217
+ }
218
+ },
219
+ "type": "object",
220
+ "info": {
221
+ "groups_containing_sampled_obj": [
222
+ "all",
223
+ "potato",
224
+ "vegetable",
225
+ "food",
226
+ "in_container",
227
+ "food_set1",
228
+ "oven_ready"
229
+ ],
230
+ "groups": [
231
+ "potato"
232
+ ],
233
+ "cat": "potato",
234
+ "split": "test",
235
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_6/model.xml"
236
+ }
237
+ }
238
+ ],
239
+ "fixtures": {
240
+ "wall_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "wall_backing_room": {
244
+ "cls": "Wall"
245
+ },
246
+ "wall_left_room": {
247
+ "cls": "Wall"
248
+ },
249
+ "wall_left_backing_room": {
250
+ "cls": "Wall"
251
+ },
252
+ "wall_right_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "wall_right_backing_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "outlet_room": {
259
+ "cls": "WallAccessory"
260
+ },
261
+ "outlet_2_room": {
262
+ "cls": "WallAccessory"
263
+ },
264
+ "outlet_3_room": {
265
+ "cls": "WallAccessory"
266
+ },
267
+ "light_switch_room": {
268
+ "cls": "WallAccessory"
269
+ },
270
+ "light_switch_2_room": {
271
+ "cls": "WallAccessory"
272
+ },
273
+ "utensil_rack_room": {
274
+ "cls": "WallAccessory"
275
+ },
276
+ "window_group_room": {
277
+ "cls": "Window"
278
+ },
279
+ "floor_room": {
280
+ "cls": "Floor"
281
+ },
282
+ "floor_backing_room": {
283
+ "cls": "Floor"
284
+ },
285
+ "cab_main_main_group": {
286
+ "cls": "HingeCabinet"
287
+ },
288
+ "cab_corner_main_group": {
289
+ "cls": "Box"
290
+ },
291
+ "cab_corner_2_main_group": {
292
+ "cls": "Box"
293
+ },
294
+ "counter_corner_left_main_group": {
295
+ "cls": "Counter"
296
+ },
297
+ "sink_main_group": {
298
+ "cls": "Sink"
299
+ },
300
+ "counter_main_main_group": {
301
+ "cls": "Counter"
302
+ },
303
+ "counter_corner_right_main_group": {
304
+ "cls": "Counter"
305
+ },
306
+ "stack_1_main_group_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_1_main_group_1": {
310
+ "cls": "Drawer"
311
+ },
312
+ "stack_1_main_group_2": {
313
+ "cls": "Drawer"
314
+ },
315
+ "stack_1_main_group_3": {
316
+ "cls": "Drawer"
317
+ },
318
+ "stack_1_main_group_4": {
319
+ "cls": "Drawer"
320
+ },
321
+ "stack_2_main_group_base": {
322
+ "cls": "Box"
323
+ },
324
+ "stack_2_main_group_1": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "stack_2_main_group_2": {
328
+ "cls": "PanelCabinet"
329
+ },
330
+ "dishwasher_main_group": {
331
+ "cls": "Dishwasher"
332
+ },
333
+ "stack_3_main_group_base": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_3_main_group_1": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "stack_3_main_group_2": {
340
+ "cls": "Drawer"
341
+ },
342
+ "stack_3_main_group_3": {
343
+ "cls": "Drawer"
344
+ },
345
+ "toaster_oven_main_group": {
346
+ "cls": "ToasterOven"
347
+ },
348
+ "knife_block_main_group": {
349
+ "cls": "Accessory"
350
+ },
351
+ "utensil_set_main_group": {
352
+ "cls": "Accessory"
353
+ },
354
+ "tiered_basket_main_group": {
355
+ "cls": "Accessory"
356
+ },
357
+ "paper_towel_main_group": {
358
+ "cls": "Accessory"
359
+ },
360
+ "soap_dispenser_main_group": {
361
+ "cls": "Accessory"
362
+ },
363
+ "counter_1_right_group": {
364
+ "cls": "Counter"
365
+ },
366
+ "stove_right_group": {
367
+ "cls": "Stove"
368
+ },
369
+ "counter_2_right_group": {
370
+ "cls": "Counter"
371
+ },
372
+ "fridge_right_group": {
373
+ "cls": "FridgeFrenchDoor"
374
+ },
375
+ "fridge_housing_right_group": {
376
+ "cls": "HousingCabinet"
377
+ },
378
+ "counter_corner_right_group": {
379
+ "cls": "Counter"
380
+ },
381
+ "stack_1_right_group_base": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_1_right_group_1": {
385
+ "cls": "SingleCabinet"
386
+ },
387
+ "stack_1_right_group_2": {
388
+ "cls": "Drawer"
389
+ },
390
+ "stack_2_right_group_base": {
391
+ "cls": "Box"
392
+ },
393
+ "stack_2_right_group_1": {
394
+ "cls": "SingleCabinet"
395
+ },
396
+ "stack_2_right_group_2": {
397
+ "cls": "Drawer"
398
+ },
399
+ "cab_1_right_group": {
400
+ "cls": "SingleCabinet"
401
+ },
402
+ "microwave_right_group": {
403
+ "cls": "Microwave"
404
+ },
405
+ "cab_micro_right_group": {
406
+ "cls": "HingeCabinet"
407
+ },
408
+ "cab_2_right_group": {
409
+ "cls": "SingleCabinet"
410
+ },
411
+ "cab_3_right_group": {
412
+ "cls": "HingeCabinet"
413
+ },
414
+ "toaster_right_group": {
415
+ "cls": "Toaster"
416
+ },
417
+ "counter_1_left_group": {
418
+ "cls": "Counter"
419
+ },
420
+ "counter_corner_left_group": {
421
+ "cls": "Counter"
422
+ },
423
+ "stack_1_left_group_base": {
424
+ "cls": "Box"
425
+ },
426
+ "stack_1_left_group_1": {
427
+ "cls": "Drawer"
428
+ },
429
+ "stack_1_left_group_2": {
430
+ "cls": "Drawer"
431
+ },
432
+ "stack_1_left_group_3": {
433
+ "cls": "Drawer"
434
+ },
435
+ "stack_1_left_group_4": {
436
+ "cls": "Drawer"
437
+ },
438
+ "stack_2_left_group_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_2_left_group_1": {
442
+ "cls": "HingeCabinet"
443
+ },
444
+ "stack_2_left_group_2": {
445
+ "cls": "Drawer"
446
+ },
447
+ "stack_2_left_group_3": {
448
+ "cls": "Drawer"
449
+ },
450
+ "stack_3_left_group_base": {
451
+ "cls": "Box"
452
+ },
453
+ "stack_3_left_group_1": {
454
+ "cls": "HingeCabinet"
455
+ },
456
+ "stack_3_left_group_2": {
457
+ "cls": "Drawer"
458
+ },
459
+ "cab_1_left_group": {
460
+ "cls": "HingeCabinet"
461
+ },
462
+ "shelves_left_group": {
463
+ "cls": "OpenCabinet"
464
+ },
465
+ "coffee_machine_left_group": {
466
+ "cls": "CoffeeMachine"
467
+ },
468
+ "plant_left_group": {
469
+ "cls": "Accessory"
470
+ },
471
+ "oil_bottle_left_group": {
472
+ "cls": "Accessory"
473
+ },
474
+ "salt_shaker_left_group": {
475
+ "cls": "Accessory"
476
+ },
477
+ "paprika_left_group": {
478
+ "cls": "Accessory"
479
+ },
480
+ "cinnamon_left_group": {
481
+ "cls": "Accessory"
482
+ },
483
+ "turmeric_left_group": {
484
+ "cls": "Accessory"
485
+ },
486
+ "oil_bottle_left_group_auxiliary_left_group": {
487
+ "cls": "Accessory"
488
+ },
489
+ "salt_shaker_left_group_auxiliary_left_group": {
490
+ "cls": "Accessory"
491
+ }
492
+ },
493
+ "gen_textures": {},
494
+ "lang": "Place the appropriate cutting tool for cutting the potato skin on the cutting board.",
495
+ "fixture_refs": {
496
+ "drawer": "stack_3_main_group_3",
497
+ "counter": "counter_main_main_group"
498
+ },
499
+ "cam_configs": {
500
+ "robot0_agentview_center": {
501
+ "pos": [
502
+ -0.6,
503
+ 0.0,
504
+ 1.15
505
+ ],
506
+ "quat": [
507
+ 0.636945903301239,
508
+ 0.3325185477733612,
509
+ -0.3199238181114197,
510
+ -0.6175596117973328
511
+ ],
512
+ "parent_body": "mobilebase0_support"
513
+ },
514
+ "robot0_agentview_left": {
515
+ "pos": [
516
+ -0.5,
517
+ 0.35,
518
+ 1.05
519
+ ],
520
+ "quat": [
521
+ 0.55623853,
522
+ 0.29935253,
523
+ -0.37678665,
524
+ -0.6775092
525
+ ],
526
+ "camera_attribs": {
527
+ "fovy": "60"
528
+ },
529
+ "parent_body": "mobilebase0_support"
530
+ },
531
+ "robot0_agentview_right": {
532
+ "pos": [
533
+ -0.5,
534
+ -0.35,
535
+ 1.05
536
+ ],
537
+ "quat": [
538
+ 0.6775091886520386,
539
+ 0.3767866790294647,
540
+ -0.2993525564670563,
541
+ -0.55623859167099
542
+ ],
543
+ "camera_attribs": {
544
+ "fovy": "60"
545
+ },
546
+ "parent_body": "mobilebase0_support"
547
+ },
548
+ "robot0_frontview": {
549
+ "pos": [
550
+ -0.5,
551
+ 0,
552
+ 0.95
553
+ ],
554
+ "quat": [
555
+ 0.6088936924934387,
556
+ 0.3814677894115448,
557
+ -0.3673907518386841,
558
+ -0.5905545353889465
559
+ ],
560
+ "camera_attribs": {
561
+ "fovy": "60"
562
+ },
563
+ "parent_body": "mobilebase0_support"
564
+ },
565
+ "robot0_eye_in_hand": {
566
+ "pos": [
567
+ 0.05,
568
+ 0,
569
+ 0
570
+ ],
571
+ "quat": [
572
+ 0,
573
+ 0.707107,
574
+ 0.707107,
575
+ 0
576
+ ],
577
+ "parent_body": "robot0_right_hand"
578
+ }
579
+ },
580
+ "init_robot_base_pos": [
581
+ 3.041299511420509,
582
+ -0.8795238978264059,
583
+ 0.0
584
+ ],
585
+ "init_robot_base_ori": [
586
+ 0.0,
587
+ 0.0,
588
+ 1.5707963267948966
589
+ ],
590
+ "refs": {
591
+ "food": "potato"
592
+ }
593
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000319/ep_meta.json ADDED
@@ -0,0 +1,660 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 9,
3
+ "style_id": 9,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_3_main_group_2",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler005/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_3_main_group_2",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_5/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_main_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_3_main_group_2",
113
+ "min_size": [
114
+ 0.06521782250000001,
115
+ 0.06481546740000002,
116
+ 0.11593323879999999
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "coffee_cup",
129
+ "drink"
130
+ ],
131
+ "groups": [
132
+ "all"
133
+ ],
134
+ "cat": "coffee_cup",
135
+ "split": "test",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_9/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 1.5,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ 0.75,
145
+ 0.0,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food_container",
153
+ "obj_groups": "cutting_board",
154
+ "placement": {
155
+ "fixture": "counter_main_main_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "stack_3_main_group_2",
158
+ "top_size": [
159
+ 0.5,
160
+ 0.5
161
+ ],
162
+ "min_size": [
163
+ 0.21110849100000012,
164
+ 0.33280476075000015,
165
+ 0.014705681625000007
166
+ ]
167
+ },
168
+ "size": [
169
+ 0.5,
170
+ 0.5
171
+ ],
172
+ "pos": [
173
+ "ref",
174
+ -1.0
175
+ ],
176
+ "try_to_place_in": "cutting_board"
177
+ },
178
+ "type": "object",
179
+ "info": {
180
+ "groups_containing_sampled_obj": [
181
+ "all",
182
+ "cutting_board",
183
+ "receptacle"
184
+ ],
185
+ "groups": [
186
+ "cutting_board"
187
+ ],
188
+ "cat": "cutting_board",
189
+ "split": "test",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_7/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.5,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.75,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ },
205
+ {
206
+ "name": "food",
207
+ "obj_groups": "garlic",
208
+ "placement": {
209
+ "size": [
210
+ 0.01,
211
+ 0.01
212
+ ],
213
+ "ensure_object_boundary_in_range": false,
214
+ "sample_args": {
215
+ "reference": "food_container",
216
+ "on_top": true
217
+ }
218
+ },
219
+ "type": "object",
220
+ "info": {
221
+ "groups_containing_sampled_obj": [
222
+ "all",
223
+ "garlic",
224
+ "vegetable",
225
+ "food",
226
+ "in_container"
227
+ ],
228
+ "groups": [
229
+ "garlic"
230
+ ],
231
+ "cat": "garlic",
232
+ "split": "test",
233
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_4/model.xml"
234
+ }
235
+ }
236
+ ],
237
+ "fixtures": {
238
+ "wall_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "wall_backing_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_left_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_left_backing_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_right_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_right_backing_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "outlet_room": {
257
+ "cls": "WallAccessory"
258
+ },
259
+ "utensil_rack_room": {
260
+ "cls": "WallAccessory"
261
+ },
262
+ "light_switch_room": {
263
+ "cls": "WallAccessory"
264
+ },
265
+ "light_switch_2_room": {
266
+ "cls": "WallAccessory"
267
+ },
268
+ "outlet_2_room": {
269
+ "cls": "WallAccessory"
270
+ },
271
+ "outlet_3_room": {
272
+ "cls": "WallAccessory"
273
+ },
274
+ "window_group_room": {
275
+ "cls": "Window"
276
+ },
277
+ "floor_room": {
278
+ "cls": "Floor"
279
+ },
280
+ "floor_backing_room": {
281
+ "cls": "Floor"
282
+ },
283
+ "stool_1_room": {
284
+ "cls": "Stool"
285
+ },
286
+ "stool_2_room": {
287
+ "cls": "Stool"
288
+ },
289
+ "stool_3_room": {
290
+ "cls": "Stool"
291
+ },
292
+ "counter_corner_main_group": {
293
+ "cls": "Counter"
294
+ },
295
+ "counter_main_main_group": {
296
+ "cls": "Counter"
297
+ },
298
+ "stovetop_main_group": {
299
+ "cls": "Stovetop"
300
+ },
301
+ "counter_1_main_group": {
302
+ "cls": "Counter"
303
+ },
304
+ "counter_corner_2_main_group": {
305
+ "cls": "Counter"
306
+ },
307
+ "cab_corner_main_group": {
308
+ "cls": "Box"
309
+ },
310
+ "cab_corner_2_main_group": {
311
+ "cls": "Box"
312
+ },
313
+ "cab_1_main_group": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "cab_main_main_group": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "cab_2_main_group": {
320
+ "cls": "SingleCabinet"
321
+ },
322
+ "shelves_1_main_group": {
323
+ "cls": "OpenCabinet"
324
+ },
325
+ "hood_main_group": {
326
+ "cls": "Hood"
327
+ },
328
+ "shelves_2_main_group": {
329
+ "cls": "OpenCabinet"
330
+ },
331
+ "stack_1_main_group_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_1_main_group_1": {
335
+ "cls": "Drawer"
336
+ },
337
+ "stack_1_main_group_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_1_main_group_3": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_1_main_group_4": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_2_main_group_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_2_main_group_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_2_main_group_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_2_main_group_3": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_3_main_group_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_3_main_group_1": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "stack_3_main_group_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_3_main_group_3": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_4_main_group_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_4_main_group_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_5_main_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_5_main_group_1": {
380
+ "cls": "SingleCabinet"
381
+ },
382
+ "stack_5_main_group_2": {
383
+ "cls": "Drawer"
384
+ },
385
+ "coffee_machine_main_group": {
386
+ "cls": "CoffeeMachine"
387
+ },
388
+ "paper_towel_main_group": {
389
+ "cls": "Accessory"
390
+ },
391
+ "toaster_main_group": {
392
+ "cls": "Toaster"
393
+ },
394
+ "toaster_oven_main_group": {
395
+ "cls": "ToasterOven"
396
+ },
397
+ "utensil_set_main_group": {
398
+ "cls": "Accessory"
399
+ },
400
+ "oil_bottle_main_group": {
401
+ "cls": "Accessory"
402
+ },
403
+ "knife_block_main_group": {
404
+ "cls": "Accessory"
405
+ },
406
+ "jar_main_group": {
407
+ "cls": "Accessory"
408
+ },
409
+ "cinnamon_main_group": {
410
+ "cls": "Accessory"
411
+ },
412
+ "turmeric_main_group": {
413
+ "cls": "Accessory"
414
+ },
415
+ "paprika_main_group": {
416
+ "cls": "Accessory"
417
+ },
418
+ "oil_bottle_main_group_auxiliary_main_group": {
419
+ "cls": "Accessory"
420
+ },
421
+ "jar_main_group_auxiliary_main_group": {
422
+ "cls": "Accessory"
423
+ },
424
+ "counter_1_front_group": {
425
+ "cls": "Counter"
426
+ },
427
+ "counter_corner_front_group": {
428
+ "cls": "Counter"
429
+ },
430
+ "salt_shaker_front_group": {
431
+ "cls": "Accessory"
432
+ },
433
+ "salt_shaker_front_group_auxiliary_front_group": {
434
+ "cls": "Accessory"
435
+ },
436
