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
2e94e0d
·
verified ·
1 Parent(s): 6e5760c

Add files using upload-large-folder tool

Browse files
Files changed (20) hide show
  1. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/dataset_meta.json +392 -0
  2. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000000/ep_meta.json +729 -0
  3. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000018/ep_meta.json +442 -0
  4. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000024/ep_meta.json +471 -0
  5. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000025/ep_meta.json +513 -0
  6. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000028/ep_meta.json +539 -0
  7. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000033/ep_meta.json +511 -0
  8. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000037/ep_meta.json +450 -0
  9. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000049/ep_meta.json +402 -0
  10. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000053/ep_meta.json +617 -0
  11. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000056/ep_meta.json +451 -0
  12. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000064/ep_meta.json +398 -0
  13. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000074/ep_meta.json +553 -0
  14. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000075/ep_meta.json +497 -0
  15. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000076/ep_meta.json +512 -0
  16. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000078/ep_meta.json +387 -0
  17. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000079/ep_meta.json +422 -0
  18. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000084/ep_meta.json +437 -0
  19. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000087/ep_meta.json +495 -0
  20. pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000100/ep_meta.json +551 -0
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/dataset_meta.json ADDED
@@ -0,0 +1,392 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "date": "8-19-2025",
3
+ "env": "OpenCabinet",
4
+ "env_args": {
5
+ "type": 1,
6
+ "env_name": "OpenCabinet",
7
+ "env_version": "0.5.1",
8
+ "robosuite_version": "1.5.2",
9
+ "mujoco_version": "3.3.1",
10
+ "env_kwargs": {
11
+ "env_name": "OpenCabinet",
12
+ "robots": "PandaOmron",
13
+ "layout_ids": -2,
14
+ "style_ids": -2,
15
+ "obj_instance_split": "pretrain",
16
+ "clutter_mode": 0,
17
+ "translucent_robot": false,
18
+ "layout_and_style_ids": null,
19
+ "controller_configs": {
20
+ "type": "HYBRID_MOBILE_BASE",
21
+ "composite_controller_specific_configs": {
22
+ "left_offset": [
23
+ 0.0,
24
+ 0.0,
25
+ 0.0
26
+ ],
27
+ "right_offset": [
28
+ -0.15,
29
+ 0.0,
30
+ 0.35
31
+ ],
32
+ "left2arm_transform": [
33
+ [
34
+ 1,
35
+ 0,
36
+ 0,
37
+ 0
38
+ ],
39
+ [
40
+ 0,
41
+ 1,
42
+ 0,
43
+ 0
44
+ ],
45
+ [
46
+ 0,
47
+ 0,
48
+ 1,
49
+ 0
50
+ ],
51
+ [
52
+ 0,
53
+ 0,
54
+ 0,
55
+ 1
56
+ ]
57
+ ],
58
+ "right2arm_transform": [
59
+ [
60
+ 0,
61
+ 0.7071068,
62
+ 0.7071068,
63
+ 0
64
+ ],
65
+ [
66
+ 1,
67
+ 0,
68
+ 0,
69
+ 0
70
+ ],
71
+ [
72
+ 0,
73
+ 0.7071068,
74
+ -0.7071068,
75
+ 0
76
+ ],
77
+ [
78
+ 0,
79
+ 0,
80
+ 0,
81
+ 1
82
+ ]
83
+ ],
84
+ "left2finger_transform": [
85
+ [
86
+ 1,
87
+ 0,
88
+ 0,
89
+ 0
90
+ ],
91
+ [
92
+ 0,
93
+ 1,
94
+ 0,
95
+ 0
96
+ ],
97
+ [
98
+ 0,
99
+ 0,
100
+ 1,
101
+ 0
102
+ ],
103
+ [
104
+ 0,
105
+ 0,
106
+ 0,
107
+ 1
108
+ ]
109
+ ],
110
+ "right2finger_transform": [
111
+ [
112
+ 1,
113
+ 0,
114
+ 0,
115
+ 0
116
+ ],
117
+ [
118
+ 0,
119
+ 1,
120
+ 0,
121
+ 0
122
+ ],
123
+ [
124
+ 0,
125
+ 0,
126
+ 1,
127
+ 0
128
+ ],
129
+ [
130
+ 0,
131
+ 0,
132
+ 0,
133
+ 1
134
+ ]
135
+ ],
136
+ "body_part_ordering": [
137
+ "right",
138
+ "right_gripper",
139
+ "base",
140
+ "torso"
141
+ ]
142
+ },
143
+ "body_parts": {
144
+ "right": {
145
+ "type": "OSC_POSE",
146
+ "input_max": 1,
147
+ "input_min": -1,
148
+ "output_max": [
149
+ 0.05,
150
+ 0.05,
151
+ 0.05,
152
+ 0.5,
153
+ 0.5,
154
+ 0.5
155
+ ],
156
+ "output_min": [
157
+ -0.05,
158
+ -0.05,
159
+ -0.05,
160
+ -0.5,
161
+ -0.5,
162
+ -0.5
163
+ ],
164
+ "kp": 150,
165
+ "damping_ratio": 1,
166
+ "impedance_mode": "fixed",
167
+ "kp_limits": [
168
+ 0,
169
+ 300
170
+ ],
171
+ "damping_ratio_limits": [
172
+ 0,
173
+ 10
174
+ ],
175
+ "position_limits": null,
176
+ "orientation_limits": null,
177
+ "uncouple_pos_ori": true,
178
+ "input_type": "delta",
179
+ "input_ref_frame": "base",
180
+ "interpolation": null,
181
+ "ramp_ratio": 0.2,
182
+ "gripper": {
183
+ "type": "GRIP"
184
+ }
185
+ },
186
+ "torso": {
187
+ "type": "JOINT_POSITION",
188
+ "interpolation": "null",
189
+ "kp": 2000
190
+ },
191
+ "base": {
192
+ "type": "JOINT_VELOCITY",
193
+ "interpolation": "null"
194
+ }
195
+ }
196
+ }
197
+ }
198
+ },
199
+ "env_info": {
200
+ "env_name": "OpenCabinet",
201
+ "robots": "PandaOmron",
202
+ "layout_ids": -2,
203
+ "style_ids": -2,
204
+ "obj_instance_split": "pretrain",
205
+ "clutter_mode": 0,
206
+ "translucent_robot": true,
207
+ "layout_and_style_ids": null,
208
+ "controller_configs": {
209
+ "type": "HYBRID_MOBILE_BASE",
210
+ "composite_controller_specific_configs": {
211
+ "left_offset": [
212
+ 0.0,
213
+ 0.0,
214
+ 0.0
215
+ ],
216
+ "right_offset": [
217
+ -0.15,
218
+ 0.0,
219
+ 0.35
220
+ ],
221
+ "left2arm_transform": [
222
+ [
223
+ 1,
224
+ 0,
225
+ 0,
226
+ 0
227
+ ],
228
+ [
229
+ 0,
230
+ 1,
231
+ 0,
232
+ 0
233
+ ],
234
+ [
235
+ 0,
236
+ 0,
237
+ 1,
238
+ 0
239
+ ],
240
+ [
241
+ 0,
242
+ 0,
243
+ 0,
244
+ 1
245
+ ]
246
+ ],
247
+ "right2arm_transform": [
248
+ [
249
+ 0,
250
+ 0.7071068,
251
+ 0.7071068,
252
+ 0
253
+ ],
254
+ [
255
+ 1,
256
+ 0,
257
+ 0,
258
+ 0
259
+ ],
260
+ [
261
+ 0,
262
+ 0.7071068,
263
+ -0.7071068,
264
+ 0
265
+ ],
266
+ [
267
+ 0,
268
+ 0,
269
+ 0,
270
+ 1
271
+ ]
272
+ ],
273
+ "left2finger_transform": [
274
+ [
275
+ 1,
276
+ 0,
277
+ 0,
278
+ 0
279
+ ],
280
+ [
281
+ 0,
282
+ 1,
283
+ 0,
284
+ 0
285
+ ],
286
+ [
287
+ 0,
288
+ 0,
289
+ 1,
290
+ 0
291
+ ],
292
+ [
293
+ 0,
294
+ 0,
295
+ 0,
296
+ 1
297
+ ]
298
+ ],
299
+ "right2finger_transform": [
300
+ [
301
+ 1,
302
+ 0,
303
+ 0,
304
+ 0
305
+ ],
306
+ [
307
+ 0,
308
+ 1,
309
+ 0,
310
+ 0
311
+ ],
312
+ [
313
+ 0,
314
+ 0,
315
+ 1,
316
+ 0
317
+ ],
318
+ [
319
+ 0,
320
+ 0,
321
+ 0,
322
+ 1
323
+ ]
324
+ ],
325
+ "body_part_ordering": [
326
+ "right",
327
+ "right_gripper",
328
+ "base",
329
+ "torso"
330
+ ]
331
+ },
332
+ "body_parts": {
333
+ "right": {
334
+ "type": "OSC_POSE",
335
+ "input_max": 1,
336
+ "input_min": -1,
337
+ "output_max": [
338
+ 0.05,
339
+ 0.05,
340
+ 0.05,
341
+ 0.5,
342
+ 0.5,
343
+ 0.5
344
+ ],
345
+ "output_min": [
346
+ -0.05,
347
+ -0.05,
348
+ -0.05,
349
+ -0.5,
350
+ -0.5,
351
+ -0.5
352
+ ],
353
+ "kp": 150,
354
+ "damping_ratio": 1,
355
+ "impedance_mode": "fixed",
356
+ "kp_limits": [
357
+ 0,
358
+ 300
359
+ ],
360
+ "damping_ratio_limits": [
361
+ 0,
362
+ 10
363
+ ],
364
+ "position_limits": null,
365
+ "orientation_limits": null,
366
+ "uncouple_pos_ori": true,
367
+ "input_type": "delta",
368
+ "input_ref_frame": "base",
369
+ "interpolation": null,
370
+ "ramp_ratio": 0.2,
371
+ "gripper": {
372
+ "type": "GRIP"
373
+ }
374
+ },
375
+ "torso": {
376
+ "type": "JOINT_POSITION",
377
+ "interpolation": "null",
378
+ "kp": 2000
379
+ },
380
+ "base": {
381
+ "type": "JOINT_VELOCITY",
382
+ "interpolation": "null"
383
+ }
384
+ }
385
+ }
386
+ },
387
+ "mujoco_version": "3.3.1",
388
+ "robocasa_version": "0.5.1",
389
+ "robosuite_version": "1.5.2",
390
+ "time": "9:0:38",
391
+ "total": 37492
392
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000000/ep_meta.json ADDED
@@ -0,0 +1,729 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 25,
3
+ "style_id": 18,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_3_main_group",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bar",
25
+ "packaged_food"
26
+ ],
27
+ "groups": [
28
+ "all"
29
+ ],
30
+ "cat": "bar",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_0/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0,
37
+ 0.0,
38
+ -0.21999999999999997
39
+ ],
40
+ "size": [
41
+ 0.49000000000000005,
42
+ 0.34
43
+ ],
44
+ "height": 0.43999999999999995,
45
+ "name": "level0"
46
+ }
47
+ },
48
+ {
49
+ "name": "distr_counter_1",
50
+ "obj_groups": "all",
51
+ "placement": {
52
+ "fixture": "counter_2_main_group",
53
+ "sample_region_kwargs": {
54
+ "ref": "cab_3_main_group",
55
+ "min_size": [
56
+ 0.14077271521858256,
57
+ 0.10846947206942971,
58
+ 0.15154676699999994
59
+ ]
60
+ },
61
+ "size": [
62
+ 1.0,
63
+ 0.5
64
+ ],
65
+ "pos": [
66
+ null,
67
+ -1.0
68
+ ],
69
+ "offset": [
70
+ 0.0,
71
+ 0.1
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "jug_wide_opening",
79
+ "receptacle"
80
+ ],
81
+ "groups": [
82
+ "all"
83
+ ],
84
+ "cat": "jug_wide_opening",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_4/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 0.6500000000000012,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ 0.3984999999999994,
95
+ 0.0,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "distr_counter_2",
103
+ "obj_groups": "all",
104
+ "placement": {
105
+ "fixture": "counter_2_main_group",
106
+ "sample_region_kwargs": {
107
+ "ref": "cab_3_main_group",
108
+ "min_size": [
109
+ 0.06883066499999999,
110
+ 0.14894569499999996,
111
+ 0.10287241874999996
112
+ ]
113
+ },
114
+ "size": [
115
+ 1.0,
116
+ 0.5
117
+ ],
118
+ "pos": [
119
+ null,
120
+ -1.0
121
+ ],
122
+ "offset": [
123