+ "counter_corner_left_group": {
437
+ "cls": "Counter"
438
+ },
439
+ "sink_left_group": {
440
+ "cls": "Sink"
441
+ },
442
+ "counter_1_left_group": {
443
+ "cls": "Counter"
444
+ },
445
+ "counter_corner_right_left_group": {
446
+ "cls": "Counter"
447
+ },
448
+ "stack_1_left_group_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_1_left_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "stack_1_left_group_2": {
455
+ "cls": "Drawer"
456
+ },
457
+ "stack_1_left_group_3": {
458
+ "cls": "Drawer"
459
+ },
460
+ "stack_2_left_group_base": {
461
+ "cls": "Box"
462
+ },
463
+ "stack_2_left_group_1": {
464
+ "cls": "HingeCabinet"
465
+ },
466
+ "dishwasher_left_group": {
467
+ "cls": "Dishwasher"
468
+ },
469
+ "stack_3_left_group_base": {
470
+ "cls": "Box"
471
+ },
472
+ "stack_3_left_group_1": {
473
+ "cls": "SingleCabinet"
474
+ },
475
+ "cab_1_left_group": {
476
+ "cls": "HingeCabinet"
477
+ },
478
+ "cab_2_left_group": {
479
+ "cls": "SingleCabinet"
480
+ },
481
+ "plant_left_group": {
482
+ "cls": "Accessory"
483
+ },
484
+ "soap_dispenser_left_group": {
485
+ "cls": "Accessory"
486
+ },
487
+ "fruit_bowl_left_group": {
488
+ "cls": "Accessory"
489
+ },
490
+ "stack_left_right_group_base": {
491
+ "cls": "Box"
492
+ },
493
+ "stack_left_right_group_1": {
494
+ "cls": "SingleCabinet"
495
+ },
496
+ "stack_left_right_group_2": {
497
+ "cls": "SingleCabinet"
498
+ },
499
+ "fridge_right_group": {
500
+ "cls": "FridgeSideBySide"
501
+ },
502
+ "fridge_housing_right_group": {
503
+ "cls": "HousingCabinet"
504
+ },
505
+ "fridge_top_right_group": {
506
+ "cls": "HingeCabinet"
507
+ },
508
+ "stack_right_right_group_base": {
509
+ "cls": "Box"
510
+ },
511
+ "stack_right_right_group_1": {
512
+ "cls": "SingleCabinet"
513
+ },
514
+ "stack_right_right_group_2": {
515
+ "cls": "SingleCabinet"
516
+ },
517
+ "cab_top_corner_right_group": {
518
+ "cls": "Box"
519
+ },
520
+ "bottom_corner_right_group": {
521
+ "cls": "Box"
522
+ },
523
+ "bottom_right_group_base": {
524
+ "cls": "Box"
525
+ },
526
+ "bottom_right_group_1": {
527
+ "cls": "Drawer"
528
+ },
529
+ "bottom_right_group_2": {
530
+ "cls": "Drawer"
531
+ },
532
+ "oven_right_group": {
533
+ "cls": "Oven"
534
+ },
535
+ "oven_housing_right_group": {
536
+ "cls": "HousingCabinet"
537
+ },
538
+ "microwave_right_group": {
539
+ "cls": "Microwave"
540
+ },
541
+ "micro_housing_right_group": {
542
+ "cls": "HousingCabinet"
543
+ },
544
+ "top_right_group": {
545
+ "cls": "HingeCabinet"
546
+ },
547
+ "side_bottom_right_group_base": {
548
+ "cls": "Box"
549
+ },
550
+ "side_bottom_right_group_1": {
551
+ "cls": "Drawer"
552
+ },
553
+ "side_bottom_right_group_2": {
554
+ "cls": "Drawer"
555
+ },
556
+ "side_bottom_right_group_3": {
557
+ "cls": "HingeCabinet"
558
+ }
559
+ },
560
+ "gen_textures": {},
561
+ "lang": "Place the appropriate cutting tool for cutting the garlic skin on the cutting board.",
562
+ "fixture_refs": {
563
+ "drawer": "stack_3_main_group_2",
564
+ "counter": "counter_main_main_group"
565
+ },
566
+ "cam_configs": {
567
+ "robot0_agentview_center": {
568
+ "pos": [
569
+ -0.6,
570
+ 0.0,
571
+ 1.15
572
+ ],
573
+ "quat": [
574
+ 0.636945903301239,
575
+ 0.3325185477733612,
576
+ -0.3199238181114197,
577
+ -0.6175596117973328
578
+ ],
579
+ "parent_body": "mobilebase0_support"
580
+ },
581
+ "robot0_agentview_left": {
582
+ "pos": [
583
+ -0.5,
584
+ 0.35,
585
+ 1.05
586
+ ],
587
+ "quat": [
588
+ 0.55623853,
589
+ 0.29935253,
590
+ -0.37678665,
591
+ -0.6775092
592
+ ],
593
+ "camera_attribs": {
594
+ "fovy": "60"
595
+ },
596
+ "parent_body": "mobilebase0_support"
597
+ },
598
+ "robot0_agentview_right": {
599
+ "pos": [
600
+ -0.5,
601
+ -0.35,
602
+ 1.05
603
+ ],
604
+ "quat": [
605
+ 0.6775091886520386,
606
+ 0.3767866790294647,
607
+ -0.2993525564670563,
608
+ -0.55623859167099
609
+ ],
610
+ "camera_attribs": {
611
+ "fovy": "60"
612
+ },
613
+ "parent_body": "mobilebase0_support"
614
+ },
615
+ "robot0_frontview": {
616
+ "pos": [
617
+ -0.5,
618
+ 0,
619
+ 0.95
620
+ ],
621
+ "quat": [
622
+ 0.6088936924934387,
623
+ 0.3814677894115448,
624
+ -0.3673907518386841,
625
+ -0.5905545353889465
626
+ ],
627
+ "camera_attribs": {
628
+ "fovy": "60"
629
+ },
630
+ "parent_body": "mobilebase0_support"
631
+ },
632
+ "robot0_eye_in_hand": {
633
+ "pos": [
634
+ 0.05,
635
+ 0,
636
+ 0
637
+ ],
638
+ "quat": [
639
+ 0,
640
+ 0.707107,
641
+ 0.707107,
642
+ 0
643
+ ],
644
+ "parent_body": "robot0_right_hand"
645
+ }
646
+ },
647
+ "init_robot_base_pos": [
648
+ 3.42086517797299,
649
+ -0.9379414586784397,
650
+ 0.0
651
+ ],
652
+ "init_robot_base_ori": [
653
+ 0.0,
654
+ 0.0,
655
+ 1.5707963267948966
656
+ ],
657
+ "refs": {
658
+ "food": "garlic"
659
+ }
660
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000341/ep_meta.json ADDED
@@ -0,0 +1,589 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 2,
3
+ "style_id": 2,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_4_main_group_3",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler006/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_4_main_group_3",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_9/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_main_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_4_main_group_3",
113
+ "min_size": [
114
+ 0.084895596,
115
+ 0.154595385,
116
+ 0.008926578000000001
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "peeler",
129
+ "tool",
130
+ "in_container"
131
+ ],
132
+ "groups": [
133
+ "all"
134
+ ],
135
+ "cat": "peeler",
136
+ "split": "test",
137
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler006/model.xml"
138
+ },
139
+ "reset_region": {
140
+ "size": [
141
+ 1.817460818110389,
142
+ 0.65
143
+ ],
144
+ "offset": [
145
+ 0.9912695909448055,
146
+ -3.469446951953614e-17,
147
+ 0.46
148
+ ],
149
+ "name": "geom_0"
150
+ }
151
+ },
152
+ {
153
+ "name": "food_container",
154
+ "obj_groups": "cutting_board",
155
+ "placement": {
156
+ "fixture": "counter_main_main_group",
157
+ "sample_region_kwargs": {
158
+ "ref": "stack_4_main_group_3",
159
+ "top_size": [
160
+ 0.5,
161
+ 0.5
162
+ ],
163
+ "min_size": [
164
+ 0.21110849100000012,
165
+ 0.33280476075000015,
166
+ 0.014705681625000007
167
+ ]
168
+ },
169
+ "size": [
170
+ 0.5,
171
+ 0.5
172
+ ],
173
+ "pos": [
174
+ "ref",
175
+ -1.0
176
+ ],
177
+ "try_to_place_in": "cutting_board"
178
+ },
179
+ "type": "object",
180
+ "info": {
181
+ "groups_containing_sampled_obj": [
182
+ "all",
183
+ "cutting_board",
184
+ "receptacle"
185
+ ],
186
+ "groups": [
187
+ "cutting_board"
188
+ ],
189
+ "cat": "cutting_board",
190
+ "split": "test",
191
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_7/model.xml"
192
+ },
193
+ "reset_region": {
194
+ "size": [
195
+ 1.817460818110389,
196
+ 0.65
197
+ ],
198
+ "offset": [
199
+ 0.9912695909448055,
200
+ -3.469446951953614e-17,
201
+ 0.46
202
+ ],
203
+ "name": "geom_0"
204
+ }
205
+ },
206
+ {
207
+ "name": "food",
208
+ "obj_groups": "avocado",
209
+ "placement": {
210
+ "size": [
211
+ 0.01,
212
+ 0.01
213
+ ],
214
+ "ensure_object_boundary_in_range": false,
215
+ "sample_args": {
216
+ "reference": "food_container",
217
+ "on_top": true
218
+ }
219
+ },
220
+ "type": "object",
221
+ "info": {
222
+ "groups_containing_sampled_obj": [
223
+ "all",
224
+ "avocado",
225
+ "vegetable",
226
+ "food",
227
+ "in_container"
228
+ ],
229
+ "groups": [
230
+ "avocado"
231
+ ],
232
+ "cat": "avocado",
233
+ "split": "test",
234
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_8/model.xml"
235
+ }
236
+ }
237
+ ],
238
+ "fixtures": {
239
+ "wall_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_backing_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_left_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_left_backing_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_right_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "wall_right_backing_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "floor_room": {
258
+ "cls": "Floor"
259
+ },
260
+ "floor_backing_room": {
261
+ "cls": "Floor"
262
+ },
263
+ "outlet_room": {
264
+ "cls": "WallAccessory"
265
+ },
266
+ "outlet_2_room": {
267
+ "cls": "WallAccessory"
268
+ },
269
+ "light_switch_room": {
270
+ "cls": "WallAccessory"
271
+ },
272
+ "light_switch_2_room": {
273
+ "cls": "WallAccessory"
274
+ },
275
+ "utensil_rack_room": {
276
+ "cls": "WallAccessory"
277
+ },
278
+ "stool_1_room": {
279
+ "cls": "Stool"
280
+ },
281
+ "stool_2_room": {
282
+ "cls": "Stool"
283
+ },
284
+ "stool_3_room": {
285
+ "cls": "Stool"
286
+ },
287
+ "stovetop_main_group": {
288
+ "cls": "Stovetop"
289
+ },
290
+ "counter_main_main_group": {
291
+ "cls": "Counter"
292
+ },
293
+ "bottom_main_group_base": {
294
+ "cls": "Box"
295
+ },
296
+ "bottom_main_group_1": {
297
+ "cls": "Drawer"
298
+ },
299
+ "bottom_main_group_2": {
300
+ "cls": "Drawer"
301
+ },
302
+ "oven_main_group": {
303
+ "cls": "Oven"
304
+ },
305
+ "oven_housing_main_group": {
306
+ "cls": "HousingCabinet"
307
+ },
308
+ "microwave_main_group": {
309
+ "cls": "Microwave"
310
+ },
311
+ "micro_housing_main_group": {
312
+ "cls": "HousingCabinet"
313
+ },
314
+ "top_main_group": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "fridge_main_group": {
318
+ "cls": "FridgeSideBySide"
319
+ },
320
+ "fridge_housing_main_group": {
321
+ "cls": "HousingCabinet"
322
+ },
323
+ "fridge_top_main_group": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "cab_main_main_group": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "hood_main_group": {
330
+ "cls": "Hood"
331
+ },
332
+ "shelves_main_group": {
333
+ "cls": "OpenCabinet"
334
+ },
335
+ "cab_2_main_group": {
336
+ "cls": "HingeCabinet"
337
+ },
338
+ "stack_3_main_group_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_3_main_group_1": {
342
+ "cls": "HingeCabinet"
343
+ },
344
+ "stack_3_main_group_2": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_3_main_group_3": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_4_main_group_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_4_main_group_1": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "stack_4_main_group_2": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_4_main_group_3": {
360
+ "cls": "Drawer"
361
+ },
362
+ "stack_5_main_group_base": {
363
+ "cls": "Box"
364
+ },
365
+ "stack_5_main_group_1": {
366
+ "cls": "HingeCabinet"
367
+ },
368
+ "stack_5_main_group_2": {
369
+ "cls": "Drawer"
370
+ },
371
+ "stack_5_main_group_3": {
372
+ "cls": "Drawer"
373
+ },
374
+ "stack_6_main_group_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_6_main_group_1": {
378
+ "cls": "Drawer"
379
+ },
380
+ "stack_6_main_group_2": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_6_main_group_3": {
384
+ "cls": "Drawer"
385
+ },
386
+ "stack_6_main_group_4": {
387
+ "cls": "Drawer"
388
+ },
389
+ "toaster_main_group": {
390
+ "cls": "Toaster"
391
+ },
392
+ "knife_block_main_group": {
393
+ "cls": "Accessory"
394
+ },
395
+ "paper_towel_main_group": {
396
+ "cls": "Accessory"
397
+ },
398
+ "coffee_machine_main_group": {
399
+ "cls": "CoffeeMachine"
400
+ },
401
+ "digital_scale_main_group": {
402
+ "cls": "Accessory"
403
+ },
404
+ "oil_bottle_main_group": {
405
+ "cls": "Accessory"
406
+ },
407
+ "jar_main_group": {
408
+ "cls": "Accessory"
409
+ },
410
+ "paprika_main_group": {
411
+ "cls": "Accessory"
412
+ },
413
+ "cinnamon_main_group": {
414
+ "cls": "Accessory"
415
+ },
416
+ "turmeric_main_group": {
417
+ "cls": "Accessory"
418
+ },
419
+ "oil_bottle_main_group_auxiliary_main_group": {
420
+ "cls": "Accessory"
421
+ },
422
+ "jar_main_group_auxiliary_main_group": {
423
+ "cls": "Accessory"
424
+ },
425
+ "sink_island_group": {
426
+ "cls": "Sink"
427
+ },
428
+ "island_island_group": {
429
+ "cls": "Counter"
430
+ },
431
+ "island_stack_1_island_group_base": {
432
+ "cls": "Box"
433
+ },
434
+ "island_stack_1_island_group_1": {
435
+ "cls": "HingeCabinet"
436
+ },
437
+ "island_stack_1_island_group_2": {
438
+ "cls": "PanelCabinet"
439
+ },
440
+ "dishwasher_island_group": {
441
+ "cls": "Dishwasher"
442
+ },
443
+ "island_panel_cab_right_island_group_base": {
444
+ "cls": "Box"
445
+ },
446
+ "island_panel_cab_right_island_group_1": {
447
+ "cls": "PanelCabinet"
448
+ },
449
+ "island_cab_left_island_group_base": {
450
+ "cls": "Box"
451
+ },
452
+ "island_cab_left_island_group_1": {
453
+ "cls": "Drawer"
454
+ },
455
+ "island_cab_left_island_group_2": {
456
+ "cls": "Drawer"
457
+ },
458
+ "island_cab_left_island_group_3": {
459
+ "cls": "Drawer"
460
+ },
461
+ "island_cab_left_island_group_4": {
462
+ "cls": "Drawer"
463
+ },
464
+ "island_panel_cab_left_island_group_base": {
465
+ "cls": "Box"
466
+ },
467
+ "island_panel_cab_left_island_group_1": {
468
+ "cls": "PanelCabinet"
469
+ },
470
+ "island_base_box_island_group": {
471
+ "cls": "Box"
472
+ },
473
+ "plant_island_group": {
474
+ "cls": "Accessory"
475
+ },
476
+ "soap_dispenser_island_group": {
477
+ "cls": "Accessory"
478
+ },
479
+ "fruit_bowl_island_group": {
480
+ "cls": "Accessory"
481
+ },
482
+ "salt_shaker_island_group": {
483
+ "cls": "Accessory"
484
+ },
485
+ "salt_shaker_island_group_auxiliary_island_group": {
486
+ "cls": "Accessory"
487
+ }
488
+ },
489
+ "gen_textures": {},
490
+ "lang": "Place the appropriate cutting tool for cutting the avocado skin on the cutting board.",
491
+ "fixture_refs": {
492
+ "drawer": "stack_4_main_group_3",
493
+ "counter": "counter_main_main_group"
494
+ },
495
+ "cam_configs": {
496
+ "robot0_agentview_center": {
497
+ "pos": [
498
+ -0.6,
499
+ 0.0,
500
+ 1.15
501
+ ],
502
+ "quat": [
503
+ 0.636945903301239,
504
+ 0.3325185477733612,
505
+ -0.3199238181114197,
506
+ -0.6175596117973328
507
+ ],
508
+ "parent_body": "mobilebase0_support"
509
+ },
510
+ "robot0_agentview_left": {
511
+ "pos": [
512
+ -0.5,
513
+ 0.35,
514
+ 1.05
515
+ ],
516
+ "quat": [
517
+ 0.55623853,
518
+ 0.29935253,
519
+ -0.37678665,
520
+ -0.6775092
521
+ ],
522
+ "camera_attribs": {
523
+ "fovy": "60"
524
+ },
525
+ "parent_body": "mobilebase0_support"
526
+ },
527
+ "robot0_agentview_right": {
528
+ "pos": [
529
+ -0.5,
530
+ -0.35,
531
+ 1.05
532
+ ],
533
+ "quat": [
534
+ 0.6775091886520386,
535
+ 0.3767866790294647,
536
+ -0.2993525564670563,
537
+ -0.55623859167099
538
+ ],
539
+ "camera_attribs": {
540
+ "fovy": "60"
541
+ },
542
+ "parent_body": "mobilebase0_support"
543
+ },
544
+ "robot0_frontview": {
545
+ "pos": [
546
+ -0.5,
547
+ 0,
548
+ 0.95
549
+ ],
550
+ "quat": [
551
+ 0.6088936924934387,
552
+ 0.3814677894115448,
553
+ -0.3673907518386841,
554
+ -0.5905545353889465
555
+ ],
556
+ "camera_attribs": {
557
+ "fovy": "60"
558
+ },
559
+ "parent_body": "mobilebase0_support"
560
+ },
561
+ "robot0_eye_in_hand": {
562
+ "pos": [
563
+ 0.05,
564
+ 0,
565
+ 0
566
+ ],
567
+ "quat": [
568
+ 0,
569
+ 0.707107,
570
+ 0.707107,
571
+ 0
572
+ ],
573
+ "parent_body": "robot0_right_hand"
574
+ }
575
+ },
576
+ "init_robot_base_pos": [
577
+ 3.4375433930706936,
578
+ -0.8435630516483063,
579
+ 0.0
580
+ ],
581
+ "init_robot_base_ori": [
582
+ 0.0,
583
+ 0.0,
584
+ 1.5707963267948966
585
+ ],
586
+ "refs": {
587
+ "food": "avocado"
588
+ }
589
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000347/ep_meta.json ADDED
@@ -0,0 +1,610 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 8,
3
+ "style_id": 8,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_2_left_group_2",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler004/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_2_left_group_2",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_7/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_1_left_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_2_left_group_2",
113
+ "min_size": [
114
+ 0.15531723337499997,
115
+ 0.16982582512499994,
116
+ 0.13569816262499998
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "kettle_non_electric",
129
+ "receptacle",
130
+ "kettle",
131
+ "cookware"
132
+ ],
133
+ "groups": [
134
+ "all"
135
+ ],
136
+ "cat": "kettle_non_electric",
137
+ "split": "test",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_3/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 0.4999999999999998,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 1.1102230246251565e-16,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "food_container",
155
+ "obj_groups": "cutting_board",
156
+ "placement": {
157
+ "fixture": "counter_1_left_group",
158
+ "sample_region_kwargs": {
159
+ "ref": "stack_2_left_group_2",
160
+ "top_size": [
161
+ 0.5,
162
+ 0.5
163
+ ],
164
+ "min_size": [
165
+ 0.22229021025000018,
166
+ 0.3374063910000002,
167
+ 0.007644037500000005
168
+ ]
169
+ },
170
+ "size": [
171
+ 0.5,
172
+ 0.5
173
+ ],
174
+ "pos": [
175
+ "ref",
176
+ -1.0
177
+ ],
178
+ "try_to_place_in": "cutting_board"
179
+ },
180
+ "type": "object",
181
+ "info": {
182
+ "groups_containing_sampled_obj": [
183
+ "all",
184
+ "cutting_board",
185
+ "receptacle"
186
+ ],
187
+ "groups": [
188
+ "cutting_board"
189
+ ],
190
+ "cat": "cutting_board",
191
+ "split": "test",
192
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_4/model.xml"
193
+ },
194
+ "reset_region": {
195
+ "size": [
196
+ 0.4999999999999998,
197
+ 0.65
198
+ ],
199
+ "offset": [
200
+ 1.1102230246251565e-16,
201
+ 0.0,
202
+ 0.46
203
+ ],
204
+ "name": "geom_0"
205
+ }
206
+ },
207
+ {
208
+ "name": "food",
209
+ "obj_groups": "potato",
210
+ "placement": {
211
+ "size": [
212
+ 0.01,
213
+ 0.01
214
+ ],
215
+ "ensure_object_boundary_in_range": false,
216
+ "sample_args": {
217
+ "reference": "food_container",
218
+ "on_top": true
219
+ }
220
+ },
221
+ "type": "object",
222
+ "info": {
223
+ "groups_containing_sampled_obj": [
224
+ "all",
225
+ "potato",
226
+ "vegetable",
227
+ "food",
228
+ "in_container",
229
+ "food_set1",
230
+ "oven_ready"
231
+ ],
232
+ "groups": [
233
+ "potato"
234
+ ],
235
+ "cat": "potato",
236
+ "split": "test",
237
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_8/model.xml"
238
+ }
239
+ }
240
+ ],
241
+ "fixtures": {
242
+ "wall_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_backing_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_left_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_left_backing_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "wall_right_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "wall_right_backing_room": {
258
+ "cls": "Wall"
259
+ },
260
+ "outlet_room": {
261
+ "cls": "WallAccessory"
262
+ },
263
+ "outlet_2_room": {
264
+ "cls": "WallAccessory"
265
+ },
266
+ "light_switch_room": {
267
+ "cls": "WallAccessory"
268
+ },
269
+ "light_switch_2_room": {
270
+ "cls": "WallAccessory"
271
+ },
272
+ "utensil_rack_room": {
273
+ "cls": "WallAccessory"
274
+ },
275
+ "window_group_room": {
276
+ "cls": "Window"
277
+ },
278
+ "floor_room": {
279
+ "cls": "Floor"
280
+ },
281
+ "floor_backing_room": {
282
+ "cls": "Floor"
283
+ },
284
+ "stool_1_room": {
285
+ "cls": "Stool"
286
+ },
287
+ "stool_2_room": {
288
+ "cls": "Stool"
289
+ },
290
+ "counter_corner_main_group": {
291
+ "cls": "Counter"
292
+ },
293
+ "counter_main_main_group": {
294
+ "cls": "Counter"
295
+ },
296
+ "counter_corner_2_main_group": {
297
+ "cls": "Counter"
298
+ },
299
+ "cab_corner_main_group": {
300
+ "cls": "Box"
301
+ },
302
+ "cab_corner_2_main_group": {
303
+ "cls": "Box"
304
+ },
305
+ "cab_main_main_group": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "cab_1_main_group": {
309
+ "cls": "SingleCabinet"
310
+ },
311
+ "cab_corner_3_main_group": {
312
+ "cls": "Box"
313
+ },
314
+ "cab_corner_4_main_group": {
315
+ "cls": "Box"
316
+ },
317
+ "stack_1_main_group_base": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_1_main_group_1": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "stack_1_main_group_2": {
324
+ "cls": "Drawer"
325
+ },
326
+ "stack_1_main_group_3": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_2_main_group_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_2_main_group_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "stack_2_main_group_2": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_2_main_group_3": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_3_main_group_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_3_main_group_1": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_3_main_group_2": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_3_main_group_3": {
351
+ "cls": "Drawer"
352
+ },
353
+ "stack_3_main_group_4": {
354
+ "cls": "Drawer"
355
+ },
356
+ "toaster_main_group": {
357
+ "cls": "Toaster"
358
+ },
359
+ "toaster_oven_main_group": {
360
+ "cls": "ToasterOven"
361
+ },
362
+ "oil_bottle_main_group": {
363
+ "cls": "Accessory"
364
+ },
365
+ "fruit_bowl_main_group": {
366
+ "cls": "Accessory"
367
+ },
368
+ "knife_block_main_group": {
369
+ "cls": "Accessory"
370
+ },
371
+ "utensil_set_main_group": {
372
+ "cls": "Accessory"
373
+ },
374
+ "paper_towel_main_group": {
375
+ "cls": "Accessory"
376
+ },
377
+ "oil_bottle_main_group_auxiliary_main_group": {
378
+ "cls": "Accessory"
379
+ },
380
+ "counter_1_front_group": {
381
+ "cls": "Counter"
382
+ },
383
+ "counter_corner_front_group": {
384
+ "cls": "Counter"
385
+ },
386
+ "counter_1_left_group": {
387
+ "cls": "Counter"
388
+ },
389
+ "stove_left_group": {
390
+ "cls": "Stove"
391
+ },
392
+ "counter_2_left_group": {
393
+ "cls": "Counter"
394
+ },
395
+ "counter_corner_left_group": {
396
+ "cls": "Counter"
397
+ },
398
+ "fridge_left_group": {
399
+ "cls": "FridgeFrenchDoor"
400
+ },
401
+ "fridge_housing_left_group": {
402
+ "cls": "HousingCabinet"
403
+ },
404
+ "stack_1_left_group_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_1_left_group_1": {
408
+ "cls": "SingleCabinet"
409
+ },
410
+ "stack_1_left_group_2": {
411
+ "cls": "Drawer"
412
+ },
413
+ "stack_2_left_group_base": {
414
+ "cls": "Box"
415
+ },
416
+ "stack_2_left_group_1": {
417
+ "cls": "SingleCabinet"
418
+ },
419
+ "stack_2_left_group_2": {
420
+ "cls": "Drawer"
421
+ },
422
+ "cab_1_left_group": {
423
+ "cls": "SingleCabinet"
424
+ },
425
+ "microwave_left_group": {
426
+ "cls": "Microwave"
427
+ },
428
+ "cab_micro_left_group": {
429
+ "cls": "HingeCabinet"
430
+ },
431
+ "cab_2_left_group": {
432
+ "cls": "SingleCabinet"
433
+ },
434
+ "cab_3_left_group": {
435
+ "cls": "HingeCabinet"
436
+ },
437
+ "coffee_machine_left_group": {
438
+ "cls": "CoffeeMachine"
439
+ },
440
+ "salt_shaker_left_group": {
441
+ "cls": "Accessory"
442
+ },
443
+ "salt_shaker_left_group_auxiliary_left_group": {
444
+ "cls": "Accessory"
445
+ },
446
+ "sink_right_group": {
447
+ "cls": "Sink"
448
+ },
449
+ "counter_1_right_group": {
450
+ "cls": "Counter"
451
+ },
452
+ "counter_corner_right_group": {
453
+ "cls": "Counter"
454
+ },
455
+ "counter_corner_2_right_group": {
456
+ "cls": "Counter"
457
+ },
458
+ "stack_1_right_group_base": {
459
+ "cls": "Box"
460
+ },
461
+ "stack_1_right_group_1": {
462
+ "cls": "HingeCabinet"
463
+ },
464
+ "stack_1_right_group_2": {
465
+ "cls": "PanelCabinet"
466
+ },
467
+ "dishwasher_right_group": {
468
+ "cls": "Dishwasher"
469
+ },
470
+ "stack_2_right_group_base": {
471
+ "cls": "Box"
472
+ },
473
+ "stack_2_right_group_1": {
474
+ "cls": "Drawer"
475
+ },
476
+ "stack_2_right_group_2": {
477
+ "cls": "Drawer"
478
+ },
479
+ "stack_2_right_group_3": {
480
+ "cls": "Drawer"
481
+ },
482
+ "stack_2_right_group_4": {
483
+ "cls": "Drawer"
484
+ },
485
+ "cab_1_right_group": {
486
+ "cls": "HingeCabinet"
487
+ },
488
+ "shelves_right_group": {
489
+ "cls": "OpenCabinet"
490
+ },
491
+ "flower_vase_right_group": {
492
+ "cls": "Accessory"
493
+ },
494
+ "soap_dispenser_right_group": {
495
+ "cls": "Accessory"
496
+ },
497
+ "glass_cup_right_group": {
498
+ "cls": "Accessory"
499
+ },
500
+ "glass_cup_2_right_group": {
501
+ "cls": "Accessory"
502
+ },
503
+ "paprika_right_group": {
504
+ "cls": "Accessory"
505
+ },
506
+ "cinnamon_right_group": {
507
+ "cls": "Accessory"
508
+ }
509
+ },
510
+ "gen_textures": {},
511
+ "lang": "Place the appropriate cutting tool for cutting the potato skin on the cutting board.",
512
+ "fixture_refs": {
513
+ "drawer": "stack_2_left_group_2",
514
+ "counter": "counter_1_left_group"
515
+ },
516
+ "cam_configs": {
517
+ "robot0_agentview_center": {
518
+ "pos": [
519
+ -0.6,
520
+ 0.0,
521
+ 1.15
522
+ ],
523
+ "quat": [
524
+ 0.636945903301239,
525
+ 0.3325185477733612,
526
+ -0.3199238181114197,
527
+ -0.6175596117973328
528
+ ],
529
+ "parent_body": "mobilebase0_support"
530
+ },
531
+ "robot0_agentview_left": {
532
+ "pos": [
533
+ -0.5,
534
+ 0.35,
535
+ 1.05
536
+ ],
537
+ "quat": [
538
+ 0.55623853,
539
+ 0.29935253,
540
+ -0.37678665,
541
+ -0.6775092
542
+ ],
543
+ "camera_attribs": {
544
+ "fovy": "60"
545
+ },
546
+ "parent_body": "mobilebase0_support"
547
+ },
548
+ "robot0_agentview_right": {
549
+ "pos": [
550
+ -0.5,
551
+ -0.35,
552
+ 1.05
553
+ ],
554
+ "quat": [
555
+ 0.6775091886520386,
556
+ 0.3767866790294647,
557
+ -0.2993525564670563,
558
+ -0.55623859167099
559
+ ],
560
+ "camera_attribs": {
561
+ "fovy": "60"
562
+ },
563
+ "parent_body": "mobilebase0_support"
564
+ },
565
+ "robot0_frontview": {
566
+ "pos": [
567
+ -0.5,
568
+ 0,
569
+ 0.95
570
+ ],
571
+ "quat": [
572
+ 0.6088936924934387,
573
+ 0.3814677894115448,
574
+ -0.3673907518386841,
575
+ -0.5905545353889465
576
+ ],
577
+ "camera_attribs": {
578
+ "fovy": "60"
579
+ },
580
+ "parent_body": "mobilebase0_support"
581
+ },
582
+ "robot0_eye_in_hand": {
583
+ "pos": [
584
+ 0.05,
585
+ 0,
586
+ 0
587
+ ],
588
+ "quat": [
589
+ 0,
590
+ 0.707107,
591
+ 0.707107,
592
+ 0
593
+ ],
594
+ "parent_body": "robot0_right_hand"
595
+ }
596
+ },
597
+ "init_robot_base_pos": [
598
+ 0.8830592852494166,
599
+ -1.4272994533368952,
600
+ 0.0
601
+ ],
602
+ "init_robot_base_ori": [
603
+ 0.0,
604
+ 0.0,
605
+ 3.1415963267948968
606
+ ],
607
+ "refs": {
608
+ "food": "potato"
609
+ }
610
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000350/ep_meta.json ADDED
@@ -0,0 +1,589 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 2,
3
+ "style_id": 2,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_5_main_group_3",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler004/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_5_main_group_3",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_5/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_main_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_5_main_group_3",
113
+ "min_size": [
114
+ 0.06355554164999998,
115
+ 0.06234664634999998,
116
+ 0.068231406375
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "jam",
129
+ "packaged_food"
130
+ ],
131
+ "groups": [
132
+ "all"
133
+ ],
134
+ "cat": "jam",
135
+ "split": "test",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 1.5349216362207783,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ 0.8500000000000001,
145
+ -3.469446951953614e-17,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food_container",
153
+ "obj_groups": "cutting_board",
154
+ "placement": {
155
+ "fixture": "counter_main_main_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "stack_5_main_group_3",
158
+ "top_size": [
159
+ 0.5,
160
+ 0.5
161
+ ],
162
+ "min_size": [
163
+ 0.2102443155000001,
164
+ 0.3375000067500002,
165
+ 0.025346209500000008
166
+ ]
167
+ },
168
+ "size": [
169
+ 0.5,
170
+ 0.5
171
+ ],
172
+ "pos": [
173
+ "ref",
174
+ -1.0
175
+ ],
176
+ "try_to_place_in": "cutting_board"
177
+ },
178
+ "type": "object",
179
+ "info": {
180
+ "groups_containing_sampled_obj": [
181
+ "all",
182
+ "cutting_board",
183
+ "receptacle"
184
+ ],
185
+ "groups": [
186
+ "cutting_board"
187
+ ],
188
+ "cat": "cutting_board",
189
+ "split": "test",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_2/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 1.5349216362207783,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.8500000000000001,
199
+ -3.469446951953614e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ },
205
+ {
206
+ "name": "food",
207
+ "obj_groups": "broccoli",
208
+ "placement": {
209
+ "size": [
210
+ 0.01,
211
+ 0.01
212
+ ],
213
+ "ensure_object_boundary_in_range": false,
214
+ "sample_args": {
215
+ "reference": "food_container",
216
+ "on_top": true
217
+ }
218
+ },
219
+ "type": "object",
220
+ "info": {
221
+ "groups_containing_sampled_obj": [
222
+ "all",
223
+ "broccoli",
224
+ "vegetable",
225
+ "food",
226
+ "in_container",
227
+ "oven_ready"
228
+ ],
229
+ "groups": [
230
+ "broccoli"
231
+ ],
232
+ "cat": "broccoli",
233
+ "split": "test",
234
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
235
+ }
236
+ }
237
+ ],
238
+ "fixtures": {
239
+ "wall_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_backing_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_left_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_left_backing_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_right_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "wall_right_backing_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "floor_room": {
258
+ "cls": "Floor"
259
+ },
260
+ "floor_backing_room": {
261
+ "cls": "Floor"
262
+ },
263
+ "outlet_room": {
264
+ "cls": "WallAccessory"
265
+ },
266
+ "outlet_2_room": {
267
+ "cls": "WallAccessory"
268
+ },
269
+ "light_switch_room": {
270
+ "cls": "WallAccessory"
271
+ },
272
+ "light_switch_2_room": {
273
+ "cls": "WallAccessory"
274
+ },
275
+ "utensil_rack_room": {
276
+ "cls": "WallAccessory"
277
+ },
278
+ "stool_1_room": {
279
+ "cls": "Stool"
280
+ },
281
+ "stool_2_room": {
282
+ "cls": "Stool"
283
+ },
284
+ "stool_3_room": {
285
+ "cls": "Stool"
286
+ },
287
+ "stovetop_main_group": {
288
+ "cls": "Stovetop"
289
+ },
290
+ "counter_main_main_group": {
291
+ "cls": "Counter"
292
+ },
293
+ "bottom_main_group_base": {
294
+ "cls": "Box"
295
+ },
296
+ "bottom_main_group_1": {
297
+ "cls": "Drawer"
298
+ },
299
+ "bottom_main_group_2": {
300
+ "cls": "Drawer"
301
+ },
302
+ "oven_main_group": {
303
+ "cls": "Oven"
304
+ },
305
+ "oven_housing_main_group": {
306
+ "cls": "HousingCabinet"
307
+ },