+ 0.0,
124
+ 0.1
125
+ ]
126
+ },
127
+ "type": "object",
128
+ "info": {
129
+ "groups_containing_sampled_obj": [
130
+ "all",
131
+ "fish",
132
+ "meat",
133
+ "food",
134
+ "in_container",
135
+ "oven_ready"
136
+ ],
137
+ "groups": [
138
+ "all"
139
+ ],
140
+ "cat": "fish",
141
+ "split": "train",
142
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml"
143
+ },
144
+ "reset_region": {
145
+ "size": [
146
+ 0.6500000000000012,
147
+ 0.65
148
+ ],
149
+ "offset": [
150
+ 0.3984999999999994,
151
+ 0.0,
152
+ 0.46
153
+ ],
154
+ "name": "geom_0"
155
+ }
156
+ },
157
+ {
158
+ "name": "distr_counter_3",
159
+ "obj_groups": "all",
160
+ "placement": {
161
+ "fixture": "counter_2_main_group",
162
+ "sample_region_kwargs": {
163
+ "ref": "cab_3_main_group",
164
+ "min_size": [
165
+ 0.06339870034228504,
166
+ 0.09392994469999996,
167
+ 0.03259918021387442
168
+ ]
169
+ },
170
+ "size": [
171
+ 1.0,
172
+ 0.5
173
+ ],
174
+ "pos": [
175
+ null,
176
+ -1.0
177
+ ],
178
+ "offset": [
179
+ 0.0,
180
+ 0.1
181
+ ]
182
+ },
183
+ "type": "object",
184
+ "info": {
185
+ "groups_containing_sampled_obj": [
186
+ "all",
187
+ "bar_soap",
188
+ "cleaner"
189
+ ],
190
+ "groups": [
191
+ "all"
192
+ ],
193
+ "cat": "bar_soap",
194
+ "split": "train",
195
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml"
196
+ },
197
+ "reset_region": {
198
+ "size": [
199
+ 0.6500000000000012,
200
+ 0.65
201
+ ],
202
+ "offset": [
203
+ 0.3984999999999994,
204
+ 0.0,
205
+ 0.46
206
+ ],
207
+ "name": "geom_0"
208
+ }
209
+ }
210
+ ],
211
+ "fixtures": {
212
+ "wall_left_1_room": {
213
+ "cls": "Wall"
214
+ },
215
+ "wall_left_1_backing_room": {
216
+ "cls": "Wall"
217
+ },
218
+ "wall_main_room": {
219
+ "cls": "Wall"
220
+ },
221
+ "wall_main_backing_room": {
222
+ "cls": "Wall"
223
+ },
224
+ "wall_right_1_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "wall_right_1_backing_room": {
228
+ "cls": "Wall"
229
+ },
230
+ "floor_1_room": {
231
+ "cls": "Floor"
232
+ },
233
+ "floor_1_backing_room": {
234
+ "cls": "Floor"
235
+ },
236
+ "wall_accessory_1_room": {
237
+ "cls": "WallAccessory"
238
+ },
239
+ "wall_accessory_2_room": {
240
+ "cls": "WallAccessory"
241
+ },
242
+ "light_switch_1_room": {
243
+ "cls": "WallAccessory"
244
+ },
245
+ "wall_accessory_3_room": {
246
+ "cls": "WallAccessory"
247
+ },
248
+ "light_switch_2_room": {
249
+ "cls": "WallAccessory"
250
+ },
251
+ "light_switch_3_room": {
252
+ "cls": "WallAccessory"
253
+ },
254
+ "wall_accessory_4_room": {
255
+ "cls": "WallAccessory"
256
+ },
257
+ "wall_accessory_5_room": {
258
+ "cls": "WallAccessory"
259
+ },
260
+ "wall_accessory_6_room": {
261
+ "cls": "WallAccessory"
262
+ },
263
+ "wall_accessory_7_room": {
264
+ "cls": "WallAccessory"
265
+ },
266
+ "window_group_1_room": {
267
+ "cls": "Window"
268
+ },
269
+ "window_group_2_room": {
270
+ "cls": "Window"
271
+ },
272
+ "stool_1_room": {
273
+ "cls": "Stool"
274
+ },
275
+ "stool_2_room": {
276
+ "cls": "Stool"
277
+ },
278
+ "counter_corner_main_group": {
279
+ "cls": "Counter"
280
+ },
281
+ "counter_1_main_group": {
282
+ "cls": "Counter"
283
+ },
284
+ "stove_main_group": {
285
+ "cls": "Stove"
286
+ },
287
+ "counter_2_main_group": {
288
+ "cls": "Counter"
289
+ },
290
+ "stack_1_main_group_base": {
291
+ "cls": "Box"
292
+ },
293
+ "stack_1_main_group_1": {
294
+ "cls": "SingleCabinet"
295
+ },
296
+ "stack_2_main_group_base": {
297
+ "cls": "Box"
298
+ },
299
+ "stack_2_main_group_1": {
300
+ "cls": "Drawer"
301
+ },
302
+ "stack_2_main_group_2": {
303
+ "cls": "Drawer"
304
+ },
305
+ "stack_2_main_group_3": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_2_main_group_4": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_3_main_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_3_main_group_1": {
315
+ "cls": "SingleCabinet"
316
+ },
317
+ "box_1_main_group": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_4_main_group_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_4_main_group_1": {
324
+ "cls": "SingleCabinet"
325
+ },
326
+ "stack_5_main_group_base": {
327
+ "cls": "Box"
328
+ },
329
+ "stack_5_main_group_1": {
330
+ "cls": "Drawer"
331
+ },
332
+ "stack_5_main_group_2": {
333
+ "cls": "Drawer"
334
+ },
335
+ "stack_5_main_group_3": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_5_main_group_4": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_6_main_group_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_6_main_group_1": {
345
+ "cls": "SingleCabinet"
346
+ },
347
+ "box_2_main_group": {
348
+ "cls": "Box"
349
+ },
350
+ "hood_main_group": {
351
+ "cls": "Hood"
352
+ },
353
+ "cab_corner_1_main_group": {
354
+ "cls": "Box"
355
+ },
356
+ "cab_1_main_group": {
357
+ "cls": "HingeCabinet"
358
+ },
359
+ "cab_1_above_main_group": {
360
+ "cls": "HingeCabinet"
361
+ },
362
+ "cab_2_main_group": {
363
+ "cls": "SingleCabinet"
364
+ },
365
+ "cab_2_above_main_group": {
366
+ "cls": "SingleCabinet"
367
+ },
368
+ "cab_corner_2_main_group": {
369
+ "cls": "Box"
370
+ },
371
+ "cab_3_main_group": {
372
+ "cls": "SingleCabinet"
373
+ },
374
+ "cab_3_above_main_group": {
375
+ "cls": "SingleCabinet"
376
+ },
377
+ "cab_4_main_group": {
378
+ "cls": "HingeCabinet"
379
+ },
380
+ "cab_4_above_main_group": {
381
+ "cls": "HingeCabinet"
382
+ },
383
+ "coffee_machine_main_group": {
384
+ "cls": "CoffeeMachine"
385
+ },
386
+ "toaster_main_group": {
387
+ "cls": "Toaster"
388
+ },
389
+ "knife_block_main_group": {
390
+ "cls": "Accessory"
391
+ },
392
+ "sink_1_left_group": {
393
+ "cls": "Sink"
394
+ },
395
+ "counter_1_left_group": {
396
+ "cls": "Counter"
397
+ },
398
+ "box_left_group": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_1_left_group_base": {
402
+ "cls": "Box"
403
+ },
404
+ "stack_1_left_group_1": {
405
+ "cls": "HingeCabinet"
406
+ },
407
+ "stack_2_left_group_base": {
408
+ "cls": "Box"
409
+ },
410
+ "stack_2_left_group_1": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "dishwasher_left_group": {
414
+ "cls": "Dishwasher"
415
+ },
416
+ "stack_3_left_group_base": {
417
+ "cls": "Box"
418
+ },
419
+ "stack_3_left_group_1": {
420
+ "cls": "Drawer"
421
+ },
422
+ "stack_3_left_group_2": {
423
+ "cls": "Drawer"
424
+ },
425
+ "stack_4_left_group_base": {
426
+ "cls": "Box"
427
+ },
428
+ "stack_4_left_group_1": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_4_left_group_2": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_5_left_group_base": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_5_left_group_1": {
438
+ "cls": "SingleCabinet"
439
+ },
440
+ "stack_5_left_group_2": {
441
+ "cls": "Drawer"
442
+ },
443
+ "cab_1_left_group": {
444
+ "cls": "HingeCabinet"
445
+ },
446
+ "cab_2_left_group": {
447
+ "cls": "HingeCabinet"
448
+ },
449
+ "cab_3_left_group": {
450
+ "cls": "HingeCabinet"
451
+ },
452
+ "cab_4_left_group": {
453
+ "cls": "SingleCabinet"
454
+ },
455
+ "cab_5_left_group": {
456
+ "cls": "HingeCabinet"
457
+ },
458
+ "cab_6_left_group": {
459
+ "cls": "HingeCabinet"
460
+ },
461
+ "paper_towel_left_group": {
462
+ "cls": "Accessory"
463
+ },
464
+ "toaster_oven_left_group": {
465
+ "cls": "ToasterOven"
466
+ },
467
+ "corner_counter_right_group": {
468
+ "cls": "Counter"
469
+ },
470
+ "counter_1_right_group": {
471
+ "cls": "Counter"
472
+ },
473
+ "box_right_group": {
474
+ "cls": "Box"
475
+ },
476
+ "stack_1_right_group_base": {
477
+ "cls": "Box"
478
+ },
479
+ "stack_1_right_group_1": {
480
+ "cls": "PanelCabinet"
481
+ },
482
+ "fridge_right_group": {
483
+ "cls": "FridgeFrenchDoor"
484
+ },
485
+ "fridge_housing_right_group": {
486
+ "cls": "HousingCabinet"
487
+ },
488
+ "bottom_right_group_base": {
489
+ "cls": "Box"
490
+ },
491
+ "bottom_right_group_1": {
492
+ "cls": "HingeCabinet"
493
+ },
494
+ "middle_right_group": {
495
+ "cls": "HingeCabinet"
496
+ },
497
+ "microwave_right_group": {
498
+ "cls": "Microwave"
499
+ },
500
+ "microwave_housing_right_group": {
501
+ "cls": "HousingCabinet"
502
+ },
503
+ "top_right_group": {
504
+ "cls": "HingeCabinet"
505
+ },
506
+ "cab_1_right_group": {
507
+ "cls": "HingeCabinet"
508
+ },
509
+ "cab_2_right_group": {
510
+ "cls": "HingeCabinet"
511
+ },
512
+ "counter_2_right_group": {
513
+ "cls": "Counter"
514
+ },
515
+ "stack_2_right_group_base": {
516
+ "cls": "Box"
517
+ },
518
+ "stack_2_right_group_1": {
519
+ "cls": "Drawer"
520
+ },
521
+ "stack_2_right_group_2": {
522
+ "cls": "Drawer"
523
+ },
524
+ "stack_2_right_group_3": {
525
+ "cls": "Drawer"
526
+ },
527
+ "stack_2_right_group_4": {
528
+ "cls": "Drawer"
529
+ },
530
+ "stack_3_right_group_base": {
531
+ "cls": "Box"
532
+ },
533
+ "stack_3_right_group_1": {
534
+ "cls": "HingeCabinet"
535
+ },
536
+ "stack_3_right_group_2": {
537
+ "cls": "Drawer"
538
+ },
539
+ "stack_4_right_group_base": {
540
+ "cls": "Box"
541
+ },
542
+ "stack_4_right_group_1": {
543
+ "cls": "Drawer"
544
+ },
545
+ "stack_4_right_group_2": {
546
+ "cls": "Drawer"
547
+ },
548
+ "stack_4_right_group_3": {
549
+ "cls": "Drawer"
550
+ },
551
+ "stack_4_right_group_4": {
552
+ "cls": "Drawer"
553
+ },
554
+ "plant_right_group": {
555
+ "cls": "Accessory"
556
+ },
557
+ "island_island_group_1": {
558
+ "cls": "Counter"
559
+ },
560
+ "stack_1_island_group_1_base": {
561
+ "cls": "Box"
562
+ },
563
+ "stack_1_island_group_1_1": {
564
+ "cls": "SingleCabinet"
565
+ },
566
+ "stack_1_island_group_1_2": {
567
+ "cls": "Drawer"
568
+ },
569
+ "stack_2_island_group_1_base": {
570
+ "cls": "Box"
571
+ },
572
+ "stack_2_island_group_1_1": {
573