308
+ "microwave_main_group": {
309
+ "cls": "Microwave"
310
+ },
311
+ "micro_housing_main_group": {
312
+ "cls": "HousingCabinet"
313
+ },
314
+ "top_main_group": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "fridge_main_group": {
318
+ "cls": "FridgeSideBySide"
319
+ },
320
+ "fridge_housing_main_group": {
321
+ "cls": "HousingCabinet"
322
+ },
323
+ "fridge_top_main_group": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "cab_main_main_group": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "hood_main_group": {
330
+ "cls": "Hood"
331
+ },
332
+ "shelves_main_group": {
333
+ "cls": "OpenCabinet"
334
+ },
335
+ "cab_2_main_group": {
336
+ "cls": "HingeCabinet"
337
+ },
338
+ "stack_3_main_group_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_3_main_group_1": {
342
+ "cls": "HingeCabinet"
343
+ },
344
+ "stack_3_main_group_2": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_3_main_group_3": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_4_main_group_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_4_main_group_1": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "stack_4_main_group_2": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_4_main_group_3": {
360
+ "cls": "Drawer"
361
+ },
362
+ "stack_5_main_group_base": {
363
+ "cls": "Box"
364
+ },
365
+ "stack_5_main_group_1": {
366
+ "cls": "HingeCabinet"
367
+ },
368
+ "stack_5_main_group_2": {
369
+ "cls": "Drawer"
370
+ },
371
+ "stack_5_main_group_3": {
372
+ "cls": "Drawer"
373
+ },
374
+ "stack_6_main_group_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_6_main_group_1": {
378
+ "cls": "Drawer"
379
+ },
380
+ "stack_6_main_group_2": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_6_main_group_3": {
384
+ "cls": "Drawer"
385
+ },
386
+ "stack_6_main_group_4": {
387
+ "cls": "Drawer"
388
+ },
389
+ "toaster_main_group": {
390
+ "cls": "Toaster"
391
+ },
392
+ "knife_block_main_group": {
393
+ "cls": "Accessory"
394
+ },
395
+ "paper_towel_main_group": {
396
+ "cls": "Accessory"
397
+ },
398
+ "coffee_machine_main_group": {
399
+ "cls": "CoffeeMachine"
400
+ },
401
+ "digital_scale_main_group": {
402
+ "cls": "Accessory"
403
+ },
404
+ "oil_bottle_main_group": {
405
+ "cls": "Accessory"
406
+ },
407
+ "jar_main_group": {
408
+ "cls": "Accessory"
409
+ },
410
+ "paprika_main_group": {
411
+ "cls": "Accessory"
412
+ },
413
+ "cinnamon_main_group": {
414
+ "cls": "Accessory"
415
+ },
416
+ "turmeric_main_group": {
417
+ "cls": "Accessory"
418
+ },
419
+ "oil_bottle_main_group_auxiliary_main_group": {
420
+ "cls": "Accessory"
421
+ },
422
+ "jar_main_group_auxiliary_main_group": {
423
+ "cls": "Accessory"
424
+ },
425
+ "sink_island_group": {
426
+ "cls": "Sink"
427
+ },
428
+ "island_island_group": {
429
+ "cls": "Counter"
430
+ },
431
+ "island_stack_1_island_group_base": {
432
+ "cls": "Box"
433
+ },
434
+ "island_stack_1_island_group_1": {
435
+ "cls": "HingeCabinet"
436
+ },
437
+ "island_stack_1_island_group_2": {
438
+ "cls": "PanelCabinet"
439
+ },
440
+ "dishwasher_island_group": {
441
+ "cls": "Dishwasher"
442
+ },
443
+ "island_panel_cab_right_island_group_base": {
444
+ "cls": "Box"
445
+ },
446
+ "island_panel_cab_right_island_group_1": {
447
+ "cls": "PanelCabinet"
448
+ },
449
+ "island_cab_left_island_group_base": {
450
+ "cls": "Box"
451
+ },
452
+ "island_cab_left_island_group_1": {
453
+ "cls": "Drawer"
454
+ },
455
+ "island_cab_left_island_group_2": {
456
+ "cls": "Drawer"
457
+ },
458
+ "island_cab_left_island_group_3": {
459
+ "cls": "Drawer"
460
+ },
461
+ "island_cab_left_island_group_4": {
462
+ "cls": "Drawer"
463
+ },
464
+ "island_panel_cab_left_island_group_base": {
465
+ "cls": "Box"
466
+ },
467
+ "island_panel_cab_left_island_group_1": {
468
+ "cls": "PanelCabinet"
469
+ },
470
+ "island_base_box_island_group": {
471
+ "cls": "Box"
472
+ },
473
+ "plant_island_group": {
474
+ "cls": "Accessory"
475
+ },
476
+ "soap_dispenser_island_group": {
477
+ "cls": "Accessory"
478
+ },
479
+ "fruit_bowl_island_group": {
480
+ "cls": "Accessory"
481
+ },
482
+ "salt_shaker_island_group": {
483
+ "cls": "Accessory"
484
+ },
485
+ "salt_shaker_island_group_auxiliary_island_group": {
486
+ "cls": "Accessory"
487
+ }
488
+ },
489
+ "gen_textures": {},
490
+ "lang": "Place the appropriate cutting tool for cutting the broccoli skin on the cutting board.",
491
+ "fixture_refs": {
492
+ "drawer": "stack_5_main_group_3",
493
+ "counter": "counter_main_main_group"
494
+ },
495
+ "cam_configs": {
496
+ "robot0_agentview_center": {
497
+ "pos": [
498
+ -0.6,
499
+ 0.0,
500
+ 1.15
501
+ ],
502
+ "quat": [
503
+ 0.636945903301239,
504
+ 0.3325185477733612,
505
+ -0.3199238181114197,
506
+ -0.6175596117973328
507
+ ],
508
+ "parent_body": "mobilebase0_support"
509
+ },
510
+ "robot0_agentview_left": {
511
+ "pos": [
512
+ -0.5,
513
+ 0.35,
514
+ 1.05
515
+ ],
516
+ "quat": [
517
+ 0.55623853,
518
+ 0.29935253,
519
+ -0.37678665,
520
+ -0.6775092
521
+ ],
522
+ "camera_attribs": {
523
+ "fovy": "60"
524
+ },
525
+ "parent_body": "mobilebase0_support"
526
+ },
527
+ "robot0_agentview_right": {
528
+ "pos": [
529
+ -0.5,
530
+ -0.35,
531
+ 1.05
532
+ ],
533
+ "quat": [
534
+ 0.6775091886520386,
535
+ 0.3767866790294647,
536
+ -0.2993525564670563,
537
+ -0.55623859167099
538
+ ],
539
+ "camera_attribs": {
540
+ "fovy": "60"
541
+ },
542
+ "parent_body": "mobilebase0_support"
543
+ },
544
+ "robot0_frontview": {
545
+ "pos": [
546
+ -0.5,
547
+ 0,
548
+ 0.95
549
+ ],
550
+ "quat": [
551
+ 0.6088936924934387,
552
+ 0.3814677894115448,
553
+ -0.3673907518386841,
554
+ -0.5905545353889465
555
+ ],
556
+ "camera_attribs": {
557
+ "fovy": "60"
558
+ },
559
+ "parent_body": "mobilebase0_support"
560
+ },
561
+ "robot0_eye_in_hand": {
562
+ "pos": [
563
+ 0.05,
564
+ 0,
565
+ 0
566
+ ],
567
+ "quat": [
568
+ 0,
569
+ 0.707107,
570
+ 0.707107,
571
+ 0
572
+ ],
573
+ "parent_body": "robot0_right_hand"
574
+ }
575
+ },
576
+ "init_robot_base_pos": [
577
+ 3.581719000900481,
578
+ -0.9147238043913337,
579
+ 0.0
580
+ ],
581
+ "init_robot_base_ori": [
582
+ 0.0,
583
+ 0.0,
584
+ 1.5707963267948966
585
+ ],
586
+ "refs": {
587
+ "food": "broccoli"
588
+ }
589
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000362/ep_meta.json ADDED
@@ -0,0 +1,578 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 4,
3
+ "style_id": 4,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_3_main_group_3",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler004/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_3_main_group_3",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_6/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_1_right_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_3_main_group_3",
113
+ "min_size": [
114
+ 0.15001146029999998,
115
+ 0.08088150029999999,
116
+ 0.2038844649
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "syrup_bottle",
129
+ "condiment"
130
+ ],
131
+ "groups": [
132
+ "all"
133
+ ],
134
+ "cat": "syrup_bottle",
135
+ "split": "test",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle007/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 0.5,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ 0.75,
145
+ -3.469446951953614e-17,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food_container",
153
+ "obj_groups": "cutting_board",
154
+ "placement": {
155
+ "fixture": "counter_1_right_main_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "stack_3_main_group_3",
158
+ "top_size": [
159
+ 0.5,
160
+ 0.5
161
+ ],
162
+ "min_size": [
163
+ 0.21596736834000008,
164
+ 0.3105000062100002,
165
+ 0.013541203080000005
166
+ ]
167
+ },
168
+ "size": [
169
+ 0.5,
170
+ 0.5
171
+ ],
172
+ "pos": [
173
+ "ref",
174
+ -1.0
175
+ ],
176
+ "try_to_place_in": "cutting_board"
177
+ },
178
+ "type": "object",
179
+ "info": {
180
+ "groups_containing_sampled_obj": [
181
+ "all",
182
+ "cutting_board",
183
+ "receptacle"
184
+ ],
185
+ "groups": [
186
+ "cutting_board"
187
+ ],
188
+ "cat": "cutting_board",
189
+ "split": "test",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 0.5,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.75,
199
+ -3.469446951953614e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ },
205
+ {
206
+ "name": "food",
207
+ "obj_groups": "potato",
208
+ "placement": {
209
+ "size": [
210
+ 0.01,
211
+ 0.01
212
+ ],
213
+ "ensure_object_boundary_in_range": false,
214
+ "sample_args": {
215
+ "reference": "food_container",
216
+ "on_top": true
217
+ }
218
+ },
219
+ "type": "object",
220
+ "info": {
221
+ "groups_containing_sampled_obj": [
222
+ "all",
223
+ "potato",
224
+ "vegetable",
225
+ "food",
226
+ "in_container",
227
+ "food_set1",
228
+ "oven_ready"
229
+ ],
230
+ "groups": [
231
+ "potato"
232
+ ],
233
+ "cat": "potato",
234
+ "split": "test",
235
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_7/model.xml"
236
+ }
237
+ }
238
+ ],
239
+ "fixtures": {
240
+ "wall_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "wall_backing_room": {
244
+ "cls": "Wall"
245
+ },
246
+ "wall_left_room": {
247
+ "cls": "Wall"
248
+ },
249
+ "wall_left_backing_room": {
250
+ "cls": "Wall"
251
+ },
252
+ "outlet_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "outlet_2_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "light_switch_room": {
259
+ "cls": "WallAccessory"
260
+ },
261
+ "light_switch_2_room": {
262
+ "cls": "WallAccessory"
263
+ },
264
+ "window_group_room": {
265
+ "cls": "Window"
266
+ },
267
+ "floor_room": {
268
+ "cls": "Floor"
269
+ },
270
+ "floor_backing_room": {
271
+ "cls": "Floor"
272
+ },
273
+ "stool_1_room": {
274
+ "cls": "Stool"
275
+ },
276
+ "stool_2_room": {
277
+ "cls": "Stool"
278
+ },
279
+ "stool_3_room": {
280
+ "cls": "Stool"
281
+ },
282
+ "counter_corner_main_main_group": {
283
+ "cls": "Counter"
284
+ },
285
+ "counter_main_main_group": {
286
+ "cls": "Counter"
287
+ },
288
+ "stovetop_main_group": {
289
+ "cls": "Stovetop"
290
+ },
291
+ "counter_1_right_main_group": {
292
+ "cls": "Counter"
293
+ },
294
+ "fridge_main_group": {
295
+ "cls": "FridgeFrenchDoor"
296
+ },
297
+ "fridge_housing_main_group": {
298
+ "cls": "HousingCabinet"
299
+ },
300
+ "stack_1_main_group_base": {
301
+ "cls": "Box"
302
+ },
303
+ "stack_1_main_group_1": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_1_main_group_2": {
307
+ "cls": "Drawer"
308
+ },
309
+ "stack_1_main_group_3": {
310
+ "cls": "Drawer"
311
+ },
312
+ "stack_1_main_group_4": {
313
+ "cls": "Drawer"
314
+ },
315
+ "stack_2_main_group_base": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_2_main_group_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "stack_2_main_group_2": {
322
+ "cls": "PanelCabinet"
323
+ },
324
+ "stack_3_main_group_base": {
325
+ "cls": "Box"
326
+ },
327
+ "stack_3_main_group_1": {
328
+ "cls": "HingeCabinet"
329
+ },
330
+ "stack_3_main_group_2": {
331
+ "cls": "Drawer"
332
+ },
333
+ "stack_3_main_group_3": {
334
+ "cls": "Drawer"
335
+ },
336
+ "hood_main_group": {
337
+ "cls": "Hood"
338
+ },
339
+ "cab_main_main_group": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "shelves_main_group": {
343
+ "cls": "OpenCabinet"
344
+ },
345
+ "fridge_cab_main_group": {
346
+ "cls": "HingeCabinet"
347
+ },
348
+ "paper_towel_main_group": {
349
+ "cls": "Accessory"
350
+ },
351
+ "knife_block_main_group": {
352
+ "cls": "Accessory"
353
+ },
354
+ "toaster_main_group": {
355
+ "cls": "Toaster"
356
+ },
357
+ "utensil_set_main_group": {
358
+ "cls": "Accessory"
359
+ },
360
+ "toaster_oven_main_group": {
361
+ "cls": "ToasterOven"
362
+ },
363
+ "jar_main_group": {
364
+ "cls": "Accessory"
365
+ },
366
+ "jar_2_main_group": {
367
+ "cls": "Accessory"
368
+ },
369
+ "glass_cup_main_group": {
370
+ "cls": "Accessory"
371
+ },
372
+ "glass_cup_2_main_group": {
373
+ "cls": "Accessory"
374
+ },
375
+ "jar_main_group_auxiliary_main_group": {
376
+ "cls": "Accessory"
377
+ },
378
+ "jar_2_main_group_auxiliary_main_group": {
379
+ "cls": "Accessory"
380
+ },
381
+ "cab_1_left_group": {
382
+ "cls": "SingleCabinet"
383
+ },
384
+ "cab_2_left_group": {
385
+ "cls": "SingleCabinet"
386
+ },
387
+ "cab_corner_3_left_group": {
388
+ "cls": "Box"
389
+ },
390
+ "cab_corner_4_left_group": {
391
+ "cls": "Box"
392
+ },
393
+ "sink_left_group": {
394
+ "cls": "Sink"
395
+ },
396
+ "counter_1_left_left_group": {
397
+ "cls": "Counter"
398
+ },
399
+ "counter_corner_left_group": {
400
+ "cls": "Counter"
401
+ },
402
+ "bottom_left_group_base": {
403
+ "cls": "Box"
404
+ },
405
+ "bottom_left_group_1": {
406
+ "cls": "Drawer"
407
+ },
408
+ "bottom_left_group_2": {
409
+ "cls": "Drawer"
410
+ },
411
+ "oven_left_group": {
412
+ "cls": "Oven"
413
+ },
414
+ "oven_housing_left_group": {
415
+ "cls": "HousingCabinet"
416
+ },
417
+ "microwave_left_group": {
418
+ "cls": "Microwave"
419
+ },
420
+ "micro_housing_left_group": {
421
+ "cls": "HousingCabinet"
422
+ },
423
+ "top_left_group": {
424
+ "cls": "HingeCabinet"
425
+ },
426
+ "stack_1_left_group": {
427
+ "cls": "SingleCabinet"
428
+ },
429
+ "dishwasher_left_group": {
430
+ "cls": "Dishwasher"
431
+ },
432
+ "stack_2_left_group_base": {
433
+ "cls": "Box"
434
+ },
435
+ "stack_2_left_group_1": {
436
+ "cls": "HingeCabinet"
437
+ },
438
+ "stack_2_left_group_2": {
439
+ "cls": "PanelCabinet"
440
+ },
441
+ "stack_3_left_group_base": {
442
+ "cls": "Box"
443
+ },
444
+ "stack_3_left_group_1": {
445
+ "cls": "HingeCabinet"
446
+ },
447
+ "stack_3_left_group_2": {
448
+ "cls": "Drawer"
449
+ },
450
+ "stack_3_left_group_3": {
451
+ "cls": "Drawer"
452
+ },
453
+ "coffee_machine_left_group": {
454
+ "cls": "CoffeeMachine"
455
+ },
456
+ "soap_dispenser_left_group": {
457
+ "cls": "Accessory"
458
+ },
459
+ "tiered_basket_left_group": {
460
+ "cls": "Accessory"
461
+ },
462
+ "island_island_group": {
463
+ "cls": "Counter"
464
+ },
465
+ "plant_island_group": {
466
+ "cls": "Accessory"
467
+ },
468
+ "fruit_bowl_island_group": {
469
+ "cls": "Accessory"
470
+ },
471
+ "salt_shaker_island_group": {
472
+ "cls": "Accessory"
473
+ },
474
+ "salt_shaker_island_group_auxiliary_island_group": {
475
+ "cls": "Accessory"
476
+ }
477
+ },
478
+ "gen_textures": {},
479
+ "lang": "Place the appropriate cutting tool for cutting the potato skin on the cutting board.",
480
+ "fixture_refs": {
481
+ "drawer": "stack_3_main_group_3",
482
+ "counter": "counter_1_right_main_group"
483
+ },
484
+ "cam_configs": {
485
+ "robot0_agentview_center": {
486
+ "pos": [
487
+ -0.6,
488
+ 0.0,
489
+ 1.15
490
+ ],
491
+ "quat": [
492
+ 0.636945903301239,
493
+ 0.3325185477733612,
494
+ -0.3199238181114197,
495
+ -0.6175596117973328
496
+ ],
497
+ "parent_body": "mobilebase0_support"
498
+ },
499
+ "robot0_agentview_left": {
500
+ "pos": [
501
+ -0.5,
502
+ 0.35,
503
+ 1.05
504
+ ],
505
+ "quat": [
506
+ 0.55623853,
507
+ 0.29935253,
508
+ -0.37678665,
509
+ -0.6775092
510
+ ],
511
+ "camera_attribs": {
512
+ "fovy": "60"
513
+ },
514
+ "parent_body": "mobilebase0_support"
515
+ },
516
+ "robot0_agentview_right": {
517
+ "pos": [
518
+ -0.5,
519
+ -0.35,
520
+ 1.05
521
+ ],
522
+ "quat": [
523
+ 0.6775091886520386,
524
+ 0.3767866790294647,
525
+ -0.2993525564670563,
526
+ -0.55623859167099
527
+ ],
528
+ "camera_attribs": {
529
+ "fovy": "60"
530
+ },
531
+ "parent_body": "mobilebase0_support"
532
+ },
533
+ "robot0_frontview": {
534
+ "pos": [
535
+ -0.5,
536
+ 0,
537
+ 0.95
538
+ ],
539
+ "quat": [
540
+ 0.6088936924934387,
541
+ 0.3814677894115448,
542
+ -0.3673907518386841,
543
+ -0.5905545353889465
544
+ ],
545
+ "camera_attribs": {
546
+ "fovy": "60"
547
+ },
548
+ "parent_body": "mobilebase0_support"
549
+ },
550
+ "robot0_eye_in_hand": {
551
+ "pos": [
552
+ 0.05,
553
+ 0,
554
+ 0
555
+ ],
556
+ "quat": [
557
+ 0,
558
+ 0.707107,
559
+ 0.707107,
560
+ 0
561
+ ],
562
+ "parent_body": "robot0_right_hand"
563
+ }
564
+ },
565
+ "init_robot_base_pos": [
566
+ 3.032888672739149,
567
+ -0.9201796000389415,
568
+ 0.0
569
+ ],
570
+ "init_robot_base_ori": [
571
+ 0.0,
572
+ 0.0,
573
+ 1.5707963267948966
574
+ ],
575
+ "refs": {
576
+ "food": "potato"
577
+ }
578
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000393/ep_meta.json ADDED
@@ -0,0 +1,590 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 2,
3
+ "style_id": 2,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_3_main_group_3",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler004/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_3_main_group_3",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_8/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_main_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_3_main_group_3",
113
+ "min_size": [
114
+ 0.075543672,
115
+ 0.07554470399999999,
116
+ 0.179996604
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "paprika",
129
+ "spice"
130
+ ],
131
+ "groups": [
132
+ "all"
133
+ ],
134
+ "cat": "paprika",
135
+ "split": "test",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/paprika/Paprika012/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 0.5389216362207778,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ -1.15,
145
+ -3.469446951953614e-17,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food_container",
153
+ "obj_groups": "cutting_board",
154
+ "placement": {
155
+ "fixture": "counter_main_main_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "stack_3_main_group_3",
158
+ "top_size": [
159
+ 0.5,
160
+ 0.5
161
+ ],
162
+ "min_size": [
163
+ 0.22229021025000018,
164
+ 0.3374063910000002,
165
+ 0.007644037500000005
166
+ ]
167
+ },
168
+ "size": [
169
+ 0.5,
170
+ 0.5
171
+ ],
172
+ "pos": [
173
+ "ref",
174
+ -1.0
175
+ ],
176
+ "try_to_place_in": "cutting_board"
177
+ },
178
+ "type": "object",
179
+ "info": {
180
+ "groups_containing_sampled_obj": [
181
+ "all",
182
+ "cutting_board",
183
+ "receptacle"
184
+ ],
185
+ "groups": [
186
+ "cutting_board"
187
+ ],
188
+ "cat": "cutting_board",
189
+ "split": "test",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_4/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 0.5389216362207778,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ -1.15,
199
+ -3.469446951953614e-17,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ },
205
+ {
206
+ "name": "food",
207
+ "obj_groups": "carrot",
208
+ "placement": {
209
+ "size": [
210
+ 0.01,
211
+ 0.01
212
+ ],
213
+ "ensure_object_boundary_in_range": false,
214
+ "sample_args": {
215
+ "reference": "food_container",
216
+ "on_top": true
217
+ }
218
+ },
219
+ "type": "object",
220
+ "info": {
221
+ "groups_containing_sampled_obj": [
222
+ "all",
223
+ "carrot",
224
+ "vegetable",
225
+ "food",
226
+ "in_container",
227
+ "food_set1",
228
+ "group1"
229
+ ],
230
+ "groups": [
231
+ "carrot"
232
+ ],
233
+ "cat": "carrot",
234
+ "split": "test",
235
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_6/model.xml"
236
+ }
237
+ }
238
+ ],
239
+ "fixtures": {
240
+ "wall_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "wall_backing_room": {
244
+ "cls": "Wall"
245
+ },
246
+ "wall_left_room": {
247
+ "cls": "Wall"
248
+ },
249
+ "wall_left_backing_room": {
250
+ "cls": "Wall"
251
+ },
252
+ "wall_right_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "wall_right_backing_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "floor_room": {
259
+ "cls": "Floor"
260
+ },
261
+ "floor_backing_room": {
262
+ "cls": "Floor"
263
+ },
264
+ "outlet_room": {
265
+ "cls": "WallAccessory"
266
+ },
267
+ "outlet_2_room": {
268
+ "cls": "WallAccessory"
269
+ },
270
+ "light_switch_room": {
271
+ "cls": "WallAccessory"
272
+ },
273
+ "light_switch_2_room": {
274
+ "cls": "WallAccessory"
275
+ },
276
+ "utensil_rack_room": {
277
+ "cls": "WallAccessory"
278
+ },
279
+ "stool_1_room": {
280
+ "cls": "Stool"
281
+ },
282
+ "stool_2_room": {
283
+ "cls": "Stool"
284
+ },
285
+ "stool_3_room": {
286
+ "cls": "Stool"
287
+ },
288
+ "stovetop_main_group": {
289
+ "cls": "Stovetop"
290
+ },
291
+ "counter_main_main_group": {
292
+ "cls": "Counter"
293
+ },
294
+ "bottom_main_group_base": {
295
+ "cls": "Box"
296
+ },
297
+ "bottom_main_group_1": {
298
+ "cls": "Drawer"
299
+ },
300
+ "bottom_main_group_2": {
301
+ "cls": "Drawer"
302
+ },
303
+ "oven_main_group": {
304
+ "cls": "Oven"
305
+ },
306
+ "oven_housing_main_group": {
307
+ "cls": "HousingCabinet"
308
+ },
309
+ "microwave_main_group": {
310
+ "cls": "Microwave"
311
+ },
312
+ "micro_housing_main_group": {
313
+ "cls": "HousingCabinet"
314
+ },
315
+ "top_main_group": {
316
+ "cls": "HingeCabinet"
317
+ },
318
+ "fridge_main_group": {
319
+ "cls": "FridgeSideBySide"
320
+ },
321
+ "fridge_housing_main_group": {
322
+ "cls": "HousingCabinet"
323
+ },
324
+ "fridge_top_main_group": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "cab_main_main_group": {
328
+ "cls": "HingeCabinet"
329
+ },
330
+ "hood_main_group": {
331
+ "cls": "Hood"
332
+ },
333
+ "shelves_main_group": {
334
+ "cls": "OpenCabinet"
335
+ },
336
+ "cab_2_main_group": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "stack_3_main_group_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_3_main_group_1": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "stack_3_main_group_2": {
346
+ "cls": "Drawer"
347
+ },
348
+ "stack_3_main_group_3": {
349
+ "cls": "Drawer"
350
+ },
351
+ "stack_4_main_group_base": {
352
+ "cls": "Box"
353
+ },
354
+ "stack_4_main_group_1": {
355
+ "cls": "HingeCabinet"
356
+ },
357
+ "stack_4_main_group_2": {
358
+ "cls": "Drawer"
359
+ },
360
+ "stack_4_main_group_3": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_5_main_group_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_5_main_group_1": {
367
+ "cls": "HingeCabinet"
368
+ },
369
+ "stack_5_main_group_2": {
370
+ "cls": "Drawer"
371
+ },
372
+ "stack_5_main_group_3": {
373
+ "cls": "Drawer"
374
+ },
375
+ "stack_6_main_group_base": {
376
+ "cls": "Box"
377
+ },
378
+ "stack_6_main_group_1": {
379
+ "cls": "Drawer"
380
+ },
381
+ "stack_6_main_group_2": {
382
+ "cls": "Drawer"
383
+ },
384
+ "stack_6_main_group_3": {
385
+ "cls": "Drawer"
386
+ },
387
+ "stack_6_main_group_4": {
388
+ "cls": "Drawer"
389
+ },
390
+ "toaster_main_group": {
391
+ "cls": "Toaster"
392
+ },
393
+ "knife_block_main_group": {
394
+ "cls": "Accessory"
395
+ },
396
+ "paper_towel_main_group": {
397
+ "cls": "Accessory"
398
+ },
399
+ "coffee_machine_main_group": {
400
+ "cls": "CoffeeMachine"
401
+ },
402
+ "digital_scale_main_group": {
403
+ "cls": "Accessory"
404
+ },
405
+ "oil_bottle_main_group": {
406
+ "cls": "Accessory"
407
+ },
408
+ "jar_main_group": {
409
+ "cls": "Accessory"
410
+ },
411
+ "paprika_main_group": {
412
+ "cls": "Accessory"
413
+ },
414
+ "cinnamon_main_group": {
415
+ "cls": "Accessory"
416
+ },
417
+ "turmeric_main_group": {
418
+ "cls": "Accessory"
419
+ },
420
+ "oil_bottle_main_group_auxiliary_main_group": {
421
+ "cls": "Accessory"
422
+ },
423
+ "jar_main_group_auxiliary_main_group": {
424
+ "cls": "Accessory"
425
+ },
426
+ "sink_island_group": {
427
+ "cls": "Sink"
428
+ },
429
+ "island_island_group": {
430
+ "cls": "Counter"
431
+ },
432
+ "island_stack_1_island_group_base": {
433
+ "cls": "Box"
434
+ },
435
+ "island_stack_1_island_group_1": {
436
+ "cls": "HingeCabinet"
437
+ },
438
+ "island_stack_1_island_group_2": {
439
+ "cls": "PanelCabinet"
440
+ },
441
+ "dishwasher_island_group": {
442
+ "cls": "Dishwasher"
443
+ },
444
+ "island_panel_cab_right_island_group_base": {
445
+ "cls": "Box"
446
+ },
447
+ "island_panel_cab_right_island_group_1": {
448
+ "cls": "PanelCabinet"
449
+ },
450
+ "island_cab_left_island_group_base": {
451
+ "cls": "Box"
452
+ },
453
+ "island_cab_left_island_group_1": {
454
+ "cls": "Drawer"
455
+ },
456
+ "island_cab_left_island_group_2": {
457
+ "cls": "Drawer"
458
+ },
459
+ "island_cab_left_island_group_3": {
460
+ "cls": "Drawer"
461
+ },
462
+ "island_cab_left_island_group_4": {
463
+ "cls": "Drawer"
464
+ },
465
+ "island_panel_cab_left_island_group_base": {
466
+ "cls": "Box"
467
+ },
468
+ "island_panel_cab_left_island_group_1": {
469
+ "cls": "PanelCabinet"
470
+ },
471
+ "island_base_box_island_group": {
472
+ "cls": "Box"
473
+ },
474
+ "plant_island_group": {
475
+ "cls": "Accessory"
476
+ },
477
+ "soap_dispenser_island_group": {
478
+ "cls": "Accessory"
479
+ },
480
+ "fruit_bowl_island_group": {
481
+ "cls": "Accessory"
482
+ },
483
+ "salt_shaker_island_group": {
484
+ "cls": "Accessory"
485
+ },
486
+ "salt_shaker_island_group_auxiliary_island_group": {
487
+ "cls": "Accessory"
488
+ }
489
+ },
490
+ "gen_textures": {},
491
+ "lang": "Place the appropriate cutting tool for cutting the carrot skin on the cutting board.",
492
+ "fixture_refs": {
493
+ "drawer": "stack_3_main_group_3",
494
+ "counter": "counter_main_main_group"
495
+ },
496
+ "cam_configs": {
497
+ "robot0_agentview_center": {
498
+ "pos": [
499
+ -0.6,
500
+ 0.0,
501
+ 1.15
502
+ ],
503
+ "quat": [
504
+ 0.636945903301239,
505
+ 0.3325185477733612,
506
+ -0.3199238181114197,
507
+ -0.6175596117973328
508
+ ],
509
+ "parent_body": "mobilebase0_support"
510
+ },
511
+ "robot0_agentview_left": {
512
+ "pos": [
513
+ -0.5,
514
+ 0.35,
515
+ 1.05
516
+ ],
517
+ "quat": [
518
+ 0.55623853,
519
+ 0.29935253,
520
+ -0.37678665,
521
+ -0.6775092
522
+ ],
523
+ "camera_attribs": {
524
+ "fovy": "60"
525
+ },
526
+ "parent_body": "mobilebase0_support"
527
+ },
528
+ "robot0_agentview_right": {
529
+ "pos": [
530
+ -0.5,
531
+ -0.35,
532
+ 1.05
533
+ ],
534
+ "quat": [
535
+ 0.6775091886520386,
536
+ 0.3767866790294647,
537
+ -0.2993525564670563,
538
+ -0.55623859167099
539
+ ],
540
+ "camera_attribs": {
541
+ "fovy": "60"
542
+ },
543
+ "parent_body": "mobilebase0_support"
544
+ },
545
+ "robot0_frontview": {
546
+ "pos": [
547
+ -0.5,
548
+ 0,
549
+ 0.95
550
+ ],
551
+ "quat": [
552
+ 0.6088936924934387,
553
+ 0.3814677894115448,
554
+ -0.3673907518386841,
555
+ -0.5905545353889465
556
+ ],
557
+ "camera_attribs": {
558
+ "fovy": "60"
559
+ },
560
+ "parent_body": "mobilebase0_support"
561
+ },
562
+ "robot0_eye_in_hand": {
563
+ "pos": [
564
+ 0.05,
565
+ 0,
566
+ 0
567
+ ],
568
+ "quat": [
569
+ 0,
570
+ 0.707107,
571
+ 0.707107,
572
+ 0
573
+ ],
574
+ "parent_body": "robot0_right_hand"
575
+ }
576
+ },
577
+ "init_robot_base_pos": [
578
+ 1.5860510873149516,
579
+ -0.9466166314679811,
580
+ 0.0
581
+ ],
582
+ "init_robot_base_ori": [
583
+ 0.0,
584
+ 0.0,
585
+ 1.5707963267948966
586
+ ],
587
+ "refs": {
588
+ "food": "carrot"
589
+ }
590
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000407/ep_meta.json ADDED
@@ -0,0 +1,737 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 7,
3
+ "style_id": 7,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_2_main_group_2",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler004/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_2_main_group_2",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_6/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_1_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_2_main_group_2",
113
+ "min_size": [
114
+ 0.03373,
115
+ 0.03373,
116
+ 0.0348175
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "ice_cube",
129
+ "iced_item",
130
+ "in_container"
131
+ ],
132
+ "groups": [
133
+ "all"
134
+ ],
135
+ "cat": "ice_cube",
136
+ "split": "test",
137
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube004/model.xml"
138
+ },
139
+ "reset_region": {
140
+ "size": [
141
+ 1.4999999999999996,
142
+ 0.65
143
+ ],
144
+ "offset": [
145
+ 0.2500000000000002,
146
+ 0.0,
147
+ 0.46
148
+ ],
149
+ "name": "geom_0"
150
+ }
151
+ },
152
+ {
153
+ "name": "food_container",
154
+ "obj_groups": "cutting_board",
155
+ "placement": {
156
+ "fixture": "counter_1_main_group",
157
+ "sample_region_kwargs": {
158
+ "ref": "stack_2_main_group_2",
159
+ "top_size": [
160
+ 0.5,
161
+ 0.5
162
+ ],
163
+ "min_size": [
164
+ 0.21596736834000008,
165
+ 0.3105000062100002,
166
+ 0.013541203080000005
167
+ ]
168
+ },
169
+ "size": [
170
+ 0.5,
171
+ 0.5
172
+ ],
173
+ "pos": [
174
+ "ref",
175
+ -1.0
176
+ ],
177
+ "try_to_place_in": "cutting_board"
178
+ },
179
+ "type": "object",
180
+ "info": {
181
+ "groups_containing_sampled_obj": [
182
+ "all",
183
+ "cutting_board",
184
+ "receptacle"
185
+ ],
186
+ "groups": [
187
+ "cutting_board"
188
+ ],
189
+ "cat": "cutting_board",
190
+ "split": "test",
191
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml"
192
+ },
193
+ "reset_region": {
194
+ "size": [
195
+ 1.4999999999999996,
196
+ 0.65
197
+ ],
198
+ "offset": [
199
+ 0.2500000000000002,
200
+ 0.0,
201
+ 0.46
202
+ ],
203
+ "name": "geom_0"
204
+ }
205
+ },
206
+ {
207
+ "name": "food",
208
+ "obj_groups": "cucumber",
209
+ "placement": {
210
+ "size": [
211
+ 0.01,
212
+ 0.01
213
+ ],
214
+ "ensure_object_boundary_in_range": false,
215
+ "sample_args": {
216
+ "reference": "food_container",
217
+ "on_top": true
218
+ }
219
+ },
220
+ "type": "object",
221
+ "info": {
222
+ "groups_containing_sampled_obj": [
223
+ "all",
224
+ "cucumber",
225
+ "vegetable",
226
+ "food",
227
+ "in_container",
228
+ "food_set1"
229
+ ],
230
+ "groups": [
231
+ "cucumber"
232
+ ],
233
+ "cat": "cucumber",
234
+ "split": "test",
235
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_5/model.xml"
236
+ }
237
+ }
238
+ ],
239
+ "fixtures": {
240
+ "wall_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "wall_backing_room": {
244
+ "cls": "Wall"
245
+ },
246
+ "wall_left_room": {
247
+ "cls": "Wall"
248
+ },
249
+ "wall_left_backing_room": {
250
+ "cls": "Wall"
251
+ },
252
+ "wall_right_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "wall_right_backing_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "floor_room": {
259
+ "cls": "Floor"
260
+ },
261
+ "floor_backing_room": {
262
+ "cls": "Floor"
263
+ },
264
+ "utensil_rack_room": {
265
+ "cls": "WallAccessory"
266
+ },
267
+ "light_switch_room": {
268
+ "cls": "WallAccessory"
269
+ },
270
+ "light_switch_2_room": {
271
+ "cls": "WallAccessory"
272
+ },
273
+ "outlet_room": {
274
+ "cls": "WallAccessory"
275
+ },
276
+ "outlet_2_room": {
277
+ "cls": "WallAccessory"
278
+ },
279
+ "outlet_3_room": {
280