+ "cls": "SingleCabinet"
574
+ },
575
+ "stack_2_island_group_1_2": {
576
+ "cls": "Drawer"
577
+ },
578
+ "stack_3_island_group_1_base": {
579
+ "cls": "Box"
580
+ },
581
+ "stack_3_island_group_1_1": {
582
+ "cls": "SingleCabinet"
583
+ },
584
+ "stack_3_island_group_1_2": {
585
+ "cls": "Drawer"
586
+ },
587
+ "stack_4_island_group_1_base": {
588
+ "cls": "Box"
589
+ },
590
+ "stack_4_island_group_1_1": {
591
+ "cls": "SingleCabinet"
592
+ },
593
+ "stack_4_island_group_1_2": {
594
+ "cls": "Drawer"
595
+ },
596
+ "stack_1_island_group_2_base": {
597
+ "cls": "Box"
598
+ },
599
+ "stack_1_island_group_2_1": {
600
+ "cls": "SingleCabinet"
601
+ },
602
+ "stack_1_island_group_2_2": {
603
+ "cls": "Drawer"
604
+ },
605
+ "stack_2_island_group_2_base": {
606
+ "cls": "Box"
607
+ },
608
+ "stack_2_island_group_2_1": {
609
+ "cls": "SingleCabinet"
610
+ },
611
+ "stack_2_island_group_2_2": {
612
+ "cls": "Drawer"
613
+ },
614
+ "stack_3_island_group_2_base": {
615
+ "cls": "Box"
616
+ },
617
+ "stack_3_island_group_2_1": {
618
+ "cls": "SingleCabinet"
619
+ },
620
+ "stack_3_island_group_2_2": {
621
+ "cls": "Drawer"
622
+ },
623
+ "stack_4_island_group_2_base": {
624
+ "cls": "Box"
625
+ },
626
+ "stack_4_island_group_2_1": {
627
+ "cls": "SingleCabinet"
628
+ },
629
+ "stack_4_island_group_2_2": {
630
+ "cls": "Drawer"
631
+ }
632
+ },
633
+ "gen_textures": {},
634
+ "lang": "Open the cabinet door.",
635
+ "fixture_refs": {
636
+ "fxtr": "cab_3_main_group"
637
+ },
638
+ "cam_configs": {
639
+ "robot0_agentview_center": {
640
+ "pos": [
641
+ -0.6,
642
+ 0.0,
643
+ 1.15
644
+ ],
645
+ "quat": [
646
+ 0.636945903301239,
647
+ 0.3325185477733612,
648
+ -0.3199238181114197,
649
+ -0.6175596117973328
650
+ ],
651
+ "parent_body": "mobilebase0_support"
652
+ },
653
+ "robot0_agentview_left": {
654
+ "pos": [
655
+ -0.5,
656
+ 0.35,
657
+ 1.05
658
+ ],
659
+ "quat": [
660
+ 0.55623853,
661
+ 0.29935253,
662
+ -0.37678665,
663
+ -0.6775092
664
+ ],
665
+ "camera_attribs": {
666
+ "fovy": "60"
667
+ },
668
+ "parent_body": "mobilebase0_support"
669
+ },
670
+ "robot0_agentview_right": {
671
+ "pos": [
672
+ -0.5,
673
+ -0.35,
674
+ 1.05
675
+ ],
676
+ "quat": [
677
+ 0.6775091886520386,
678
+ 0.3767866790294647,
679
+ -0.2993525564670563,
680
+ -0.55623859167099
681
+ ],
682
+ "camera_attribs": {
683
+ "fovy": "60"
684
+ },
685
+ "parent_body": "mobilebase0_support"
686
+ },
687
+ "robot0_frontview": {
688
+ "pos": [
689
+ -0.5,
690
+ 0,
691
+ 0.95
692
+ ],
693
+ "quat": [
694
+ 0.6088936924934387,
695
+ 0.3814677894115448,
696
+ -0.3673907518386841,
697
+ -0.5905545353889465
698
+ ],
699
+ "camera_attribs": {
700
+ "fovy": "60"
701
+ },
702
+ "parent_body": "mobilebase0_support"
703
+ },
704
+ "robot0_eye_in_hand": {
705
+ "pos": [
706
+ 0.05,
707
+ 0,
708
+ 0
709
+ ],
710
+ "quat": [
711
+ 0,
712
+ 0.707107,
713
+ 0.707107,
714
+ 0
715
+ ],
716
+ "parent_body": "robot0_right_hand"
717
+ }
718
+ },
719
+ "init_robot_base_pos": [
720
+ 4.109413133790297,
721
+ -0.8435010447534568,
722
+ 0.0
723
+ ],
724
+ "init_robot_base_ori": [
725
+ 0.0,
726
+ 0.0,
727
+ 1.5707963267948966
728
+ ]
729
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000018/ep_meta.json ADDED
@@ -0,0 +1,442 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 57,
3
+ "style_id": 53,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_4_main_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bottled_water",
25
+ "drink"
26
+ ],
27
+ "groups": [
28
+ "all"
29
+ ],
30
+ "cat": "bottled_water",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_12/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0,
37
+ 0.0,
38
+ -0.43
39
+ ],
40
+ "size": [
41
+ 0.79294,
42
+ 0.34
43
+ ],
44
+ "height": 0.2666666666666667,
45
+ "name": "level0"
46
+ }
47
+ },
48
+ {
49
+ "name": "distr_counter_1",
50
+ "obj_groups": "all",
51
+ "placement": {
52
+ "fixture": "counter_1_main_group_1",
53
+ "sample_region_kwargs": {
54
+ "ref": "hingecabinet_4_main_group_1",
55
+ "min_size": [
56
+ 0.05896755840000001,
57
+ 0.056674650000000014,
58
+ 0.039047161200000007
59
+ ]
60
+ },
61
+ "size": [
62
+ 1.0,
63
+ 0.5
64
+ ],
65
+ "pos": [
66
+ null,
67
+ -1.0
68
+ ],
69
+ "offset": [
70
+ 0.0,
71
+ 0.1
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "tangerine",
79
+ "fruit",
80
+ "food",
81
+ "in_container"
82
+ ],
83
+ "groups": [
84
+ "all"
85
+ ],
86
+ "cat": "tangerine",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml"
89
+ },
90
+ "reset_region": {
91
+ "size": [
92
+ 1.0478448466662327,
93
+ 0.65
94
+ ],
95
+ "offset": [
96
+ -0.7007999999999999,
97
+ -3.469446951953614e-17,
98
+ 0.46
99
+ ],
100
+ "name": "geom_0"
101
+ }
102
+ }
103
+ ],
104
+ "fixtures": {
105
+ "wall_right_1_room": {
106
+ "cls": "Wall"
107
+ },
108
+ "wall_right_1_backing_room": {
109
+ "cls": "Wall"
110
+ },
111
+ "wall_main_1_room": {
112
+ "cls": "Wall"
113
+ },
114
+ "wall_main_1_backing_room": {
115
+ "cls": "Wall"
116
+ },
117
+ "floor_1_room": {
118
+ "cls": "Floor"
119
+ },
120
+ "floor_1_backing_room": {
121
+ "cls": "Floor"
122
+ },
123
+ "wallaccessory_3_room": {
124
+ "cls": "WallAccessory"
125
+ },
126
+ "wallaccessory_4_room": {
127
+ "cls": "WallAccessory"
128
+ },
129
+ "lightswitch_01_room": {
130
+ "cls": "WallAccessory"
131
+ },
132
+ "window_group_1_room": {
133
+ "cls": "Window"
134
+ },
135
+ "stool_1_room": {
136
+ "cls": "Stool"
137
+ },
138
+ "stool_2_room": {
139
+ "cls": "Stool"
140
+ },
141
+ "hingecabinet_2_main_group_1": {
142
+ "cls": "HingeCabinet"
143
+ },
144
+ "hingecabinet_3_main_group_1": {
145
+ "cls": "HingeCabinet"
146
+ },
147
+ "hingecabinet_4_main_group_1": {
148
+ "cls": "HingeCabinet"
149
+ },
150
+ "singlecabinet_1_main_group_1": {
151
+ "cls": "SingleCabinet"
152
+ },
153
+ "sink_main_group_1": {
154
+ "cls": "Sink"
155
+ },
156
+ "counter_1_main_group_1": {
157
+ "cls": "Counter"
158
+ },
159
+ "cube_3_main_group_1": {
160
+ "cls": "Box"
161
+ },
162
+ "stack_02_main_group_1_base": {
163
+ "cls": "Box"
164
+ },
165
+ "stack_02_main_group_1_1": {
166
+ "cls": "SingleCabinet"
167
+ },
168
+ "stack_02_main_group_1_2": {
169
+ "cls": "Drawer"
170
+ },
171
+ "stack_01_main_group_1_base": {
172
+ "cls": "Box"
173
+ },
174
+ "stack_01_main_group_1_1": {
175
+ "cls": "HingeCabinet"
176
+ },
177
+ "stack_01_main_group_1_2": {
178
+ "cls": "PanelCabinet"
179
+ },
180
+ "stack_03_main_group_1_base": {
181
+ "cls": "Box"
182
+ },
183
+ "stack_03_main_group_1_1": {
184
+ "cls": "SingleCabinet"
185
+ },
186
+ "dishwasher_1_main_group_1": {
187
+ "cls": "Dishwasher"
188
+ },
189
+ "cube_9_main_group_1": {
190
+ "cls": "Box"
191
+ },
192
+ "toaster_main_group_1": {
193
+ "cls": "Toaster"
194
+ },
195
+ "fridgesidebyside_main_group_1": {
196
+ "cls": "FridgeSideBySide"
197
+ },
198
+ "fridgesidebyside_housing_main_group_1": {
199
+ "cls": "HousingCabinet"
200
+ },
201
+ "hingecabinet_1_main_group_1": {
202
+ "cls": "HingeCabinet"
203
+ },
204
+ "bottom_main_group_1_base": {
205
+ "cls": "Box"
206
+ },
207
+ "bottom_main_group_1_1": {
208
+ "cls": "Drawer"
209
+ },
210
+ "oven_cabinet_main_group_1": {
211
+ "cls": "HingeCabinet"
212
+ },
213
+ "microwave_main_group_1": {
214
+ "cls": "Microwave"
215
+ },
216
+ "microwave_housing_main_group_1": {
217
+ "cls": "HousingCabinet"
218
+ },
219
+ "top_main_group_1": {
220
+ "cls": "HingeCabinet"
221
+ },
222
+ "hingecabinet_5_left_group_1": {
223
+ "cls": "HingeCabinet"
224
+ },
225
+ "singlecabinet_2_left_group_1": {
226
+ "cls": "SingleCabinet"
227
+ },
228
+ "cube_4_left_group_1": {
229
+ "cls": "Box"
230
+ },
231
+ "counter_corner_1_left_group_1": {
232
+ "cls": "Counter"
233
+ },
234
+ "counter_2_left_group_1": {
235
+ "cls": "Counter"
236
+ },
237
+ "stack_04_left_group_1_base": {
238
+ "cls": "Box"
239
+ },
240
+ "stack_04_left_group_1_1": {
241
+ "cls": "SingleCabinet"
242
+ },
243
+ "stack_05_left_group_1_base": {
244
+ "cls": "Box"
245
+ },
246
+ "stack_05_left_group_1_1": {
247
+ "cls": "Drawer"
248
+ },
249
+ "stack_05_left_group_1_2": {
250
+ "cls": "Drawer"
251
+ },
252
+ "stack_05_left_group_1_3": {
253
+ "cls": "Drawer"
254
+ },
255
+ "cube_10_left_group_1": {
256
+ "cls": "Box"
257
+ },
258
+ "cube_11_left_group_1": {
259
+ "cls": "Box"
260
+ },
261
+ "coffee_machine_left_group_1": {
262
+ "cls": "CoffeeMachine"
263
+ },
264
+ "paper_towel_left_group_1": {
265
+ "cls": "Accessory"
266
+ },
267
+ "island_1_island_group_1": {
268
+ "cls": "Counter"
269
+ },
270
+ "island_2_island_group_1": {
271
+ "cls": "Counter"
272
+ },
273
+ "island_3_island_group_1": {
274
+ "cls": "Counter"
275
+ },
276
+ "stove_island_group_1": {
277
+ "cls": "Stove"
278
+ },
279
+ "stove_hood_island_group_1": {
280
+ "cls": "Hood"
281
+ },
282
+ "cube_1_island_group_1": {
283
+ "cls": "Box"
284
+ },
285
+ "cube_2_island_group_1": {
286
+ "cls": "Box"
287
+ },
288
+ "stack_07_island_group_1_base": {
289
+ "cls": "Box"
290
+ },
291
+ "stack_07_island_group_1_1": {
292
+ "cls": "SingleCabinet"
293
+ },
294
+ "stack_07_island_group_1_2": {
295
+ "cls": "Drawer"
296
+ },
297
+ "stack_06_island_group_1_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_06_island_group_1_1": {
301
+ "cls": "SingleCabinet"
302
+ },
303
+ "stack_06_island_group_1_2": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_09_island_group_2_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_09_island_group_2_1": {
310
+ "cls": "SingleCabinet"
311
+ },
312
+ "stack_09_island_group_2_2": {
313
+ "cls": "Drawer"
314
+ },
315