+ "cls": "WallAccessory"
281
+ },
282
+ "window_group_room": {
283
+ "cls": "Window"
284
+ },
285
+ "stool_1_room": {
286
+ "cls": "Stool"
287
+ },
288
+ "stool_2_room": {
289
+ "cls": "Stool"
290
+ },
291
+ "stool_3_room": {
292
+ "cls": "Stool"
293
+ },
294
+ "counter_corner_main_group": {
295
+ "cls": "Counter"
296
+ },
297
+ "counter_1_main_group": {
298
+ "cls": "Counter"
299
+ },
300
+ "stovetop_main_group": {
301
+ "cls": "Stovetop"
302
+ },
303
+ "counter_main_main_group": {
304
+ "cls": "Counter"
305
+ },
306
+ "counter_corner_2_main_group": {
307
+ "cls": "Counter"
308
+ },
309
+ "cab_corner_main_group": {
310
+ "cls": "Box"
311
+ },
312
+ "cab_corner_2_main_group": {
313
+ "cls": "Box"
314
+ },
315
+ "cab_1_main_group": {
316
+ "cls": "SingleCabinet"
317
+ },
318
+ "hood_main_group": {
319
+ "cls": "Hood"
320
+ },
321
+ "shelves_main_group": {
322
+ "cls": "OpenCabinet"
323
+ },
324
+ "cab_main_main_group": {
325
+ "cls": "SingleCabinet"
326
+ },
327
+ "cab_corner_3_main_group": {
328
+ "cls": "Box"
329
+ },
330
+ "cab_corner_4_main_group": {
331
+ "cls": "Box"
332
+ },
333
+ "stack_1_main_group_base": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_1_main_group_1": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "stack_1_main_group_2": {
340
+ "cls": "Drawer"
341
+ },
342
+ "stack_1_main_group_3": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_2_main_group_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_2_main_group_1": {
349
+ "cls": "HingeCabinet"
350
+ },
351
+ "stack_2_main_group_2": {
352
+ "cls": "Drawer"
353
+ },
354
+ "stack_2_main_group_3": {
355
+ "cls": "Drawer"
356
+ },
357
+ "stack_3_main_group_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_3_main_group_1": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_3_main_group_2": {
364
+ "cls": "Drawer"
365
+ },
366
+ "stack_3_main_group_3": {
367
+ "cls": "Drawer"
368
+ },
369
+ "stack_3_main_group_4": {
370
+ "cls": "Drawer"
371
+ },
372
+ "stack_4_main_group_base": {
373
+ "cls": "Box"
374
+ },
375
+ "stack_4_main_group_1": {
376
+ "cls": "HingeCabinet"
377
+ },
378
+ "stack_5_main_group_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_5_main_group_1": {
382
+ "cls": "HingeCabinet"
383
+ },
384
+ "stack_5_main_group_2": {
385
+ "cls": "Drawer"
386
+ },
387
+ "stack_5_main_group_3": {
388
+ "cls": "Drawer"
389
+ },
390
+ "stack_6_main_group_base": {
391
+ "cls": "Box"
392
+ },
393
+ "stack_6_main_group_1": {
394
+ "cls": "SingleCabinet"
395
+ },
396
+ "stack_6_main_group_2": {
397
+ "cls": "Drawer"
398
+ },
399
+ "knife_block_main_group": {
400
+ "cls": "Accessory"
401
+ },
402
+ "paper_towel_main_group": {
403
+ "cls": "Accessory"
404
+ },
405
+ "utensil_set_main_group": {
406
+ "cls": "Accessory"
407
+ },
408
+ "oil_bottle_main_group": {
409
+ "cls": "Accessory"
410
+ },
411
+ "glass_cup_main_group": {
412
+ "cls": "Accessory"
413
+ },
414
+ "glass_cup_2_main_group": {
415
+ "cls": "Accessory"
416
+ },
417
+ "oil_bottle_main_group_auxiliary_main_group": {
418
+ "cls": "Accessory"
419
+ },
420
+ "sink_island_group": {
421
+ "cls": "Sink"
422
+ },
423
+ "island_island_group": {
424
+ "cls": "Counter"
425
+ },
426
+ "island_stack_1_island_group_base": {
427
+ "cls": "Box"
428
+ },
429
+ "island_stack_1_island_group_1": {
430
+ "cls": "HingeCabinet"
431
+ },
432
+ "island_stack_1_island_group_2": {
433
+ "cls": "PanelCabinet"
434
+ },
435
+ "dishwasher_island_group": {
436
+ "cls": "Dishwasher"
437
+ },
438
+ "island_panel_cab_right_island_group_base": {
439
+ "cls": "Box"
440
+ },
441
+ "island_panel_cab_right_island_group_1": {
442
+ "cls": "PanelCabinet"
443
+ },
444
+ "island_cab_right_island_group_base": {
445
+ "cls": "Box"
446
+ },
447
+ "island_cab_right_island_group_1": {
448
+ "cls": "Drawer"
449
+ },
450
+ "island_cab_right_island_group_2": {
451
+ "cls": "Drawer"
452
+ },
453
+ "island_cab_right_island_group_3": {
454
+ "cls": "Drawer"
455
+ },
456
+ "island_cab_right_island_group_4": {
457
+ "cls": "Drawer"
458
+ },
459
+ "island_panel_cab_left_island_group_base": {
460
+ "cls": "Box"
461
+ },
462
+ "island_panel_cab_left_island_group_1": {
463
+ "cls": "PanelCabinet"
464
+ },
465
+ "island_base_box_island_group": {
466
+ "cls": "Box"
467
+ },
468
+ "plant_island_group": {
469
+ "cls": "Accessory"
470
+ },
471
+ "soap_dispenser_island_group": {
472
+ "cls": "Accessory"
473
+ },
474
+ "fruit_bowl_island_group": {
475
+ "cls": "Accessory"
476
+ },
477
+ "salt_shaker_island_group": {
478
+ "cls": "Accessory"
479
+ },
480
+ "salt_shaker_island_group_auxiliary_island_group": {
481
+ "cls": "Accessory"
482
+ },
483
+ "counter_1_left_group": {
484
+ "cls": "Counter"
485
+ },
486
+ "counter_corner_left_group": {
487
+ "cls": "Counter"
488
+ },
489
+ "bottom_left_group_base": {
490
+ "cls": "Box"
491
+ },
492
+ "bottom_left_group_1": {
493
+ "cls": "Drawer"
494
+ },
495
+ "bottom_left_group_2": {
496
+ "cls": "Drawer"
497
+ },
498
+ "oven_left_group": {
499
+ "cls": "Oven"
500
+ },
501
+ "oven_housing_left_group": {
502
+ "cls": "HousingCabinet"
503
+ },
504
+ "microwave_left_group": {
505
+ "cls": "Microwave"
506
+ },
507
+ "micro_housing_left_group": {
508
+ "cls": "HousingCabinet"
509
+ },
510
+ "top_left_group": {
511
+ "cls": "HingeCabinet"
512
+ },
513
+ "stack_1_left_group_base": {
514
+ "cls": "Box"
515
+ },
516
+ "stack_1_left_group_1": {
517
+ "cls": "SingleCabinet"
518
+ },
519
+ "stack_1_left_group_2": {
520
+ "cls": "Drawer"
521
+ },
522
+ "stack_2_left_group_base": {
523
+ "cls": "Box"
524
+ },
525
+ "stack_2_left_group_1": {
526
+ "cls": "HingeCabinet"
527
+ },
528
+ "stack_2_left_group_2": {
529
+ "cls": "Drawer"
530
+ },
531
+ "stack_2_left_group_3": {
532
+ "cls": "Drawer"
533
+ },
534
+ "stack_3_left_group_base": {
535
+ "cls": "Box"
536
+ },
537
+ "stack_3_left_group_1": {
538
+ "cls": "Drawer"
539
+ },
540
+ "stack_3_left_group_2": {
541
+ "cls": "Drawer"
542
+ },
543
+ "stack_3_left_group_3": {
544
+ "cls": "Drawer"
545
+ },
546
+ "stack_3_left_group_4": {
547
+ "cls": "Drawer"
548
+ },
549
+ "shelves_left_group": {
550
+ "cls": "OpenCabinet"
551
+ },
552
+ "cab_2_left_group": {
553
+ "cls": "SingleCabinet"
554
+ },
555
+ "toaster_oven_left_group": {
556
+ "cls": "ToasterOven"
557
+ },
558
+ "paprika_left_group": {
559
+ "cls": "Accessory"
560
+ },
561
+ "cinnamon_left_group": {
562
+ "cls": "Accessory"
563
+ },
564
+ "turmeric_left_group": {
565
+ "cls": "Accessory"
566
+ },
567
+ "jar_left_group": {
568
+ "cls": "Accessory"
569
+ },
570
+ "jar_left_group_auxiliary_left_group": {
571
+ "cls": "Accessory"
572
+ },
573
+ "counter_1_right_group": {
574
+ "cls": "Counter"
575
+ },
576
+ "counter_corner_right_group": {
577
+ "cls": "Counter"
578
+ },
579
+ "fridge_right_group": {
580
+ "cls": "FridgeSideBySide"
581
+ },
582
+ "fridge_housing_right_group": {
583
+ "cls": "HousingCabinet"
584
+ },
585
+ "stack_1_right_group_base": {
586
+ "cls": "Box"
587
+ },
588
+ "stack_1_right_group_1": {
589
+ "cls": "HingeCabinet"
590
+ },
591
+ "stack_1_right_group_2": {
592
+ "cls": "Drawer"
593
+ },
594
+ "stack_1_right_group_3": {
595
+ "cls": "Drawer"
596
+ },
597
+ "stack_2_right_group_base": {
598
+ "cls": "Box"
599
+ },
600
+ "stack_2_right_group_1": {
601
+ "cls": "SingleCabinet"
602
+ },
603
+ "stack_2_right_group_2": {
604
+ "cls": "Drawer"
605
+ },
606
+ "stack_3_right_group_base": {
607
+ "cls": "Box"
608
+ },
609
+ "stack_3_right_group_1": {
610
+ "cls": "Drawer"
611
+ },
612
+ "stack_3_right_group_2": {
613
+ "cls": "Drawer"
614
+ },
615
+ "stack_3_right_group_3": {
616
+ "cls": "Drawer"
617
+ },
618
+ "stack_3_right_group_4": {
619
+ "cls": "Drawer"
620
+ },
621
+ "cab_1_right_group": {
622
+ "cls": "HingeCabinet"
623
+ },
624
+ "cab_2_right_group": {
625
+ "cls": "HingeCabinet"
626
+ },
627
+ "fridge_cab_right_group": {
628
+ "cls": "HingeCabinet"
629
+ },
630
+ "coffee_machine_right_group": {
631
+ "cls": "CoffeeMachine"
632
+ },
633
+ "toaster_right_group": {
634
+ "cls": "Toaster"
635
+ }
636
+ },
637
+ "gen_textures": {},
638
+ "lang": "Place the appropriate cutting tool for cutting the cucumber skin on the cutting board.",
639
+ "fixture_refs": {
640
+ "drawer": "stack_2_main_group_2",
641
+ "counter": "counter_1_main_group"
642
+ },
643
+ "cam_configs": {
644
+ "robot0_agentview_center": {
645
+ "pos": [
646
+ -0.6,
647
+ 0.0,
648
+ 1.15
649
+ ],
650
+ "quat": [
651
+ 0.636945903301239,
652
+ 0.3325185477733612,
653
+ -0.3199238181114197,
654
+ -0.6175596117973328
655
+ ],
656
+ "parent_body": "mobilebase0_support"
657
+ },
658
+ "robot0_agentview_left": {
659
+ "pos": [
660
+ -0.5,
661
+ 0.35,
662
+ 1.05
663
+ ],
664
+ "quat": [
665
+ 0.55623853,
666
+ 0.29935253,
667
+ -0.37678665,
668
+ -0.6775092
669
+ ],
670
+ "camera_attribs": {
671
+ "fovy": "60"
672
+ },
673
+ "parent_body": "mobilebase0_support"
674
+ },
675
+ "robot0_agentview_right": {
676
+ "pos": [
677
+ -0.5,
678
+ -0.35,
679
+ 1.05
680
+ ],
681
+ "quat": [
682
+ 0.6775091886520386,
683
+ 0.3767866790294647,
684
+ -0.2993525564670563,
685
+ -0.55623859167099
686
+ ],
687
+ "camera_attribs": {
688
+ "fovy": "60"
689
+ },
690
+ "parent_body": "mobilebase0_support"
691
+ },
692
+ "robot0_frontview": {
693
+ "pos": [
694
+ -0.5,
695
+ 0,
696
+ 0.95
697
+ ],
698
+ "quat": [
699
+ 0.6088936924934387,
700
+ 0.3814677894115448,
701
+ -0.3673907518386841,
702
+ -0.5905545353889465
703
+ ],
704
+ "camera_attribs": {
705
+ "fovy": "60"
706
+ },
707
+ "parent_body": "mobilebase0_support"
708
+ },
709
+ "robot0_eye_in_hand": {
710
+ "pos": [
711
+ 0.05,
712
+ 0,
713
+ 0
714
+ ],
715
+ "quat": [
716
+ 0,
717
+ 0.707107,
718
+ 0.707107,
719
+ 0
720
+ ],
721
+ "parent_body": "robot0_right_hand"
722
+ }
723
+ },
724
+ "init_robot_base_pos": [
725
+ 1.4624869904961104,
726
+ -0.9342158614725998,
727
+ 0.0
728
+ ],
729
+ "init_robot_base_ori": [
730
+ 0.0,
731
+ 0.0,
732
+ 1.5707963267948966
733
+ ],
734
+ "refs": {
735
+ "food": "cucumber"
736
+ }
737
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000434/ep_meta.json ADDED
@@ -0,0 +1,487 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 1,
3
+ "style_id": 1,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_4_main_group_2",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler004/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.5779999999999998,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_4_main_group_2",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_9/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.5779999999999998,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_right_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_4_main_group_2",
113
+ "min_size": [
114
+ 0.04903909248043324,
115
+ 0.13472670444719714,
116
+ 0.021990746792737766
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "bar",
129
+ "packaged_food"
130
+ ],
131
+ "groups": [
132
+ "all"
133
+ ],
134
+ "cat": "bar",
135
+ "split": "test",
136
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_7/model.xml"
137
+ },
138
+ "reset_region": {
139
+ "size": [
140
+ 0.7,
141
+ 0.65
142
+ ],
143
+ "offset": [
144
+ 0.0,
145
+ 0.0,
146
+ 0.46
147
+ ],
148
+ "name": "geom_0"
149
+ }
150
+ },
151
+ {
152
+ "name": "food_container",
153
+ "obj_groups": "cutting_board",
154
+ "placement": {
155
+ "fixture": "counter_right_main_group",
156
+ "sample_region_kwargs": {
157
+ "ref": "stack_4_main_group_2",
158
+ "top_size": [
159
+ 0.5,
160
+ 0.5
161
+ ],
162
+ "min_size": [
163
+ 0.21596736834000008,
164
+ 0.3105000062100002,
165
+ 0.013541203080000005
166
+ ]
167
+ },
168
+ "size": [
169
+ 0.5,
170
+ 0.5
171
+ ],
172
+ "pos": [
173
+ "ref",
174
+ -1.0
175
+ ],
176
+ "try_to_place_in": "cutting_board"
177
+ },
178
+ "type": "object",
179
+ "info": {
180
+ "groups_containing_sampled_obj": [
181
+ "all",
182
+ "cutting_board",
183
+ "receptacle"
184
+ ],
185
+ "groups": [
186
+ "cutting_board"
187
+ ],
188
+ "cat": "cutting_board",
189
+ "split": "test",
190
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml"
191
+ },
192
+ "reset_region": {
193
+ "size": [
194
+ 0.7,
195
+ 0.65
196
+ ],
197
+ "offset": [
198
+ 0.0,
199
+ 0.0,
200
+ 0.46
201
+ ],
202
+ "name": "geom_0"
203
+ }
204
+ },
205
+ {
206
+ "name": "food",
207
+ "obj_groups": "eggplant",
208
+ "placement": {
209
+ "size": [
210
+ 0.01,
211
+ 0.01
212
+ ],
213
+ "ensure_object_boundary_in_range": false,
214
+ "sample_args": {
215
+ "reference": "food_container",
216
+ "on_top": true
217
+ }
218
+ },
219
+ "type": "object",
220
+ "info": {
221
+ "groups_containing_sampled_obj": [
222
+ "all",
223
+ "eggplant",
224
+ "vegetable",
225
+ "food",
226
+ "in_container",
227
+ "oven_ready"
228
+ ],
229
+ "groups": [
230
+ "eggplant"
231
+ ],
232
+ "cat": "eggplant",
233
+ "split": "test",
234
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
235
+ }
236
+ }
237
+ ],
238
+ "fixtures": {
239
+ "wall_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_backing_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_left_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_left_backing_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_right_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "wall_right_backing_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "floor_room": {
258
+ "cls": "Floor"
259
+ },
260
+ "floor_backing_room": {
261
+ "cls": "Floor"
262
+ },
263
+ "outlet_room": {
264
+ "cls": "WallAccessory"
265
+ },
266
+ "outlet_2_room": {
267
+ "cls": "WallAccessory"
268
+ },
269
+ "light_switch_room": {
270
+ "cls": "WallAccessory"
271
+ },
272
+ "light_switch_2_room": {
273
+ "cls": "WallAccessory"
274
+ },
275
+ "sink_main_group": {
276
+ "cls": "Sink"
277
+ },
278
+ "counter_main_main_group": {
279
+ "cls": "Counter"
280
+ },
281
+ "stove_main_group": {
282
+ "cls": "Stove"
283
+ },
284
+ "counter_right_main_group": {
285
+ "cls": "Counter"
286
+ },
287
+ "fridge_main_group": {
288
+ "cls": "FridgeBottomFreezer"
289
+ },
290
+ "cab_1_main_group": {
291
+ "cls": "SingleCabinet"
292
+ },
293
+ "cab_2_main_group": {
294
+ "cls": "HingeCabinet"
295
+ },
296
+ "cab_main_main_group": {
297
+ "cls": "HingeCabinet"
298
+ },
299
+ "microwave_main_group": {
300
+ "cls": "Microwave"
301
+ },
302
+ "cab_micro_main_group": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "cab_3_main_group": {
306
+ "cls": "OpenCabinet"
307
+ },
308
+ "cab_4_main_group": {
309
+ "cls": "HingeCabinet"
310
+ },
311
+ "stack_1_main_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_1_main_group_1": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_1_main_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_1_main_group_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_1_main_group_4": {
324
+ "cls": "Drawer"
325
+ },
326
+ "stack_2_main_group_base": {
327
+ "cls": "Box"
328
+ },
329
+ "stack_2_main_group_1": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "stack_2_main_group_2": {
333
+ "cls": "PanelCabinet"
334
+ },
335
+ "dishwasher_main_group": {
336
+ "cls": "Dishwasher"
337
+ },
338
+ "stack_3_main_group_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_3_main_group_1": {