+ "stack_08_island_group_2_base": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_08_island_group_2_1": {
319
+ "cls": "SingleCabinet"
320
+ },
321
+ "stack_08_island_group_2_2": {
322
+ "cls": "Drawer"
323
+ },
324
+ "stack_10_island_group_2_base": {
325
+ "cls": "Box"
326
+ },
327
+ "stack_10_island_group_2_1": {
328
+ "cls": "SingleCabinet"
329
+ },
330
+ "stack_10_island_group_2_2": {
331
+ "cls": "Drawer"
332
+ },
333
+ "stack_11_island_group_2_base": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_11_island_group_2_1": {
337
+ "cls": "SingleCabinet"
338
+ },
339
+ "stack_11_island_group_2_2": {
340
+ "cls": "Drawer"
341
+ },
342
+ "cube_5_island_group_2": {
343
+ "cls": "Box"
344
+ }
345
+ },
346
+ "gen_textures": {},
347
+ "lang": "Open the cabinet doors.",
348
+ "fixture_refs": {
349
+ "fxtr": "hingecabinet_4_main_group_1"
350
+ },
351
+ "cam_configs": {
352
+ "robot0_agentview_center": {
353
+ "pos": [
354
+ -0.6,
355
+ 0.0,
356
+ 1.15
357
+ ],
358
+ "quat": [
359
+ 0.636945903301239,
360
+ 0.3325185477733612,
361
+ -0.3199238181114197,
362
+ -0.6175596117973328
363
+ ],
364
+ "parent_body": "mobilebase0_support"
365
+ },
366
+ "robot0_agentview_left": {
367
+ "pos": [
368
+ -0.5,
369
+ 0.35,
370
+ 1.05
371
+ ],
372
+ "quat": [
373
+ 0.55623853,
374
+ 0.29935253,
375
+ -0.37678665,
376
+ -0.6775092
377
+ ],
378
+ "camera_attribs": {
379
+ "fovy": "60"
380
+ },
381
+ "parent_body": "mobilebase0_support"
382
+ },
383
+ "robot0_agentview_right": {
384
+ "pos": [
385
+ -0.5,
386
+ -0.35,
387
+ 1.05
388
+ ],
389
+ "quat": [
390
+ 0.6775091886520386,
391
+ 0.3767866790294647,
392
+ -0.2993525564670563,
393
+ -0.55623859167099
394
+ ],
395
+ "camera_attribs": {
396
+ "fovy": "60"
397
+ },
398
+ "parent_body": "mobilebase0_support"
399
+ },
400
+ "robot0_frontview": {
401
+ "pos": [
402
+ -0.5,
403
+ 0,
404
+ 0.95
405
+ ],
406
+ "quat": [
407
+ 0.6088936924934387,
408
+ 0.3814677894115448,
409
+ -0.3673907518386841,
410
+ -0.5905545353889465
411
+ ],
412
+ "camera_attribs": {
413
+ "fovy": "60"
414
+ },
415
+ "parent_body": "mobilebase0_support"
416
+ },
417
+ "robot0_eye_in_hand": {
418
+ "pos": [
419
+ 0.05,
420
+ 0,
421
+ 0
422
+ ],
423
+ "quat": [
424
+ 0,
425
+ 0.707107,
426
+ 0.707107,
427
+ 0
428
+ ],
429
+ "parent_body": "robot0_right_hand"
430
+ }
431
+ },
432
+ "init_robot_base_pos": [
433
+ -0.8253827683371581,
434
+ -1.2218573853198818,
435
+ 0.0
436
+ ],
437
+ "init_robot_base_ori": [
438
+ 0.0,
439
+ 0.0,
440
+ -0.000175978787528841
441
+ ]
442
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000024/ep_meta.json ADDED
@@ -0,0 +1,471 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 59,
3
+ "style_id": 39,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "singlecabinet_03_main_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "mayonnaise",
25
+ "condiment"
26
+ ],
27
+ "groups": [
28
+ "all"
29
+ ],
30
+ "cat": "mayonnaise",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mayonnaise/Mayonnaise005/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0,
37
+ 0.0,
38
+ -0.43
39
+ ],
40
+ "size": [
41
+ 0.45869699999999997,
42
+ 0.220978
43
+ ],
44
+ "height": 0.2666666666666667,
45
+ "name": "level0"
46
+ }
47
+ },
48
+ {
49
+ "name": "distr_counter_1",
50
+ "obj_groups": "all",
51
+ "placement": {
52
+ "fixture": "counter_3_main_group_1",
53
+ "sample_region_kwargs": {
54
+ "ref": "singlecabinet_03_main_group_1",
55
+ "min_size": [
56
+ 0.05623287879999999,
57
+ 0.16753545219999996,
58
+ 0.0938449929
59
+ ]
60
+ },
61
+ "size": [
62
+ 1.0,
63
+ 0.5
64
+ ],
65
+ "pos": [
66
+ null,
67
+ -1.0
68
+ ],
69
+ "offset": [
70
+ 0.0,
71
+ 0.1
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "fish",
79
+ "meat",
80
+ "food",
81
+ "in_container",
82
+ "oven_ready"
83
+ ],
84
+ "groups": [
85
+ "all"
86
+ ],
87
+ "cat": "fish",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml"
90
+ },
91
+ "reset_region": {
92
+ "size": [
93
+ 0.5186649999999999,
94
+ 0.65
95
+ ],
96
+ "offset": [
97
+ 0.7712000000000001,
98
+ 0.0,
99
+ 0.46
100
+ ],
101
+ "name": "geom_0"
102
+ }
103
+ },
104
+ {
105
+ "name": "distr_counter_2",
106
+ "obj_groups": "all",
107
+ "placement": {
108
+ "fixture": "counter_3_main_group_1",
109
+ "sample_region_kwargs": {
110
+ "ref": "singlecabinet_03_main_group_1",
111
+ "min_size": [
112
+ 0.056416756479999976,
113
+ 0.11199999775999997,
114
+ 0.010785349679999995
115
+ ]
116
+ },
117
+ "size": [
118
+ 1.0,
119
+ 0.5
120
+ ],
121
+ "pos": [
122
+ null,
123
+ -1.0
124
+ ],
125
+ "offset": [
126
+ 0.0,
127
+ 0.1
128
+ ]
129
+ },
130
+ "type": "object",
131
+ "info": {
132
+ "groups_containing_sampled_obj": [
133
+ "all",
134
+ "chocolate",
135
+ "sweets",
136
+ "food",
137
+ "in_container"
138
+ ],
139
+ "groups": [
140
+ "all"
141
+ ],
142
+ "cat": "chocolate",
143
+ "split": "train",
144
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/chocolate/chocolate_10/model.xml"
145
+ },
146
+ "reset_region": {
147
+ "size": [
148
+ 0.5186649999999999,
149
+ 0.65
150
+ ],
151
+ "offset": [
152
+ 0.7712000000000001,
153
+ 0.0,
154
+ 0.46
155
+ ],
156
+ "name": "geom_0"
157
+ }
158
+ }
159
+ ],
160
+ "fixtures": {
161
+ "wall_main_1_room": {
162
+ "cls": "Wall"
163
+ },
164
+ "wall_main_1_backing_room": {
165
+ "cls": "Wall"
166
+ },
167
+ "wall_left_01_room": {
168
+ "cls": "Wall"
169
+ },
170
+ "wall_left_01_backing_room": {
171
+ "cls": "Wall"
172
+ },
173
+ "wall_main_2_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_main_2_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_left_02_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_left_02_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_left_03_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_left_03_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_left_04_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_left_04_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "floor_1_room": {
198
+ "cls": "Floor"
199
+ },
200
+ "floor_1_backing_room": {
201
+ "cls": "Floor"
202
+ },
203
+ "floor_2_room": {
204
+ "cls": "Floor"
205
+ },
206
+ "floor_2_backing_room": {
207
+ "cls": "Floor"
208
+ },
209
+ "wallaccessory_01_room": {
210
+ "cls": "WallAccessory"
211
+ },
212
+ "wallaccessory_02_room": {
213
+ "cls": "WallAccessory"
214
+ },
215
+ "wallaccessory_03_room": {
216
+ "cls": "WallAccessory"
217
+ },
218
+ "wallaccessory_04_room": {
219
+ "cls": "WallAccessory"
220
+ },
221
+ "window_group_1_room": {
222
+ "cls": "Window"
223
+ },
224
+ "window_group_2_room": {
225
+ "cls": "Window"
226
+ },
227
+ "stool_2_room": {
228
+ "cls": "Stool"
229
+ },
230
+ "stool_1_room": {
231
+ "cls": "Stool"
232
+ },
233
+ "stool_3_room": {
234
+ "cls": "Stool"
235
+ },
236
+ "fridgefrenchdoor_left_group_1": {
237
+ "cls": "FridgeFrenchDoor"
238
+ },
239
+ "fridgefrenchdoor_housing_left_group_1": {
240
+ "cls": "HousingCabinet"
241
+ },
242
+ "bottom_left_group_1_base": {
243
+ "cls": "Box"
244
+ },
245
+ "bottom_left_group_1_1": {
246
+ "cls": "Drawer"
247
+ },
248
+ "microwave_left_group_1": {
249
+ "cls": "Microwave"
250
+ },
251
+ "oven_cabinet_left_group_1": {
252
+ "cls": "HingeCabinet"
253
+ },
254
+ "hingecabinet_1_left_group_1": {
255
+ "cls": "HingeCabinet"
256
+ },
257
+ "microwave_housing_left_group_1": {
258
+ "cls": "HousingCabinet"
259
+ },
260
+ "top_left_group_1": {
261
+ "cls": "HingeCabinet"
262
+ },
263
+ "stack_1_island_group_1_base": {
264
+ "cls": "Box"
265
+ },
266
+ "stack_1_island_group_1_1": {
267
+ "cls": "SingleCabinet"
268
+ },
269
+ "stack_1_island_group_1_2": {
270
+ "cls": "Drawer"
271
+ },
272
+ "stack_2_island_group_1_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_2_island_group_1_1": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "stack_2_island_group_1_2": {
279
+ "cls": "PanelCabinet"
280
+ },
281
+ "cube_3_island_group_1": {
282
+ "cls": "Box"
283
+ },
284
+ "cube_1_island_group_1": {
285
+ "cls": "Box"
286
+ },
287
+ "cube_2_island_group_1": {
288
+ "cls": "Box"
289
+ },
290
+ "cube_4_island_group_1": {
291
+ "cls": "Box"
292
+ },
293
+ "dishwasher_1_island_group_1": {
294
+ "cls": "Dishwasher"
295
+ },
296
+ "sink_island_group_1": {
297
+ "cls": "Sink"
298
+ },
299
+ "island_island_group_1": {
300
+ "cls": "Counter"
301
+ },
302
+ "stack_01_main_group_1_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_01_main_group_1_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "stack_01_main_group_1_2": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_02_main_group_1_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_02_main_group_1_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_02_main_group_1_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_03_main_group_1_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_03_main_group_1_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "stack_03_main_group_1_2": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_04_main_group_1_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_04_main_group_1_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "stack_04_main_group_1_2": {
336
+ "cls": "Drawer"
337
+ },
338
+ "counter_2_main_group_1": {
339
+ "cls": "Counter"
340
+ },
341
+ "counter_3_main_group_1": {
342
+ "cls": "Counter"
343
+ },
344
+ "widestove_main_group_1": {
345
+ "cls": "Stove"
346
+ },
347
+ "widestove_hood_main_group_1": {
348
+ "cls": "Hood"
349
+ },
350
+ "singlecabinet_03_main_group_1": {
351
+ "cls": "SingleCabinet"
352
+ },
353
+ "singlecabinet_02_main_group_1": {
354
+ "cls": "SingleCabinet"
355
+ },
356
+ "singlecabinet_01_main_group_1": {