342
+ "cls": "SingleCabinet"
343
+ },
344
+ "stack_4_main_group_base": {
345
+ "cls": "Box"
346
+ },
347
+ "stack_4_main_group_1": {
348
+ "cls": "SingleCabinet"
349
+ },
350
+ "stack_4_main_group_2": {
351
+ "cls": "Drawer"
352
+ },
353
+ "oil_bottle_main_group": {
354
+ "cls": "Accessory"
355
+ },
356
+ "soap_dispenser_main_group": {
357
+ "cls": "Accessory"
358
+ },
359
+ "toaster_main_group": {
360
+ "cls": "Toaster"
361
+ },
362
+ "knife_block_main_group": {
363
+ "cls": "Accessory"
364
+ },
365
+ "digital_scale_main_group": {
366
+ "cls": "Accessory"
367
+ },
368
+ "paper_towel_main_group": {
369
+ "cls": "Accessory"
370
+ },
371
+ "coffee_machine_main_group": {
372
+ "cls": "CoffeeMachine"
373
+ },
374
+ "glass_cup_main_group": {
375
+ "cls": "Accessory"
376
+ },
377
+ "glass_cup_2_main_group": {
378
+ "cls": "Accessory"
379
+ },
380
+ "glass_cup_3_main_group": {
381
+ "cls": "Accessory"
382
+ },
383
+ "oil_bottle_main_group_auxiliary_main_group": {
384
+ "cls": "Accessory"
385
+ }
386
+ },
387
+ "gen_textures": {},
388
+ "lang": "Place the appropriate cutting tool for cutting the eggplant skin on the cutting board.",
389
+ "fixture_refs": {
390
+ "drawer": "stack_4_main_group_2",
391
+ "counter": "counter_right_main_group"
392
+ },
393
+ "cam_configs": {
394
+ "robot0_agentview_center": {
395
+ "pos": [
396
+ -0.6,
397
+ 0.0,
398
+ 1.15
399
+ ],
400
+ "quat": [
401
+ 0.636945903301239,
402
+ 0.3325185477733612,
403
+ -0.3199238181114197,
404
+ -0.6175596117973328
405
+ ],
406
+ "parent_body": "mobilebase0_support"
407
+ },
408
+ "robot0_agentview_left": {
409
+ "pos": [
410
+ -0.5,
411
+ 0.35,
412
+ 1.05
413
+ ],
414
+ "quat": [
415
+ 0.55623853,
416
+ 0.29935253,
417
+ -0.37678665,
418
+ -0.6775092
419
+ ],
420
+ "camera_attribs": {
421
+ "fovy": "60"
422
+ },
423
+ "parent_body": "mobilebase0_support"
424
+ },
425
+ "robot0_agentview_right": {
426
+ "pos": [
427
+ -0.5,
428
+ -0.35,
429
+ 1.05
430
+ ],
431
+ "quat": [
432
+ 0.6775091886520386,
433
+ 0.3767866790294647,
434
+ -0.2993525564670563,
435
+ -0.55623859167099
436
+ ],
437
+ "camera_attribs": {
438
+ "fovy": "60"
439
+ },
440
+ "parent_body": "mobilebase0_support"
441
+ },
442
+ "robot0_frontview": {
443
+ "pos": [
444
+ -0.5,
445
+ 0,
446
+ 0.95
447
+ ],
448
+ "quat": [
449
+ 0.6088936924934387,
450
+ 0.3814677894115448,
451
+ -0.3673907518386841,
452
+ -0.5905545353889465
453
+ ],
454
+ "camera_attribs": {
455
+ "fovy": "60"
456
+ },
457
+ "parent_body": "mobilebase0_support"
458
+ },
459
+ "robot0_eye_in_hand": {
460
+ "pos": [
461
+ 0.05,
462
+ 0,
463
+ 0
464
+ ],
465
+ "quat": [
466
+ 0,
467
+ 0.707107,
468
+ 0.707107,
469
+ 0
470
+ ],
471
+ "parent_body": "robot0_right_hand"
472
+ }
473
+ },
474
+ "init_robot_base_pos": [
475
+ 4.468089342081309,
476
+ -1.0675300764783449,
477
+ 0.0
478
+ ],
479
+ "init_robot_base_ori": [
480
+ 0.0,
481
+ 0.0,
482
+ 1.5707963267948966
483
+ ],
484
+ "refs": {
485
+ "food": "eggplant"
486
+ }
487
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000454/ep_meta.json ADDED
@@ -0,0 +1,662 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 9,
3
+ "style_id": 9,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_3_main_group_2",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler004/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_3_main_group_2",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_7/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_main_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_3_main_group_2",
113
+ "min_size": [
114
+ 0.21073039999999998,
115
+ 0.1559497,
116
+ 0.20054693
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "kettle_non_electric",
129
+ "receptacle",
130
+ "kettle",
131
+ "cookware"
132
+ ],
133
+ "groups": [
134
+ "all"
135
+ ],
136
+ "cat": "kettle_non_electric",
137
+ "split": "test",
138
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle021/model.xml"
139
+ },
140
+ "reset_region": {
141
+ "size": [
142
+ 1.5,
143
+ 0.65
144
+ ],
145
+ "offset": [
146
+ 0.75,
147
+ 0.0,
148
+ 0.46
149
+ ],
150
+ "name": "geom_0"
151
+ }
152
+ },
153
+ {
154
+ "name": "food_container",
155
+ "obj_groups": "cutting_board",
156
+ "placement": {
157
+ "fixture": "counter_main_main_group",
158
+ "sample_region_kwargs": {
159
+ "ref": "stack_3_main_group_2",
160
+ "top_size": [
161
+ 0.5,
162
+ 0.5
163
+ ],
164
+ "min_size": [
165
+ 0.1973472579000001,
166
+ 0.3510000000000001,
167
+ 0.012317523660000006
168
+ ]
169
+ },
170
+ "size": [
171
+ 0.5,
172
+ 0.5
173
+ ],
174
+ "pos": [
175
+ "ref",
176
+ -1.0
177
+ ],
178
+ "try_to_place_in": "cutting_board"
179
+ },
180
+ "type": "object",
181
+ "info": {
182
+ "groups_containing_sampled_obj": [
183
+ "all",
184
+ "cutting_board",
185
+ "receptacle"
186
+ ],
187
+ "groups": [
188
+ "cutting_board"
189
+ ],
190
+ "cat": "cutting_board",
191
+ "split": "test",
192
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_5/model.xml"
193
+ },
194
+ "reset_region": {
195
+ "size": [
196
+ 1.5,
197
+ 0.65
198
+ ],
199
+ "offset": [
200
+ 0.75,
201
+ 0.0,
202
+ 0.46
203
+ ],
204
+ "name": "geom_0"
205
+ }
206
+ },
207
+ {
208
+ "name": "food",
209
+ "obj_groups": "avocado",
210
+ "placement": {
211
+ "size": [
212
+ 0.01,
213
+ 0.01
214
+ ],
215
+ "ensure_object_boundary_in_range": false,
216
+ "sample_args": {
217
+ "reference": "food_container",
218
+ "on_top": true
219
+ }
220
+ },
221
+ "type": "object",
222
+ "info": {
223
+ "groups_containing_sampled_obj": [
224
+ "all",
225
+ "avocado",
226
+ "vegetable",
227
+ "food",
228
+ "in_container"
229
+ ],
230
+ "groups": [
231
+ "avocado"
232
+ ],
233
+ "cat": "avocado",
234
+ "split": "test",
235
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_5/model.xml"
236
+ }
237
+ }
238
+ ],
239
+ "fixtures": {
240
+ "wall_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "wall_backing_room": {
244
+ "cls": "Wall"
245
+ },
246
+ "wall_left_room": {
247
+ "cls": "Wall"
248
+ },
249
+ "wall_left_backing_room": {
250
+ "cls": "Wall"
251
+ },
252
+ "wall_right_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "wall_right_backing_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "outlet_room": {
259
+ "cls": "WallAccessory"
260
+ },
261
+ "utensil_rack_room": {
262
+ "cls": "WallAccessory"
263
+ },
264
+ "light_switch_room": {
265
+ "cls": "WallAccessory"
266
+ },
267
+ "light_switch_2_room": {
268
+ "cls": "WallAccessory"
269
+ },
270
+ "outlet_2_room": {
271
+ "cls": "WallAccessory"
272
+ },
273
+ "outlet_3_room": {
274
+ "cls": "WallAccessory"
275
+ },
276
+ "window_group_room": {
277
+ "cls": "Window"
278
+ },
279
+ "floor_room": {
280
+ "cls": "Floor"
281
+ },
282
+ "floor_backing_room": {
283
+ "cls": "Floor"
284
+ },
285
+ "stool_1_room": {
286
+ "cls": "Stool"
287
+ },
288
+ "stool_2_room": {
289
+ "cls": "Stool"
290
+ },
291
+ "stool_3_room": {
292
+ "cls": "Stool"
293
+ },
294
+ "counter_corner_main_group": {
295
+ "cls": "Counter"
296
+ },
297
+ "counter_main_main_group": {
298
+ "cls": "Counter"
299
+ },
300
+ "stovetop_main_group": {
301
+ "cls": "Stovetop"
302
+ },
303
+ "counter_1_main_group": {
304
+ "cls": "Counter"
305
+ },
306
+ "counter_corner_2_main_group": {
307
+ "cls": "Counter"
308
+ },
309
+ "cab_corner_main_group": {
310
+ "cls": "Box"
311
+ },
312
+ "cab_corner_2_main_group": {
313
+ "cls": "Box"
314
+ },
315
+ "cab_1_main_group": {
316
+ "cls": "HingeCabinet"
317
+ },
318
+ "cab_main_main_group": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "cab_2_main_group": {
322
+ "cls": "SingleCabinet"
323
+ },
324
+ "shelves_1_main_group": {
325
+ "cls": "OpenCabinet"
326
+ },
327
+ "hood_main_group": {
328
+ "cls": "Hood"
329
+ },
330
+ "shelves_2_main_group": {
331
+ "cls": "OpenCabinet"
332
+ },
333
+ "stack_1_main_group_base": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_1_main_group_1": {
337
+ "cls": "Drawer"
338
+ },
339
+ "stack_1_main_group_2": {
340
+ "cls": "Drawer"
341
+ },
342
+ "stack_1_main_group_3": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_1_main_group_4": {
346
+ "cls": "Drawer"
347
+ },
348
+ "stack_2_main_group_base": {
349
+ "cls": "Box"
350
+ },
351
+ "stack_2_main_group_1": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "stack_2_main_group_2": {
355
+ "cls": "Drawer"
356
+ },
357
+ "stack_2_main_group_3": {
358
+ "cls": "Drawer"
359
+ },
360
+ "stack_3_main_group_base": {
361
+ "cls": "Box"
362
+ },
363
+ "stack_3_main_group_1": {
364
+ "cls": "HingeCabinet"
365
+ },
366
+ "stack_3_main_group_2": {
367
+ "cls": "Drawer"
368
+ },
369
+ "stack_3_main_group_3": {
370
+ "cls": "Drawer"
371
+ },
372
+ "stack_4_main_group_base": {
373
+ "cls": "Box"
374
+ },
375
+ "stack_4_main_group_1": {
376
+ "cls": "HingeCabinet"
377
+ },
378
+ "stack_5_main_group_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_5_main_group_1": {
382
+ "cls": "SingleCabinet"
383
+ },
384
+ "stack_5_main_group_2": {
385
+ "cls": "Drawer"
386
+ },
387
+ "coffee_machine_main_group": {
388
+ "cls": "CoffeeMachine"
389
+ },
390
+ "paper_towel_main_group": {
391
+ "cls": "Accessory"
392
+ },
393
+ "toaster_main_group": {
394
+ "cls": "Toaster"
395
+ },
396
+ "toaster_oven_main_group": {
397
+ "cls": "ToasterOven"
398
+ },
399
+ "utensil_set_main_group": {
400
+ "cls": "Accessory"
401
+ },
402
+ "oil_bottle_main_group": {
403
+ "cls": "Accessory"
404
+ },
405
+ "knife_block_main_group": {
406
+ "cls": "Accessory"
407
+ },
408
+ "jar_main_group": {
409
+ "cls": "Accessory"
410
+ },
411
+ "cinnamon_main_group": {
412
+ "cls": "Accessory"
413
+ },
414
+ "turmeric_main_group": {
415
+ "cls": "Accessory"
416
+ },
417
+ "paprika_main_group": {
418
+ "cls": "Accessory"
419
+ },
420
+ "oil_bottle_main_group_auxiliary_main_group": {
421
+ "cls": "Accessory"
422
+ },
423
+ "jar_main_group_auxiliary_main_group": {
424
+ "cls": "Accessory"
425
+ },
426
+ "counter_1_front_group": {
427
+ "cls": "Counter"
428
+ },
429
+ "counter_corner_front_group": {
430
+ "cls": "Counter"
431
+ },
432
+ "salt_shaker_front_group": {
433
+ "cls": "Accessory"
434
+ },
435
+ "salt_shaker_front_group_auxiliary_front_group": {
436
+ "cls": "Accessory"
437
+ },
438
+ "counter_corner_left_group": {
439
+ "cls": "Counter"
440
+ },
441
+ "sink_left_group": {
442
+ "cls": "Sink"
443
+ },
444
+ "counter_1_left_group": {
445
+ "cls": "Counter"
446
+ },
447
+ "counter_corner_right_left_group": {
448
+ "cls": "Counter"
449
+ },
450
+ "stack_1_left_group_base": {
451
+ "cls": "Box"
452
+ },
453
+ "stack_1_left_group_1": {
454
+ "cls": "HingeCabinet"
455
+ },
456
+ "stack_1_left_group_2": {
457
+ "cls": "Drawer"
458
+ },
459
+ "stack_1_left_group_3": {
460
+ "cls": "Drawer"
461
+ },
462
+ "stack_2_left_group_base": {
463
+ "cls": "Box"
464
+ },
465
+ "stack_2_left_group_1": {
466
+ "cls": "HingeCabinet"
467
+ },
468
+ "dishwasher_left_group": {
469
+ "cls": "Dishwasher"
470
+ },
471
+ "stack_3_left_group_base": {
472
+ "cls": "Box"
473
+ },
474
+ "stack_3_left_group_1": {
475
+ "cls": "SingleCabinet"
476
+ },
477
+ "cab_1_left_group": {
478
+ "cls": "HingeCabinet"
479
+ },
480
+ "cab_2_left_group": {
481
+ "cls": "SingleCabinet"
482
+ },
483
+ "plant_left_group": {
484
+ "cls": "Accessory"
485
+ },
486
+ "soap_dispenser_left_group": {
487
+ "cls": "Accessory"
488
+ },
489
+ "fruit_bowl_left_group": {
490
+ "cls": "Accessory"
491
+ },
492
+ "stack_left_right_group_base": {
493
+ "cls": "Box"
494
+ },
495
+ "stack_left_right_group_1": {
496
+ "cls": "SingleCabinet"
497
+ },
498
+ "stack_left_right_group_2": {
499
+ "cls": "SingleCabinet"
500
+ },
501
+ "fridge_right_group": {
502
+ "cls": "FridgeSideBySide"
503
+ },
504
+ "fridge_housing_right_group": {
505
+ "cls": "HousingCabinet"
506
+ },
507
+ "fridge_top_right_group": {
508
+ "cls": "HingeCabinet"
509
+ },
510
+ "stack_right_right_group_base": {
511
+ "cls": "Box"
512
+ },
513
+ "stack_right_right_group_1": {
514
+ "cls": "SingleCabinet"
515
+ },
516
+ "stack_right_right_group_2": {
517
+ "cls": "SingleCabinet"
518
+ },
519
+ "cab_top_corner_right_group": {
520
+ "cls": "Box"
521
+ },
522
+ "bottom_corner_right_group": {
523
+ "cls": "Box"
524
+ },
525
+ "bottom_right_group_base": {
526
+ "cls": "Box"
527
+ },
528
+ "bottom_right_group_1": {
529
+ "cls": "Drawer"
530
+ },
531
+ "bottom_right_group_2": {
532
+ "cls": "Drawer"
533
+ },
534
+ "oven_right_group": {
535
+ "cls": "Oven"
536
+ },
537
+ "oven_housing_right_group": {
538
+ "cls": "HousingCabinet"
539
+ },
540
+ "microwave_right_group": {
541
+ "cls": "Microwave"
542
+ },
543
+ "micro_housing_right_group": {
544
+ "cls": "HousingCabinet"
545
+ },
546
+ "top_right_group": {
547
+ "cls": "HingeCabinet"
548
+ },
549
+ "side_bottom_right_group_base": {
550
+ "cls": "Box"
551
+ },
552
+ "side_bottom_right_group_1": {
553
+ "cls": "Drawer"
554
+ },
555
+ "side_bottom_right_group_2": {
556
+ "cls": "Drawer"
557
+ },
558
+ "side_bottom_right_group_3": {
559
+ "cls": "HingeCabinet"
560
+ }
561
+ },
562
+ "gen_textures": {},
563
+ "lang": "Place the appropriate cutting tool for cutting the avocado skin on the cutting board.",
564
+ "fixture_refs": {
565
+ "drawer": "stack_3_main_group_2",
566
+ "counter": "counter_main_main_group"
567
+ },
568
+ "cam_configs": {
569
+ "robot0_agentview_center": {
570
+ "pos": [
571
+ -0.6,
572
+ 0.0,
573
+ 1.15
574
+ ],
575
+ "quat": [
576
+ 0.636945903301239,
577
+ 0.3325185477733612,
578
+ -0.3199238181114197,
579
+ -0.6175596117973328
580
+ ],
581
+ "parent_body": "mobilebase0_support"
582
+ },
583
+ "robot0_agentview_left": {
584
+ "pos": [
585
+ -0.5,
586
+ 0.35,
587
+ 1.05
588
+ ],
589
+ "quat": [
590
+ 0.55623853,
591
+ 0.29935253,
592
+ -0.37678665,
593
+ -0.6775092
594
+ ],
595
+ "camera_attribs": {
596
+ "fovy": "60"
597
+ },
598
+ "parent_body": "mobilebase0_support"
599
+ },
600
+ "robot0_agentview_right": {
601
+ "pos": [
602
+ -0.5,
603
+ -0.35,
604
+ 1.05
605
+ ],
606
+ "quat": [
607
+ 0.6775091886520386,
608
+ 0.3767866790294647,
609
+ -0.2993525564670563,
610
+ -0.55623859167099
611
+ ],
612
+ "camera_attribs": {
613
+ "fovy": "60"
614
+ },
615
+ "parent_body": "mobilebase0_support"
616
+ },
617
+ "robot0_frontview": {
618
+ "pos": [
619
+ -0.5,
620
+ 0,
621
+ 0.95
622
+ ],
623
+ "quat": [
624
+ 0.6088936924934387,
625
+ 0.3814677894115448,
626
+ -0.3673907518386841,
627
+ -0.5905545353889465
628
+ ],
629
+ "camera_attribs": {
630
+ "fovy": "60"
631
+ },
632
+ "parent_body": "mobilebase0_support"
633
+ },
634
+ "robot0_eye_in_hand": {
635
+ "pos": [
636
+ 0.05,
637
+ 0,
638
+ 0
639
+ ],
640
+ "quat": [
641
+ 0,
642
+ 0.707107,
643
+ 0.707107,
644
+ 0
645
+ ],
646
+ "parent_body": "robot0_right_hand"
647
+ }
648
+ },
649
+ "init_robot_base_pos": [
650
+ 2.5471796547646663,
651
+ -0.8843467624444853,
652
+ 0.0
653
+ ],
654
+ "init_robot_base_ori": [
655
+ 0.0,
656
+ 0.0,
657
+ 1.5707963267948966
658
+ ],
659
+ "refs": {
660
+ "food": "avocado"
661
+ }
662
+ }
target/composite/CuttingToolSelection/20250814/lerobot/extras/episode_000489/ep_meta.json ADDED
@@ -0,0 +1,738 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 7,
3