357
+ "cls": "SingleCabinet"
358
+ },
359
+ "singlecabinet_04_main_group_1": {
360
+ "cls": "SingleCabinet"
361
+ },
362
+ "coffee_machine_main_group_1": {
363
+ "cls": "CoffeeMachine"
364
+ },
365
+ "toaster_main_group_1": {
366
+ "cls": "Toaster"
367
+ },
368
+ "paper_towel_main_group_1": {
369
+ "cls": "Accessory"
370
+ },
371
+ "toaster_oven_main_group_1": {
372
+ "cls": "ToasterOven"
373
+ }
374
+ },
375
+ "gen_textures": {},
376
+ "lang": "Open the cabinet door.",
377
+ "fixture_refs": {
378
+ "fxtr": "singlecabinet_03_main_group_1"
379
+ },
380
+ "cam_configs": {
381
+ "robot0_agentview_center": {
382
+ "pos": [
383
+ -0.6,
384
+ 0.0,
385
+ 1.15
386
+ ],
387
+ "quat": [
388
+ 0.636945903301239,
389
+ 0.3325185477733612,
390
+ -0.3199238181114197,
391
+ -0.6175596117973328
392
+ ],
393
+ "parent_body": "mobilebase0_support"
394
+ },
395
+ "robot0_agentview_left": {
396
+ "pos": [
397
+ -0.5,
398
+ 0.35,
399
+ 1.05
400
+ ],
401
+ "quat": [
402
+ 0.55623853,
403
+ 0.29935253,
404
+ -0.37678665,
405
+ -0.6775092
406
+ ],
407
+ "camera_attribs": {
408
+ "fovy": "60"
409
+ },
410
+ "parent_body": "mobilebase0_support"
411
+ },
412
+ "robot0_agentview_right": {
413
+ "pos": [
414
+ -0.5,
415
+ -0.35,
416
+ 1.05
417
+ ],
418
+ "quat": [
419
+ 0.6775091886520386,
420
+ 0.3767866790294647,
421
+ -0.2993525564670563,
422
+ -0.55623859167099
423
+ ],
424
+ "camera_attribs": {
425
+ "fovy": "60"
426
+ },
427
+ "parent_body": "mobilebase0_support"
428
+ },
429
+ "robot0_frontview": {
430
+ "pos": [
431
+ -0.5,
432
+ 0,
433
+ 0.95
434
+ ],
435
+ "quat": [
436
+ 0.6088936924934387,
437
+ 0.3814677894115448,
438
+ -0.3673907518386841,
439
+ -0.5905545353889465
440
+ ],
441
+ "camera_attribs": {
442
+ "fovy": "60"
443
+ },
444
+ "parent_body": "mobilebase0_support"
445
+ },
446
+ "robot0_eye_in_hand": {
447
+ "pos": [
448
+ 0.05,
449
+ 0,
450
+ 0
451
+ ],
452
+ "quat": [
453
+ 0,
454
+ 0.707107,
455
+ 0.707107,
456
+ 0
457
+ ],
458
+ "parent_body": "robot0_right_hand"
459
+ }
460
+ },
461
+ "init_robot_base_pos": [
462
+ 2.6460078249518766,
463
+ -0.9342067946015103,
464
+ 0.0
465
+ ],
466
+ "init_robot_base_ori": [
467
+ 0.0,
468
+ 0.0,
469
+ 1.5707888166096549
470
+ ]
471
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000025/ep_meta.json ADDED
@@ -0,0 +1,513 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 26,
3
+ "style_id": 36,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_1_right_group",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "jam",
25
+ "packaged_food"
26
+ ],
27
+ "groups": [
28
+ "all"
29
+ ],
30
+ "cat": "jam",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_3/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0,
37
+ 0.0,
38
+ -0.43
39
+ ],
40
+ "size": [
41
+ 1.2,
42
+ 0.34
43
+ ],
44
+ "height": 0.2666666666666667,
45
+ "name": "level0"
46
+ }
47
+ },
48
+ {
49
+ "name": "distr_counter_1",
50
+ "obj_groups": "all",
51
+ "placement": {
52
+ "fixture": "counter_1_front_group",
53
+ "sample_region_kwargs": {
54
+ "ref": "cab_1_right_group",
55
+ "min_size": [
56
+ 0.02016444,
57
+ 0.02017332,
58
+ 0.02012772
59
+ ]
60
+ },
61
+ "size": [
62
+ 1.0,
63
+ 0.5
64
+ ],
65
+ "pos": [
66
+ null,
67
+ -1.0
68
+ ],
69
+ "offset": [
70
+ 0.0,
71
+ 0.1
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "sugar_cube",
79
+ "sweets",
80
+ "food",
81
+ "in_container"
82
+ ],
83
+ "groups": [
84
+ "all"
85
+ ],
86
+ "cat": "sugar_cube",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube001/model.xml"
89
+ },
90
+ "reset_region": {
91
+ "size": [
92
+ 1.5992262259761805,
93
+ 0.65
94
+ ],
95
+ "offset": [
96
+ 0.45038688701190965,
97
+ -3.469446951953614e-17,
98
+ 0.46
99
+ ],
100
+ "name": "geom_0"
101
+ }
102
+ },
103
+ {
104
+ "name": "distr_counter_2",
105
+ "obj_groups": "all",
106
+ "placement": {
107
+ "fixture": "counter_1_front_group",
108
+ "sample_region_kwargs": {
109
+ "ref": "cab_1_right_group",
110
+ "min_size": [
111
+ 0.06825578316094581,
112
+ 0.067836388384929,
113
+ 0.03648932705092989
114
+ ]
115
+ },
116
+ "size": [
117
+ 1.0,
118
+ 0.5
119
+ ],
120
+ "pos": [
121
+ null,
122
+ -1.0
123
+ ],
124
+ "offset": [
125
+ 0.0,
126
+ 0.1
127
+ ]
128
+ },
129
+ "type": "object",
130
+ "info": {
131
+ "groups_containing_sampled_obj": [
132
+ "all",
133
+ "orange",
134
+ "fruit",
135
+ "food",
136
+ "in_container",
137
+ "food_set1"
138
+ ],
139
+ "groups": [
140
+ "all"
141
+ ],
142
+ "cat": "orange",
143
+ "split": "train",
144
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_1/model.xml"
145
+ },
146
+ "reset_region": {
147
+ "size": [
148
+ 1.5992262259761805,
149
+ 0.65
150
+ ],
151
+ "offset": [
152
+ 0.45038688701190965,
153
+ -3.469446951953614e-17,
154
+ 0.46
155
+ ],
156
+ "name": "geom_0"
157
+ }
158
+ }
159
+ ],
160
+ "fixtures": {
161
+ "wall_left_1_room": {
162
+ "cls": "Wall"
163
+ },
164
+ "wall_left_1_backing_room": {
165
+ "cls": "Wall"
166
+ },
167
+ "wall_main_room": {
168
+ "cls": "Wall"
169
+ },
170
+ "wall_main_backing_room": {
171
+ "cls": "Wall"
172
+ },
173
+ "wall_right_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_right_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_right_3_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_right_3_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_right_2_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_right_2_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_front_1_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_front_1_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "floor_1_room": {
198
+ "cls": "Floor"
199
+ },
200
+ "floor_1_backing_room": {
201
+ "cls": "Floor"
202
+ },
203
+ "wall_accessory_1_room": {
204
+ "cls": "WallAccessory"
205
+ },
206
+ "light_switch_1_room": {
207
+ "cls": "WallAccessory"
208
+ },
209
+ "wall_accessory_2_room": {
210
+ "cls": "WallAccessory"
211
+ },
212
+ "light_switch_2_room": {
213
+ "cls": "WallAccessory"
214
+ },
215
+ "wall_accessory_3_room": {
216
+ "cls": "WallAccessory"
217
+ },
218
+ "light_switch_3_room": {
219
+ "cls": "WallAccessory"
220
+ },
221
+ "light_switch_4_room": {
222
+ "cls": "WallAccessory"
223
+ },
224
+ "window_group_1_room": {
225
+ "cls": "Window"
226
+ },
227
+ "window_group_2_room": {
228
+ "cls": "Window"
229
+ },
230
+ "stool_1_room": {
231
+ "cls": "Stool"
232
+ },
233
+ "stool_2_room": {
234
+ "cls": "Stool"
235
+ },
236
+ "stool_3_room": {
237
+ "cls": "Stool"
238
+ },
239
+ "counter_1_main_group": {
240
+ "cls": "Counter"
241
+ },
242
+ "stove_main_group": {
243
+ "cls": "Stove"
244
+ },
245
+ "counter_2_main_group": {
246
+ "cls": "Counter"
247
+ },
248
+ "stack_1_main_group_base": {
249
+ "cls": "Box"
250
+ },
251
+ "stack_1_main_group_1": {
252
+ "cls": "HingeCabinet"
253
+ },
254
+ "stack_2_main_group_base": {
255
+ "cls": "Box"
256
+ },
257
+ "stack_2_main_group_1": {
258
+ "cls": "Drawer"
259
+ },
260
+ "stack_2_main_group_2": {
261
+ "cls": "Drawer"
262
+ },
263
+ "stack_2_main_group_3": {
264
+ "cls": "Drawer"
265
+ },
266
+ "stack_3_main_group_base": {
267
+ "cls": "Box"
268
+ },
269
+ "stack_3_main_group_1": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "stack_3_main_group_2": {
273
+ "cls": "Drawer"
274
+ },
275
+ "fridge_main_group": {
276
+ "cls": "FridgeFrenchDoor"
277
+ },
278
+ "fridge_housing_main_group": {
279
+ "cls": "HousingCabinet"
280
+ },
281
+ "stack_4_main_group_base": {
282
+ "cls": "Box"
283
+ },
284
+ "stack_4_main_group_1": {
285
+ "cls": "Drawer"
286
+ },
287
+ "stack_4_main_group_2": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_4_main_group_3": {
291
+ "cls": "HingeCabinet"
292
+ },
293
+ "stack_4_main_group_4": {
294
+ "cls": "HingeCabinet"
295
+ },
296
+ "cab_1_main_group": {
297
+ "cls": "HingeCabinet"
298
+ },
299
+ "microwave_main_group": {
300
+ "cls": "Microwave"
301
+ },
302
+ "cab_2_main_group": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "cab_3_main_group": {
306
+ "cls": "OpenCabinet"
307
+ },
308
+ "toaster_oven_main_group": {
309
+ "cls": "ToasterOven"
310
+ },
311
+ "sink_1_front_group": {
312
+ "cls": "Sink"
313
+ },
314
+ "counter_1_front_group": {
315
+ "cls": "Counter"
316
+ },
317
+ "box_front_group": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_1_front_group_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_1_front_group_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "dishwasher_front_group": {
327
+ "cls": "Dishwasher"
328
+ },
329
+ "stack_2_front_group_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_2_front_group_1": {
333
+ "cls": "SingleCabinet"
334
+ },
335
+ "stack_2_front_group_2": {
336
+ "cls": "Drawer"
337
+ },
338
+ "cab_1_front_group": {
339
+ "cls": "HingeCabinet"
340
+ },
341
+ "counter_corner_right_group": {
342
+ "cls": "Counter"
343
+ },
344
+ "counter_1_right_group": {
345
+ "cls": "Counter"
346
+ },
347
+ "box_right_group": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_1_right_group_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_1_right_group_1": {
354
+ "cls": "SingleCabinet"
355
+ },
356
+ "stack_1_right_group_2": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_2_right_group_base": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_2_right_group_1": {
363
+ "cls": "SingleCabinet"
364
+ },
365
+ "stack_2_right_group_2": {
366
+ "cls": "Drawer"
367
+ },
368
+ "stack_3_right_group_base": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_3_right_group_1": {
372
+ "cls": "Drawer"
373
+ },
374
+ "stack_3_right_group_2": {
375
+ "cls": "Drawer"
376
+ },
377
+ "stack_3_right_group_3": {
378
+ "cls": "Drawer"
379
+ },
380
+ "cab_1_right_group": {
381
+ "cls": "HingeCabinet"
382
+ },
383
+ "cab_2_right_group": {
384
+ "cls": "HingeCabinet"
385
+ },
386
+ "coffee_machine_right_group": {
387
+ "cls": "CoffeeMachine"
388
+ },
389
+ "toaster_right_group": {
390
+ "cls": "Toaster"
391
+ },
392
+ "paper_towel_right_group": {
393
+ "cls": "Accessory"
394
+ },
395
+ "island_island_group": {
396
+ "cls": "Counter"
397
+ },
398
+ "stack_1_island_group_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_1_island_group_1": {
402
+ "cls": "SingleCabinet"
403
+ },
404
+ "stack_2_island_group_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_2_island_group_1": {
408
+ "cls": "HingeCabinet"
409
+ },
410
+ "box_1_island_group": {
411
+ "cls": "Box"
412
+ },
413
+ "box_2_island_group": {
414
+ "cls": "Box"
415
+ }
416
+ },
417
+ "gen_textures": {},
418
+ "lang": "Open the cabinet doors.",
419
+ "fixture_refs": {
420
+ "fxtr": "cab_1_right_group"
421
+ },
422
+ "cam_configs": {
423
+ "robot0_agentview_center": {
424
+ "pos": [
425
+ -0.6,
426
+ 0.0,
427
+ 1.15
428
+ ],
429
+ "quat": [
430
+ 0.636945903301239,
431
+ 0.3325185477733612,
432
+ -0.3199238181114197,
433
+ -0.6175596117973328
434
+ ],
435
+ "parent_body": "mobilebase0_support"
436
+ },
437
+ "robot0_agentview_left": {
438
+ "pos": [
439
+ -0.5,
440
+ 0.35,
441
+ 1.05
442
+ ],
443
+ "quat": [
444
+ 0.55623853,
445
+ 0.29935253,
446
+ -0.37678665,
447
+ -0.6775092
448
+ ],
449
+ "camera_attribs": {
450
+ "fovy": "60"
451
+ },
452
+ "parent_body": "mobilebase0_support"
453
+ },
454
+ "robot0_agentview_right": {
455
+ "pos": [
456
+ -0.5,
457
+ -0.35,
458
+ 1.05
459
+ ],
460
+ "quat": [
461
+ 0.6775091886520386,
462
+ 0.3767866790294647,
463
+ -0.2993525564670563,
464
+ -0.55623859167099
465
+ ],
466
+ "camera_attribs": {
467
+ "fovy": "60"
468
+ },
469
+ "parent_body": "mobilebase0_support"
470
+ },
471
+ "robot0_frontview": {
472
+ "pos": [
473
+ -0.5,
474
+ 0,
475
+ 0.95
476
+ ],
477
+ "quat": [
478
+ 0.6088936924934387,
479
+ 0.3814677894115448,
480
+ -0.3673907518386841,
481
+ -0.5905545353889465
482
+ ],
483
+ "camera_attribs": {
484
+ "fovy": "60"
485
+ },
486
+ "parent_body": "mobilebase0_support"
487
+ },
488
+ "robot0_eye_in_hand": {
489
+ "pos": [
490
+ 0.05,
491
+ 0,
492
+ 0
493
+ ],
494
+ "quat": [
495
+ 0,
496
+ 0.707107,
497
+ 0.707107,
498
+ 0
499
+ ],
500
+ "parent_body": "robot0_right_hand"
501
+ }
502
+ },
503
+ "init_robot_base_pos": [
504
+ 4.367965741381612,
505
+ -4.2222574142481175,
506
+ 0.0
507
+ ],
508
+ "init_robot_base_ori": [
509
+ 0.0,
510
+ 0.0,
511
+ 7.085780169280298e-07
512
+ ]
513
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000028/ep_meta.json ADDED
@@ -0,0 +1,539 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 60,
3
+ "style_id": 21,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_01_main_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "canned_food",
25
+ "packaged_food"
26
+ ],
27
+ "groups": [
28
+ "all"
29
+ ],
30
+ "cat": "canned_food",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_3/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0,
37
+ 0.0,
38
+ -0.43
39
+ ],
40
+ "size": [
41
+ 0.7600629999999999,
42
+ 0.418885
43
+ ],
44
+ "height": 0.2666666666666667,
45
+ "name": "level0"
46
+ }
47
+ },
48
+ {
49
+ "name": "distr_counter_1",
50
+ "obj_groups": "all",
51
+ "placement": {
52
+ "fixture": "counter_2_main_group_1",
53
+ "sample_region_kwargs": {
54
+ "ref": "hingecabinet_01_main_group_1",
55
+ "min_size": [
56
+ 0.10581994080000001,
57
+ 0.12127231920000002,
58
+ 0.037854385200000014
59
+ ]
60
+ },
61
+ "size": [
62
+ 1.0,
63
+ 0.5
64
+ ],
65
+ "pos": [
66
+ null,
67
+ -1.0
68
+ ],
69
+ "offset": [
70
+ 0.0,
71
+ 0.1
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "bagel",
79
+ "bread_food",
80
+ "food",
81
+ "in_container"
82
+ ],
83
+ "groups": [
84
+ "all"
85
+ ],
86
+ "cat": "bagel",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_3/model.xml"
89
+ },
90
+ "reset_region": {
91
+ "size": [
92
+ 0.3800000000000002,
93
+ 0.65
94
+ ],
95
+ "offset": [
96
+ -0.10999999999999988,
97
+ 0.0,
98
+ 0.46
99
+ ],
100
+ "name": "geom_0"
101
+ }
102
+ },
103
+ {
104
+ "name": "distr_counter_2",
105
+ "obj_groups": "all",
106
+ "placement": {
107
+ "fixture": "counter_2_main_group_1",
108
+ "sample_region_kwargs": {
109
+ "ref": "hingecabinet_01_main_group_1",
110
+ "min_size": [
111
+ 0.06352836199999999,
112
+ 0.09491504339999998,
113
+ 0.05532682864999999
114
+ ]
115
+ },
116
+ "size": [
117
+ 1.0,
118
+ 0.5
119
+ ],
120
+ "pos": [
121
+ null,
122
+ -1.0
123
+ ],
124
+ "offset": [
125
+ 0.0,
126
+ 0.1
127
+ ]
128
+ },
129
+ "type": "object",
130
+ "info": {
131
+ "groups_containing_sampled_obj": [
132
+ "all",
133
+ "lemon",
134
+ "vegetable",
135
+ "food",
136
+ "in_container",
137
+ "food_set1"
138
+ ],
139
+ "groups": [
140
+ "all"
141
+ ],
142
+ "cat": "lemon",
143
+ "split": "train",
144
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_16/model.xml"
145
+ },
146
+ "reset_region": {
147
+ "size": [
148
+ 0.3800000000000002,
149
+ 0.65
150
+ ],
151
+ "offset": [
152
+ -0.10999999999999988,
153
+ 0.0,
154
+ 0.46
155
+ ],
156
+ "name": "geom_0"
157
+ }
158
+ },
159
+ {
160
+ "name": "distr_counter_3",
161
+ "obj_groups": "all",
162
+ "placement": {
163
+ "fixture": "counter_2_main_group_1",
164
+ "sample_region_kwargs": {
165
+ "ref": "hingecabinet_01_main_group_1",
166
+ "min_size": [
167
+ 0.06141700409999998,
168
+ 0.09336129749999995,
169
+ 0.036899635499999986
170
+ ]
171
+ },
172
+ "size": [
173
+ 1.0,
174
+ 0.5
175
+ ],
176
+ "pos": [
177
+ null,
178
+ -1.0
179
+ ],
180
+ "offset": [
181
+ 0.0,
182
+ 0.1
183
+ ]
184
+ },
185
+ "type": "object",
186
+ "info": {
187
+ "groups_containing_sampled_obj": [
188
+ "all",
189
+ "bar_soap",
190
+ "cleaner"
191
+ ],
192
+ "groups": [
193
+ "all"
194
+ ],
195
+ "cat": "bar_soap",
196
+ "split": "train",
197
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml"
198
+ },
199
+ "reset_region": {
200
+ "size": [
201
+ 0.3800000000000002,
202
+ 0.65
203
+ ],
204
+ "offset": [
205
+ -0.10999999999999988,
206
+ 0.0,
207
+ 0.46
208
+ ],
209
+ "name": "geom_0"
210
+ }
211
+ }
212
+ ],
213
+ "fixtures": {
214
+ "wall_left_1_room": {
215
+ "cls": "Wall"
216
+ },
217
+ "wall_left_1_backing_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "wall_main_1_room": {
221
+ "cls": "Wall"
222
+ },
223
+ "wall_main_1_backing_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "wall_right_1_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_right_1_backing_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "wall_right_2_room": {
233
+ "cls": "Wall"
234
+ },
235
+ "wall_right_2_backing_room": {
236
+ "cls": "Wall"
237
+ },
238
+ "wall_main_2_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "floor_1_room": {
242
+ "cls": "Floor"
243
+ },
244
+ "floor_1_backing_room": {
245
+ "cls": "Floor"
246
+ },
247
+ "wallaccessory_01_room": {
248
+ "cls": "WallAccessory"
249
+ },
250
+ "lightswitch_01_room": {
251
+ "cls": "WallAccessory"
252
+ },
253
+ "wallaccessory_04_room": {
254
+ "cls": "WallAccessory"
255
+ },
256
+ "wallaccessory_12_room": {
257
+ "cls": "WallAccessory"
258
+ },
259
+ "wallaccessory_06_room": {
260
+ "cls": "WallAccessory"
261
+ },
262
+ "wallaccessory_07_room": {
263
+ "cls": "WallAccessory"
264
+ },
265
+ "wallaccessory_08_room": {
266
+ "cls": "WallAccessory"
267
+ },
268
+ "wallaccessory_09_room": {
269
+ "cls": "WallAccessory"
270
+ },
271
+ "wallaccessory_10_room": {
272
+ "cls": "WallAccessory"
273
+ },
274
+ "stool_1_room": {
275
+ "cls": "Stool"
276
+ },
277
+ "stool_2_room": {
278
+ "cls": "Stool"
279
+ },
280
+ "counter_corner_1_main_group_1": {
281
+ "cls": "Counter"
282
+ },
283
+ "counter_2_main_group_1": {
284
+ "cls": "Counter"
285
+ },
286
+ "counter_11_main_group_1": {
287
+ "cls": "Counter"
288
+ },
289
+ "counter_3_main_group_1": {
290
+ "cls": "Counter"
291
+ },
292
+ "stove_main_group_1": {
293
+ "cls": "Stove"
294
+ },
295
+ "microwave_main_group_1": {
296
+ "cls": "Microwave"
297
+ },
298
+ "micro_cab_main_group_1": {
299
+ "cls": "HingeCabinet"
300
+ },
301
+ "hingecabinet_01_main_group_1": {
302
+ "cls": "HingeCabinet"
303
+ },
304
+ "hingecabinet_02_main_group_1": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "cube_3_main_group_1": {
308
+ "cls": "Box"
309
+ },
310
+ "singlecabinet_01_main_group_1": {
311
+ "cls": "SingleCabinet"
312
+ },
313
+ "stack_6_main_group_1_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_6_main_group_1_1": {
317
+ "cls": "Drawer"
318
+ },
319
+ "stack_6_main_group_1_2": {
320
+ "cls": "Drawer"
321
+ },
322
+ "stack_6_main_group_1_3": {
323
+ "cls": "Drawer"
324
+ },
325
+ "stack_5_main_group_1_base": {
326
+ "cls": "Box"
327
+ },
328
+ "stack_5_main_group_1_1": {
329
+ "cls": "SingleCabinet"
330
+ },
331
+ "cube_11_main_group_1": {
332
+ "cls": "Box"
333
+ },
334
+ "cube_12_main_group_1": {
335
+ "cls": "Box"
336
+ },
337
+ "coffee_machine_main_group_1": {
338
+ "cls": "CoffeeMachine"
339
+ },
340
+ "paper_towel_main_group_1": {
341
+ "cls": "Accessory"
342
+ },
343
+ "plant_main_group_1": {
344
+ "cls": "Accessory"
345
+ },
346
+ "fridgebottomfreezer_right_group_1": {
347
+ "cls": "FridgeBottomFreezer"
348
+ },
349
+ "fridgebottomfreezer_housing_right_group_1": {
350
+ "cls": "HousingCabinet"
351
+ },
352
+ "hingecabinet_05_right_group_1": {
353
+ "cls": "HingeCabinet"
354
+ },
355
+ "counter_6_right_group_1": {
356
+ "cls": "Counter"
357
+ },
358