+ "style_id": 7,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "peeler",
7
+ "obj_groups": "peeler",
8
+ "placement": {
9
+ "fixture": "stack_5_main_group_2",
10
+ "pos": [
11
+ null,
12
+ -0.5
13
+ ],
14
+ "size": [
15
+ 0.3,
16
+ 0.3
17
+ ]
18
+ },
19
+ "object_scale": [
20
+ 1,
21
+ 1,
22
+ 1.75
23
+ ],
24
+ "type": "object",
25
+ "info": {
26
+ "groups_containing_sampled_obj": [
27
+ "all",
28
+ "peeler",
29
+ "tool",
30
+ "in_container"
31
+ ],
32
+ "groups": [
33
+ "peeler"
34
+ ],
35
+ "cat": "peeler",
36
+ "split": "test",
37
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler005/model.xml"
38
+ },
39
+ "reset_region": {
40
+ "offset": [
41
+ 0.0,
42
+ -0.015000000000000013,
43
+ -0.044
44
+ ],
45
+ "size": [
46
+ 0.378,
47
+ 0.51
48
+ ],
49
+ "height": 0.118,
50
+ "name": "int"
51
+ }
52
+ },
53
+ {
54
+ "name": "knife",
55
+ "obj_groups": "knife",
56
+ "placement": {
57
+ "fixture": "stack_5_main_group_2",
58
+ "pos": [
59
+ null,
60
+ -0.5
61
+ ],
62
+ "size": [
63
+ 0.3,
64
+ 0.3
65
+ ]
66
+ },
67
+ "object_scale": [
68
+ 1,
69
+ 1,
70
+ 1.75
71
+ ],
72
+ "type": "object",
73
+ "info": {
74
+ "groups_containing_sampled_obj": [
75
+ "all",
76
+ "knife",
77
+ "utensil"
78
+ ],
79
+ "groups": [
80
+ "knife"
81
+ ],
82
+ "cat": "knife",
83
+ "split": "test",
84
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_6/model.xml"
85
+ },
86
+ "reset_region": {
87
+ "offset": [
88
+ 0.0,
89
+ -0.015000000000000013,
90
+ -0.044
91
+ ],
92
+ "size": [
93
+ 0.378,
94
+ 0.51
95
+ ],
96
+ "height": 0.118,
97
+ "name": "int"
98
+ }
99
+ },
100
+ {
101
+ "name": "distr",
102
+ "exclude_obj_groups": [
103
+ "food"
104
+ ],
105
+ "placement": {
106
+ "fixture": "counter_main_main_group",
107
+ "size": [
108
+ 0.6,
109
+ 0.2
110
+ ],
111
+ "sample_region_kwargs": {
112
+ "ref": "stack_5_main_group_2",
113
+ "min_size": [
114
+ 0.08707892339999997,
115
+ 0.08707892024999996,
116
+ 0.10499999999999995
117
+ ]
118
+ },
119
+ "pos": [
120
+ 0,
121
+ 1
122
+ ]
123
+ },
124
+ "type": "object",
125
+ "info": {
126
+ "groups_containing_sampled_obj": [
127
+ "all",
128
+ "cup",
129
+ "receptacle",
130
+ "stackable"
131
+ ],
132
+ "groups": [
133
+ "all"
134
+ ],
135
+ "cat": "cup",
136
+ "split": "test",
137
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml"
138
+ },
139
+ "reset_region": {
140
+ "size": [
141
+ 0.7817948850658278,
142
+ 0.65
143
+ ],
144
+ "offset": [
145
+ 0.25,
146
+ -3.469446951953614e-17,
147
+ 0.46
148
+ ],
149
+ "name": "geom_0"
150
+ }
151
+ },
152
+ {
153
+ "name": "food_container",
154
+ "obj_groups": "cutting_board",
155
+ "placement": {
156
+ "fixture": "counter_main_main_group",
157
+ "sample_region_kwargs": {
158
+ "ref": "stack_5_main_group_2",
159
+ "top_size": [
160
+ 0.5,
161
+ 0.5
162
+ ],
163
+ "min_size": [
164
+ 0.21596736834000008,
165
+ 0.3105000062100002,
166
+ 0.013541203080000005
167
+ ]
168
+ },
169
+ "size": [
170
+ 0.5,
171
+ 0.5
172
+ ],
173
+ "pos": [
174
+ "ref",
175
+ -1.0
176
+ ],
177
+ "try_to_place_in": "cutting_board"
178
+ },
179
+ "type": "object",
180
+ "info": {
181
+ "groups_containing_sampled_obj": [
182
+ "all",
183
+ "cutting_board",
184
+ "receptacle"
185
+ ],
186
+ "groups": [
187
+ "cutting_board"
188
+ ],
189
+ "cat": "cutting_board",
190
+ "split": "test",
191
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_9/model.xml"
192
+ },
193
+ "reset_region": {
194
+ "size": [
195
+ 0.7817948850658278,
196
+ 0.65
197
+ ],
198
+ "offset": [
199
+ 0.25,
200
+ -3.469446951953614e-17,
201
+ 0.46
202
+ ],
203
+ "name": "geom_0"
204
+ }
205
+ },
206
+ {
207
+ "name": "food",
208
+ "obj_groups": "potato",
209
+ "placement": {
210
+ "size": [
211
+ 0.01,
212
+ 0.01
213
+ ],
214
+ "ensure_object_boundary_in_range": false,
215
+ "sample_args": {
216
+ "reference": "food_container",
217
+ "on_top": true
218
+ }
219
+ },
220
+ "type": "object",
221
+ "info": {
222
+ "groups_containing_sampled_obj": [
223
+ "all",
224
+ "potato",
225
+ "vegetable",
226
+ "food",
227
+ "in_container",
228
+ "food_set1",
229
+ "oven_ready"
230
+ ],
231
+ "groups": [
232
+ "potato"
233
+ ],
234
+ "cat": "potato",
235
+ "split": "test",
236
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_6/model.xml"
237
+ }
238
+ }
239
+ ],
240
+ "fixtures": {
241
+ "wall_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_backing_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_left_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_left_backing_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_right_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "wall_right_backing_room": {
257
+ "cls": "Wall"
258
+ },
259
+ "floor_room": {
260
+ "cls": "Floor"
261
+ },
262
+ "floor_backing_room": {
263
+ "cls": "Floor"
264
+ },
265
+ "utensil_rack_room": {
266
+ "cls": "WallAccessory"
267
+ },
268
+ "light_switch_room": {
269
+ "cls": "WallAccessory"
270
+ },
271
+ "light_switch_2_room": {
272
+ "cls": "WallAccessory"
273
+ },
274
+ "outlet_room": {
275
+ "cls": "WallAccessory"
276
+ },
277
+ "outlet_2_room": {
278
+ "cls": "WallAccessory"
279
+ },
280
+ "outlet_3_room": {
281
+ "cls": "WallAccessory"
282
+ },
283
+ "window_group_room": {
284
+ "cls": "Window"
285
+ },
286
+ "stool_1_room": {
287
+ "cls": "Stool"
288
+ },
289
+ "stool_2_room": {
290
+ "cls": "Stool"
291
+ },
292
+ "stool_3_room": {
293
+ "cls": "Stool"
294
+ },
295
+ "counter_corner_main_group": {
296
+ "cls": "Counter"
297
+ },
298
+ "counter_1_main_group": {
299
+ "cls": "Counter"
300
+ },
301
+ "stovetop_main_group": {
302
+ "cls": "Stovetop"
303
+ },
304
+ "counter_main_main_group": {
305
+ "cls": "Counter"
306
+ },
307
+ "counter_corner_2_main_group": {
308
+ "cls": "Counter"
309
+ },
310
+ "cab_corner_main_group": {
311
+ "cls": "Box"
312
+ },
313
+ "cab_corner_2_main_group": {
314
+ "cls": "Box"
315
+ },
316
+ "cab_1_main_group": {
317
+ "cls": "SingleCabinet"
318
+ },
319
+ "hood_main_group": {
320
+ "cls": "Hood"
321
+ },
322
+ "shelves_main_group": {
323
+ "cls": "OpenCabinet"
324
+ },
325
+ "cab_main_main_group": {
326
+ "cls": "SingleCabinet"
327
+ },
328
+ "cab_corner_3_main_group": {
329
+ "cls": "Box"
330
+ },
331
+ "cab_corner_4_main_group": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_1_main_group_base": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_1_main_group_1": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "stack_1_main_group_2": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_1_main_group_3": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_2_main_group_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_2_main_group_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_2_main_group_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_2_main_group_3": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_3_main_group_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_3_main_group_1": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_3_main_group_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_3_main_group_3": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_3_main_group_4": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_4_main_group_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_4_main_group_1": {
377
+ "cls": "HingeCabinet"
378
+ },
379
+ "stack_5_main_group_base": {
380
+ "cls": "Box"
381
+ },
382
+ "stack_5_main_group_1": {
383
+ "cls": "HingeCabinet"
384
+ },
385
+ "stack_5_main_group_2": {
386
+ "cls": "Drawer"
387
+ },
388
+ "stack_5_main_group_3": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_6_main_group_base": {
392
+ "cls": "Box"
393
+ },
394
+ "stack_6_main_group_1": {
395
+ "cls": "SingleCabinet"
396
+ },
397
+ "stack_6_main_group_2": {
398
+ "cls": "Drawer"
399
+ },
400
+ "knife_block_main_group": {
401
+ "cls": "Accessory"
402
+ },
403
+ "paper_towel_main_group": {
404
+ "cls": "Accessory"
405
+ },
406
+ "utensil_set_main_group": {
407
+ "cls": "Accessory"
408
+ },
409
+ "oil_bottle_main_group": {
410
+ "cls": "Accessory"
411
+ },
412
+ "glass_cup_main_group": {
413
+ "cls": "Accessory"
414
+ },
415
+ "glass_cup_2_main_group": {
416
+ "cls": "Accessory"
417
+ },
418
+ "oil_bottle_main_group_auxiliary_main_group": {
419
+ "cls": "Accessory"
420
+ },
421
+ "sink_island_group": {
422
+ "cls": "Sink"
423
+ },
424
+ "island_island_group": {
425
+ "cls": "Counter"
426
+ },
427
+ "island_stack_1_island_group_base": {
428
+ "cls": "Box"
429
+ },
430
+ "island_stack_1_island_group_1": {
431
+ "cls": "HingeCabinet"
432
+ },
433
+ "island_stack_1_island_group_2": {
434
+ "cls": "PanelCabinet"
435
+ },
436
+ "dishwasher_island_group": {
437
+ "cls": "Dishwasher"
438
+ },
439
+ "island_panel_cab_right_island_group_base": {
440
+ "cls": "Box"
441
+ },
442
+ "island_panel_cab_right_island_group_1": {
443
+ "cls": "PanelCabinet"
444
+ },
445
+ "island_cab_right_island_group_base": {
446
+ "cls": "Box"
447
+ },
448
+ "island_cab_right_island_group_1": {
449
+ "cls": "Drawer"
450
+ },
451
+ "island_cab_right_island_group_2": {
452
+ "cls": "Drawer"
453
+ },
454
+ "island_cab_right_island_group_3": {
455
+ "cls": "Drawer"
456
+ },
457
+ "island_cab_right_island_group_4": {
458
+ "cls": "Drawer"
459
+ },
460
+ "island_panel_cab_left_island_group_base": {
461
+ "cls": "Box"
462
+ },
463
+ "island_panel_cab_left_island_group_1": {
464
+ "cls": "PanelCabinet"
465
+ },
466
+ "island_base_box_island_group": {
467
+ "cls": "Box"
468
+ },
469
+ "plant_island_group": {
470
+ "cls": "Accessory"
471
+ },
472
+ "soap_dispenser_island_group": {
473
+ "cls": "Accessory"
474
+ },
475
+ "fruit_bowl_island_group": {
476
+ "cls": "Accessory"
477
+ },
478
+ "salt_shaker_island_group": {
479
+ "cls": "Accessory"
480
+ },
481
+ "salt_shaker_island_group_auxiliary_island_group": {
482
+ "cls": "Accessory"
483
+ },
484
+ "counter_1_left_group": {
485
+ "cls": "Counter"
486
+ },
487
+ "counter_corner_left_group": {
488
+ "cls": "Counter"
489
+ },
490
+ "bottom_left_group_base": {
491
+ "cls": "Box"
492
+ },
493
+ "bottom_left_group_1": {
494
+ "cls": "Drawer"
495
+ },
496
+ "bottom_left_group_2": {
497
+ "cls": "Drawer"
498
+ },
499
+ "oven_left_group": {
500
+ "cls": "Oven"
501
+ },
502
+ "oven_housing_left_group": {
503
+ "cls": "HousingCabinet"
504
+ },
505
+ "microwave_left_group": {
506
+ "cls": "Microwave"
507
+ },
508
+ "micro_housing_left_group": {
509
+ "cls": "HousingCabinet"
510
+ },
511
+ "top_left_group": {
512
+ "cls": "HingeCabinet"
513
+ },
514
+ "stack_1_left_group_base": {
515
+ "cls": "Box"
516
+ },
517
+ "stack_1_left_group_1": {
518
+ "cls": "SingleCabinet"
519
+ },
520
+ "stack_1_left_group_2": {
521
+ "cls": "Drawer"
522
+ },
523
+ "stack_2_left_group_base": {
524
+ "cls": "Box"
525
+ },
526
+ "stack_2_left_group_1": {
527
+ "cls": "HingeCabinet"
528
+ },
529
+ "stack_2_left_group_2": {
530
+ "cls": "Drawer"
531
+ },
532
+ "stack_2_left_group_3": {
533
+ "cls": "Drawer"
534
+ },
535
+ "stack_3_left_group_base": {
536
+ "cls": "Box"
537
+ },
538
+ "stack_3_left_group_1": {
539
+ "cls": "Drawer"
540
+ },
541
+ "stack_3_left_group_2": {
542
+ "cls": "Drawer"
543
+ },
544
+ "stack_3_left_group_3": {
545
+ "cls": "Drawer"
546
+ },
547
+ "stack_3_left_group_4": {
548
+ "cls": "Drawer"
549
+ },
550
+ "shelves_left_group": {
551
+ "cls": "OpenCabinet"
552
+ },
553
+ "cab_2_left_group": {
554
+ "cls": "SingleCabinet"
555
+ },
556
+ "toaster_oven_left_group": {
557
+ "cls": "ToasterOven"
558
+ },
559
+ "paprika_left_group": {
560
+ "cls": "Accessory"
561
+ },
562
+ "cinnamon_left_group": {
563
+ "cls": "Accessory"
564
+ },
565
+ "turmeric_left_group": {
566
+ "cls": "Accessory"
567
+ },
568
+ "jar_left_group": {
569
+ "cls": "Accessory"
570
+ },
571
+ "jar_left_group_auxiliary_left_group": {
572
+ "cls": "Accessory"
573
+ },
574
+ "counter_1_right_group": {
575
+ "cls": "Counter"
576
+ },
577
+ "counter_corner_right_group": {
578
+ "cls": "Counter"
579
+ },
580
+ "fridge_right_group": {
581
+ "cls": "FridgeSideBySide"
582
+ },
583
+ "fridge_housing_right_group": {
584
+ "cls": "HousingCabinet"
585
+ },
586
+ "stack_1_right_group_base": {
587
+ "cls": "Box"
588
+ },
589
+ "stack_1_right_group_1": {
590
+ "cls": "HingeCabinet"
591
+ },
592
+ "stack_1_right_group_2": {
593
+ "cls": "Drawer"
594
+ },
595
+ "stack_1_right_group_3": {
596
+ "cls": "Drawer"
597
+ },
598
+ "stack_2_right_group_base": {
599
+ "cls": "Box"
600
+ },
601
+ "stack_2_right_group_1": {
602
+ "cls": "SingleCabinet"
603
+ },
604
+ "stack_2_right_group_2": {
605
+ "cls": "Drawer"
606
+ },
607
+ "stack_3_right_group_base": {
608
+ "cls": "Box"
609
+ },
610
+ "stack_3_right_group_1": {
611
+ "cls": "Drawer"
612
+ },
613
+ "stack_3_right_group_2": {
614
+ "cls": "Drawer"
615
+ },
616
+ "stack_3_right_group_3": {
617
+ "cls": "Drawer"
618
+ },
619
+ "stack_3_right_group_4": {
620
+ "cls": "Drawer"
621
+ },
622
+ "cab_1_right_group": {
623
+ "cls": "HingeCabinet"
624
+ },
625
+ "cab_2_right_group": {
626
+ "cls": "HingeCabinet"
627
+ },
628
+ "fridge_cab_right_group": {
629
+ "cls": "HingeCabinet"
630
+ },
631
+ "coffee_machine_right_group": {
632
+ "cls": "CoffeeMachine"
633
+ },
634
+ "toaster_right_group": {
635
+ "cls": "Toaster"
636
+ }
637
+ },
638
+ "gen_textures": {},
639
+ "lang": "Place the appropriate cutting tool for cutting the potato skin on the cutting board.",
640
+ "fixture_refs": {
641
+ "drawer": "stack_5_main_group_2",
642
+ "counter": "counter_main_main_group"
643
+ },
644
+ "cam_configs": {
645
+ "robot0_agentview_center": {
646
+ "pos": [
647
+ -0.6,
648
+ 0.0,
649
+ 1.15
650
+ ],
651
+ "quat": [
652
+ 0.636945903301239,
653
+ 0.3325185477733612,
654
+ -0.3199238181114197,
655
+ -0.6175596117973328
656
+ ],
657
+ "parent_body": "mobilebase0_support"
658
+ },
659
+ "robot0_agentview_left": {
660
+ "pos": [
661
+ -0.5,
662
+ 0.35,
663
+ 1.05
664
+ ],
665
+ "quat": [
666
+ 0.55623853,
667
+ 0.29935253,
668
+ -0.37678665,
669
+ -0.6775092
670
+ ],
671
+ "camera_attribs": {
672
+ "fovy": "60"
673
+ },
674
+ "parent_body": "mobilebase0_support"
675
+ },
676
+ "robot0_agentview_right": {
677
+ "pos": [
678
+ -0.5,
679
+ -0.35,
680
+ 1.05
681
+ ],
682
+ "quat": [
683
+ 0.6775091886520386,
684
+ 0.3767866790294647,
685
+ -0.2993525564670563,
686
+ -0.55623859167099
687
+ ],
688
+ "camera_attribs": {
689
+ "fovy": "60"
690
+ },
691
+ "parent_body": "mobilebase0_support"
692
+ },
693
+ "robot0_frontview": {
694
+ "pos": [
695
+ -0.5,
696
+ 0,
697
+ 0.95
698
+ ],
699
+ "quat": [
700
+ 0.6088936924934387,
701
+ 0.3814677894115448,
702
+ -0.3673907518386841,
703
+ -0.5905545353889465
704
+ ],
705
+ "camera_attribs": {
706
+ "fovy": "60"
707
+ },
708
+ "parent_body": "mobilebase0_support"
709
+ },
710
+ "robot0_eye_in_hand": {
711
+ "pos": [
712
+ 0.05,
713
+ 0,
714
+ 0
715
+ ],
716
+ "quat": [
717
+ 0,
718
+ 0.707107,
719
+ 0.707107,
720
+ 0
721
+ ],
722
+ "parent_body": "robot0_right_hand"
723
+ }
724
+ },
725
+ "init_robot_base_pos": [
726
+ 3.988862566900064,
727
+ -0.8795623232696714,
728
+ 0.0
729
+ ],
730
+ "init_robot_base_ori": [
731
+ 0.0,
732
+ 0.0,
733
+ 1.5707963267948966
734
+ ],
735
+ "refs": {
736
+ "food": "potato"
737
+ }
738
+ }