+ "hingecabinet_04_right_group_1": {
359
+ "cls": "HingeCabinet"
360
+ },
361
+ "hingecabinet_06_right_group_1": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "stack_7_right_group_1_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_7_right_group_1_1": {
368
+ "cls": "HingeCabinet"
369
+ },
370
+ "stack_7_right_group_1_2": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_8_right_group_1_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_8_right_group_1_1": {
377
+ "cls": "HingeCabinet"
378
+ },
379
+ "cube_13_right_group_1": {
380
+ "cls": "Box"
381
+ },
382
+ "toaster_oven_right_group_1": {
383
+ "cls": "ToasterOven"
384
+ },
385
+ "sink_left_group_1": {
386
+ "cls": "Sink"
387
+ },
388
+ "counter_1_left_group_1": {
389
+ "cls": "Counter"
390
+ },
391
+ "counter_5_left_group_1": {
392
+ "cls": "Counter"
393
+ },
394
+ "cube_1_left_group_1": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_1_left_group_1_base": {
398
+ "cls": "Box"
399
+ },
400
+ "stack_1_left_group_1_1": {
401
+ "cls": "Drawer"
402
+ },
403
+ "stack_1_left_group_1_2": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_4_left_group_1_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_4_left_group_1_1": {
410
+ "cls": "SingleCabinet"
411
+ },
412
+ "stack_2_left_group_1_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_2_left_group_1_1": {
416
+ "cls": "HingeCabinet"
417
+ },
418
+ "stack_2_left_group_1_2": {
419
+ "cls": "PanelCabinet"
420
+ },
421
+ "stack_3_left_group_1_base": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_3_left_group_1_1": {
425
+ "cls": "Drawer"
426
+ },
427
+ "stack_3_left_group_1_2": {
428
+ "cls": "Drawer"
429
+ },
430
+ "cube_4_left_group_1": {
431
+ "cls": "Box"
432
+ },
433
+ "cube_2_left_group_1": {
434
+ "cls": "Box"
435
+ },
436
+ "dishwasher_1_left_group_1": {
437
+ "cls": "Dishwasher"
438
+ },
439
+ "toaster_left_group_1": {
440
+ "cls": "Toaster"
441
+ }
442
+ },
443
+ "gen_textures": {},
444
+ "lang": "Open the cabinet doors.",
445
+ "fixture_refs": {
446
+ "fxtr": "hingecabinet_01_main_group_1"
447
+ },
448
+ "cam_configs": {
449
+ "robot0_agentview_center": {
450
+ "pos": [
451
+ -0.6,
452
+ 0.0,
453
+ 1.15
454
+ ],
455
+ "quat": [
456
+ 0.636945903301239,
457
+ 0.3325185477733612,
458
+ -0.3199238181114197,
459
+ -0.6175596117973328
460
+ ],
461
+ "parent_body": "mobilebase0_support"
462
+ },
463
+ "robot0_agentview_left": {
464
+ "pos": [
465
+ -0.5,
466
+ 0.35,
467
+ 1.05
468
+ ],
469
+ "quat": [
470
+ 0.55623853,
471
+ 0.29935253,
472
+ -0.37678665,
473
+ -0.6775092
474
+ ],
475
+ "camera_attribs": {
476
+ "fovy": "60"
477
+ },
478
+ "parent_body": "mobilebase0_support"
479
+ },
480
+ "robot0_agentview_right": {
481
+ "pos": [
482
+ -0.5,
483
+ -0.35,
484
+ 1.05
485
+ ],
486
+ "quat": [
487
+ 0.6775091886520386,
488
+ 0.3767866790294647,
489
+ -0.2993525564670563,
490
+ -0.55623859167099
491
+ ],
492
+ "camera_attribs": {
493
+ "fovy": "60"
494
+ },
495
+ "parent_body": "mobilebase0_support"
496
+ },
497
+ "robot0_frontview": {
498
+ "pos": [
499
+ -0.5,
500
+ 0,
501
+ 0.95
502
+ ],
503
+ "quat": [
504
+ 0.6088936924934387,
505
+ 0.3814677894115448,
506
+ -0.3673907518386841,
507
+ -0.5905545353889465
508
+ ],
509
+ "camera_attribs": {
510
+ "fovy": "60"
511
+ },
512
+ "parent_body": "mobilebase0_support"
513
+ },
514
+ "robot0_eye_in_hand": {
515
+ "pos": [
516
+ 0.05,
517
+ 0,
518
+ 0
519
+ ],
520
+ "quat": [
521
+ 0,
522
+ 0.707107,
523
+ 0.707107,
524
+ 0
525
+ ],
526
+ "parent_body": "robot0_right_hand"
527
+ }
528
+ },
529
+ "init_robot_base_pos": [
530
+ 2.445367355313002,
531
+ -0.793311704266038,
532
+ 0.0
533
+ ],
534
+ "init_robot_base_ori": [
535
+ 0.0,
536
+ 0.0,
537
+ 1.5707963267948966
538
+ ]
539
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000033/ep_meta.json ADDED
@@ -0,0 +1,511 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 15,
3
+ "style_id": 23,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_1_front_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "marshmallow",
25
+ "sweets",
26
+ "food",
27
+ "in_container"
28
+ ],
29
+ "groups": [
30
+ "all"
31
+ ],
32
+ "cat": "marshmallow",
33
+ "split": "train",
34
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml"
35
+ },
36
+ "reset_region": {
37
+ "offset": [
38
+ 0.0,
39
+ 0.0,
40
+ -0.43
41
+ ],
42
+ "size": [
43
+ 0.74,
44
+ 0.34
45
+ ],
46
+ "height": 0.2666666666666667,
47
+ "name": "level0"
48
+ }
49
+ },
50
+ {
51
+ "name": "distr_counter_1",
52
+ "obj_groups": "all",
53
+ "placement": {
54
+ "fixture": "counter_1_front_group_1",
55
+ "sample_region_kwargs": {
56
+ "ref": "cab_1_front_group_1",
57
+ "min_size": [
58
+ 0.035654977600000005,
59
+ 0.2194763516,
60
+ 0.026385343600000007
61
+ ]
62
+ },
63
+ "size": [
64
+ 1.0,
65
+ 0.5
66
+ ],
67
+ "pos": [
68
+ null,
69
+ -1.0
70
+ ],
71
+ "offset": [
72
+ 0.0,
73
+ 0.1
74
+ ]
75
+ },
76
+ "type": "object",
77
+ "info": {
78
+ "groups_containing_sampled_obj": [
79
+ "all",
80
+ "fork",
81
+ "utensil"
82
+ ],
83
+ "groups": [
84
+ "all"
85
+ ],
86
+ "cat": "fork",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_0/model.xml"
89
+ },
90
+ "reset_region": {
91
+ "size": [
92
+ 0.7999999999999998,
93
+ 0.65
94
+ ],
95
+ "offset": [
96
+ -0.8,
97
+ 0.0,
98
+ 0.46
99
+ ],
100
+ "name": "geom_0"
101
+ }
102
+ }
103
+ ],
104
+ "fixtures": {
105
+ "wall_main_1_room": {
106
+ "cls": "Wall"
107
+ },
108
+ "wall_main_1_backing_room": {
109
+ "cls": "Wall"
110
+ },
111
+ "wall_left_1_room": {
112
+ "cls": "Wall"
113
+ },
114
+ "wall_left_1_backing_room": {
115
+ "cls": "Wall"
116
+ },
117
+ "wall_left_2_room": {
118
+ "cls": "Wall"
119
+ },
120
+ "wall_left_2_backing_room": {
121
+ "cls": "Wall"
122
+ },
123
+ "wall_left_3_room": {
124
+ "cls": "Wall"
125
+ },
126
+ "wall_left_3_backing_room": {
127
+ "cls": "Wall"
128
+ },
129
+ "wall_front_1_room": {
130
+ "cls": "Wall"
131
+ },
132
+ "wall_front_1_backing_room": {
133
+ "cls": "Wall"
134
+ },
135
+ "wall_right_1_room": {
136
+ "cls": "Wall"
137
+ },
138
+ "wall_right_1_backing_room": {
139
+ "cls": "Wall"
140
+ },
141
+ "wall_right_2_room": {
142
+ "cls": "Wall"
143
+ },
144
+ "wall_right_2_backing_room": {
145
+ "cls": "Wall"
146
+ },
147
+ "wall_front_2_room": {
148
+ "cls": "Wall"
149
+ },
150
+ "wall_front_2_backing_room": {
151
+ "cls": "Wall"
152
+ },
153
+ "wall_main_2_room": {
154
+ "cls": "Wall"
155
+ },
156
+ "wall_main_2_backing_room": {
157
+ "cls": "Wall"
158
+ },
159
+ "wall_left_4_room": {
160
+ "cls": "Wall"
161
+ },
162
+ "wall_left_4_backing_room": {
163
+ "cls": "Wall"
164
+ },
165
+ "wall_left_5_room": {
166
+ "cls": "Wall"
167
+ },
168
+ "wall_left_5_backing_room": {
169
+ "cls": "Wall"
170
+ },
171
+ "floor_1_room": {
172
+ "cls": "Floor"
173
+ },
174
+ "floor_1_backing_room": {
175
+ "cls": "Floor"
176
+ },
177
+ "floor_2_room": {
178
+ "cls": "Floor"
179
+ },
180
+ "floor_2_backing_room": {
181
+ "cls": "Floor"
182
+ },
183
+ "floor_3_room": {
184
+ "cls": "Floor"
185
+ },
186
+ "floor_3_backing_room": {
187
+ "cls": "Floor"
188
+ },
189
+ "wall_accessory_1_room": {
190
+ "cls": "WallAccessory"
191
+ },
192
+ "wall_accessory_2_room": {
193
+ "cls": "WallAccessory"
194
+ },
195
+ "wall_accessory_3_room": {
196
+ "cls": "WallAccessory"
197
+ },
198
+ "light_switch_room": {
199
+ "cls": "WallAccessory"
200
+ },
201
+ "wall_accessory_4_room": {
202
+ "cls": "WallAccessory"
203
+ },
204
+ "wall_accessory_5_room": {
205
+ "cls": "WallAccessory"
206
+ },
207
+ "wall_accessory_6_room": {
208
+ "cls": "WallAccessory"
209
+ },
210
+ "stool_1_room": {
211
+ "cls": "Stool"
212
+ },
213
+ "stool_2_room": {
214
+ "cls": "Stool"
215
+ },
216
+ "stool_3_room": {
217
+ "cls": "Stool"
218
+ },
219
+ "fridge_1_main_group_1": {
220
+ "cls": "FridgeFrenchDoor"
221
+ },
222
+ "fridge_1_housing_main_group_1": {
223
+ "cls": "HousingCabinet"
224
+ },
225
+ "fridge_top_main_group_1": {
226
+ "cls": "HingeCabinet"
227
+ },
228
+ "bottom_main_group_1_base": {
229
+ "cls": "Box"
230
+ },
231
+ "bottom_main_group_1_1": {
232
+ "cls": "Drawer"
233
+ },
234
+ "oven_main_group_1": {
235
+ "cls": "Oven"
236
+ },
237
+ "oven_housing_main_group_1": {
238
+ "cls": "HousingCabinet"
239
+ },
240
+ "microwave_main_group_1": {
241
+ "cls": "Microwave"
242
+ },
243
+ "microwave_housing_main_group_1": {
244
+ "cls": "HousingCabinet"
245
+ },
246
+ "top_main_group_1": {
247
+ "cls": "HingeCabinet"
248
+ },
249
+ "counter_1_main_group_1": {
250
+ "cls": "Counter"
251
+ },
252
+ "stack_1_main_group_1_base": {
253
+ "cls": "Box"
254
+ },
255
+ "stack_1_main_group_1_1": {
256
+ "cls": "Drawer"
257
+ },
258
+ "stack_1_main_group_1_2": {
259
+ "cls": "Drawer"
260
+ },
261
+ "stack_1_main_group_1_3": {
262
+ "cls": "Drawer"
263
+ },
264
+ "stack_2_main_group_1_base": {
265
+ "cls": "Box"
266
+ },
267
+ "stack_2_main_group_1_1": {
268
+ "cls": "SingleCabinet"
269
+ },
270
+ "stack_2_main_group_1_2": {
271
+ "cls": "Drawer"
272
+ },
273
+ "cab_1_main_group_1": {
274
+ "cls": "HingeCabinet"
275
+ },
276
+ "toaster_main_group_1": {
277
+ "cls": "Toaster"
278
+ },
279
+ "stovetop_1_left_group_1": {
280
+ "cls": "Stovetop"
281
+ },
282
+ "counter_1_left_group_1": {
283
+ "cls": "Counter"
284
+ },
285
+ "stack_1_left_group_1_base": {
286
+ "cls": "Box"
287
+ },
288
+ "stack_1_left_group_1_1": {
289
+ "cls": "HingeCabinet"
290
+ },
291
+ "stack_1_left_group_1_2": {
292
+ "cls": "PanelCabinet"
293
+ },
294
+ "stack_2_left_group_1_base": {
295
+ "cls": "Box"
296
+ },
297
+ "stack_2_left_group_1_1": {
298
+ "cls": "HingeCabinet"
299
+ },
300
+ "stack_2_left_group_1_2": {
301
+ "cls": "Drawer"
302
+ },
303
+ "stack_3_left_group_1_base": {
304
+ "cls": "Box"
305
+ },
306
+ "stack_3_left_group_1_1": {
307
+ "cls": "HingeCabinet"
308
+ },
309
+ "stack_3_left_group_1_2": {
310
+ "cls": "Drawer"
311
+ },
312
+ "hood_left_group_1": {
313
+ "cls": "Hood"
314
+ },
315
+ "cab_1_left_group_1": {
316
+ "cls": "HingeCabinet"
317
+ },
318
+ "cab_2_left_group_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "coffee_machine_left_group_1": {
322
+ "cls": "CoffeeMachine"
323
+ },
324
+ "counter_1_front_group_1": {
325
+ "cls": "Counter"
326
+ },
327
+ "stack_1_front_group_1_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_1_front_group_1_1": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "stack_1_front_group_1_2": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_2_front_group_1_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_2_front_group_1_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "stack_2_front_group_1_2": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_3_front_group_1_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_3_front_group_1_1": {
349
+ "cls": "HingeCabinet"
350
+ },
351
+ "stack_3_front_group_1_2": {
352
+ "cls": "Drawer"
353
+ },
354
+ "cab_1_front_group_1": {
355
+ "cls": "HingeCabinet"
356
+ },
357
+ "cab_2_front_group_1": {
358
+ "cls": "HingeCabinet"
359
+ },
360
+ "cab_3_front_group_1": {
361
+ "cls": "HingeCabinet"
362
+ },
363
+ "toaster_oven_front_group_1": {
364
+ "cls": "ToasterOven"
365
+ },
366
+ "sink_island_group": {
367
+ "cls": "Sink"
368
+ },
369
+ "island_island_group": {
370
+ "cls": "Counter"
371
+ },
372
+ "panel_stack_island_group_base": {
373
+ "cls": "Box"
374
+ },
375
+ "panel_stack_island_group_1": {
376
+ "cls": "PanelCabinet"
377
+ },
378
+ "dishwasher_island_group": {
379
+ "cls": "Dishwasher"
380
+ },
381
+ "box_island_group": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_1_island_group_base": {
385
+ "cls": "Box"
386
+ },
387
+ "stack_1_island_group_1": {
388
+ "cls": "HingeCabinet"
389
+ },
390
+ "stack_1_island_group_2": {
391
+ "cls": "PanelCabinet"
392
+ },
393
+ "stack_2_island_group_base": {
394
+ "cls": "Box"
395
+ },
396
+ "stack_2_island_group_1": {
397
+ "cls": "HingeCabinet"
398
+ },
399
+ "stack_2_island_group_2": {
400
+ "cls": "Drawer"
401
+ },
402
+ "stack_2_island_group_3": {
403
+ "cls": "Drawer"
404
+ },
405
+ "stack_3_island_group_base": {
406
+ "cls": "Box"
407
+ },
408
+ "stack_3_island_group_1": {
409
+ "cls": "PanelCabinet"
410
+ },
411
+ "paper_towel_island_group": {
412
+ "cls": "Accessory"
413
+ }
414
+ },
415
+ "gen_textures": {},
416
+ "lang": "Open the cabinet doors.",
417
+ "fixture_refs": {
418
+ "fxtr": "cab_1_front_group_1"
419
+ },
420
+ "cam_configs": {
421
+ "robot0_agentview_center": {
422
+ "pos": [
423
+ -0.6,
424
+ 0.0,
425
+ 1.15
426
+ ],
427
+ "quat": [
428
+ 0.636945903301239,
429
+ 0.3325185477733612,
430
+ -0.3199238181114197,
431
+ -0.6175596117973328
432
+ ],
433
+ "parent_body": "mobilebase0_support"
434
+ },
435
+ "robot0_agentview_left": {
436
+ "pos": [
437
+ -0.5,
438
+ 0.35,
439
+ 1.05
440
+ ],
441
+ "quat": [
442
+ 0.55623853,
443
+ 0.29935253,
444
+ -0.37678665,
445
+ -0.6775092
446
+ ],
447
+ "camera_attribs": {
448
+ "fovy": "60"
449
+ },
450
+ "parent_body": "mobilebase0_support"
451
+ },
452
+ "robot0_agentview_right": {
453
+ "pos": [
454
+ -0.5,
455
+ -0.35,
456
+ 1.05
457
+ ],
458
+ "quat": [
459
+ 0.6775091886520386,
460
+ 0.3767866790294647,
461
+ -0.2993525564670563,
462
+ -0.55623859167099
463
+ ],
464
+ "camera_attribs": {
465
+ "fovy": "60"
466
+ },
467
+ "parent_body": "mobilebase0_support"
468
+ },
469
+ "robot0_frontview": {
470
+ "pos": [
471
+ -0.5,
472
+ 0,
473
+ 0.95
474
+ ],
475
+ "quat": [
476
+ 0.6088936924934387,
477
+ 0.3814677894115448,
478
+ -0.3673907518386841,
479
+ -0.5905545353889465
480
+ ],
481
+ "camera_attribs": {
482
+ "fovy": "60"
483
+ },
484
+ "parent_body": "mobilebase0_support"
485
+ },
486
+ "robot0_eye_in_hand": {
487
+ "pos": [
488
+ 0.05,
489
+ 0,
490
+ 0
491
+ ],
492
+ "quat": [
493
+ 0,
494
+ 0.707107,
495
+ 0.707107,
496
+ 0
497
+ ],
498
+ "parent_body": "robot0_right_hand"
499
+ }
500
+ },
501
+ "init_robot_base_pos": [
502
+ 1.9854290050631906,
503
+ -5.680540907196376,
504
+ 0.0
505
+ ],
506
+ "init_robot_base_ori": [
507
+ 0.0,
508
+ 0.0,
509
+ -1.57079623937212
510
+ ]
511
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000037/ep_meta.json ADDED
@@ -0,0 +1,450 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 44,
3
+ "style_id": 43,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "singlecabinet_1_main_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "croissant",
25
+ "pastry",
26
+ "food",
27
+ "in_container"
28
+ ],
29
+ "groups": [
30
+ "all"
31
+ ],
32
+ "cat": "croissant",
33
+ "split": "train",
34
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_0/model.xml"
35
+ },
36
+ "reset_region": {
37
+ "offset": [
38
+ 0.0,
39
+ 0.0,
40
+ -0.43
41
+ ],
42
+ "size": [
43
+ 0.371623,
44
+ 0.351304
45
+ ],
46
+ "height": 0.2666666666666667,
47
+ "name": "level0"
48
+ }
49
+ },
50
+ {
51
+ "name": "distr_counter_1",
52
+ "obj_groups": "all",
53
+ "placement": {
54
+ "fixture": "counter_1_main_group_1",
55
+ "sample_region_kwargs": {
56
+ "ref": "singlecabinet_1_main_group_1",
57
+ "min_size": [
58
+ 0.19980559758131392,
59
+ 0.3762056949927813,
60
+ 0.025200050400000014
61
+ ]
62
+ },
63
+ "size": [
64
+ 1.0,
65
+ 0.5
66
+ ],
67
+ "pos": [
68
+ null,
69
+ -1.0
70
+ ],
71
+ "offset": [
72
+ 0.0,
73
+ 0.1
74
+ ]
75
+ },
76
+ "type": "object",
77
+ "info": {
78
+ "groups_containing_sampled_obj": [
79
+ "all",
80
+ "cutting_board",
81
+ "receptacle"
82
+ ],
83
+ "groups": [
84
+ "all"
85
+ ],
86
+ "cat": "cutting_board",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml"
89
+ },
90
+ "reset_region": {
91
+ "size": [
92
+ 0.8057104436254978,
93
+ 0.650008
94
+ ],
95
+ "offset": [
96
+ 0.5177472781872507,
97
+ -3.469446951953614e-17,
98
+ 0.46
99
+ ],
100
+ "name": "geom_0"
101
+ }
102
+ },
103
+ {
104
+ "name": "distr_counter_2",
105
+ "obj_groups": "all",
106
+ "placement": {
107
+ "fixture": "counter_2_left_group_1",
108
+ "sample_region_kwargs": {
109
+ "ref": "singlecabinet_1_main_group_1",
110
+ "min_size": [
111
+ 0.08161475793771779,
112
+ 0.0816655669562835,
113
+ 0.09670613828410914
114
+ ]
115
+ },
116
+ "size": [
117
+ 1.0,
118
+ 0.5
119
+ ],
120
+ "pos": [
121
+ null,
122
+ -1.0
123
+ ],
124
+ "offset": [
125
+ 0.0,
126
+ 0.1
127
+ ]
128
+ },
129
+ "type": "object",
130
+ "info": {
131
+ "groups_containing_sampled_obj": [
132
+ "all",
133
+ "coffee_cup",
134
+ "drink"
135
+ ],
136
+ "groups": [
137
+ "all"
138
+ ],
139
+ "cat": "coffee_cup",
140
+ "split": "train",
141
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_21/model.xml"
142
+ },
143
+ "reset_region": {
144
+ "size": [
145
+ 0.607445,
146
+ 0.650008
147
+ ],
148
+ "offset": [
149
+ 0.0,
150
+ 0.0,
151
+ 0.46
152
+ ],
153
+ "name": "geom_0"
154
+ }
155
+ }
156
+ ],
157
+ "fixtures": {
158
+ "wall_main_1_room": {
159
+ "cls": "Wall"
160
+ },
161
+ "wall_main_1_backing_room": {
162
+ "cls": "Wall"
163
+ },
164
+ "wall_right_1_room": {
165
+ "cls": "Wall"
166
+ },
167
+ "wall_right_1_backing_room": {
168
+ "cls": "Wall"
169
+ },
170
+ "wall_left_1_room": {
171
+ "cls": "Wall"
172
+ },
173
+ "wall_left_1_backing_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_main_2_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_main_2_backing_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_right_2_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_right_2_backing_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_right_3_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_right_3_backing_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "floor_1_room": {
195
+ "cls": "Floor"
196
+ },
197
+ "floor_1_backing_room": {
198
+ "cls": "Floor"
199
+ },
200
+ "floor_2_room": {
201
+ "cls": "Floor"
202
+ },
203
+ "floor_2_backing_room": {
204
+ "cls": "Floor"
205
+ },
206
+ "wallaccessory.001_room": {
207
+ "cls": "WallAccessory"
208
+ },
209
+ "wallaccessory.005_room": {
210
+ "cls": "WallAccessory"
211
+ },
212
+ "wallaccessory_room": {
213
+ "cls": "WallAccessory"
214
+ },
215
+ "wallaccessory.003_room": {
216
+ "cls": "WallAccessory"
217
+ },
218
+ "wallaccessory.004_room": {
219
+ "cls": "WallAccessory"
220
+ },
221
+ "wallaccessory.002_room": {
222
+ "cls": "WallAccessory"
223
+ },
224
+ "window_group_1_room": {
225
+ "cls": "Window"
226
+ },
227
+ "window_group_2_room": {
228
+ "cls": "Window"
229
+ },
230
+ "stool_1_room": {
231
+ "cls": "Stool"
232
+ },
233
+ "stool_2_room": {
234
+ "cls": "Stool"
235
+ },
236
+ "stool_3_room": {
237
+ "cls": "Stool"
238
+ },
239
+ "counter_corner_1_main_group_1": {
240
+ "cls": "Counter"
241
+ },
242
+ "sink_main_group_1": {
243
+ "cls": "Sink"
244
+ },
245
+ "counter_1_main_group_1": {
246
+ "cls": "Counter"
247
+ },
248
+ "singlecabinet_1_main_group_1": {
249
+ "cls": "SingleCabinet"
250
+ },
251
+ "cube_main_group_1": {
252
+ "cls": "Box"
253
+ },
254
+ "singlecabinet_2_main_group_1": {
255
+ "cls": "SingleCabinet"
256
+ },
257
+ "hingecabinet_1_main_group_1": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "stack_1_main_group_1_base": {
261
+ "cls": "Box"
262
+ },
263
+ "stack_1_main_group_1_1": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "cube_1_main_group_1": {
267
+ "cls": "Box"
268
+ },
269
+ "dishwasher_1_main_group_1": {
270
+ "cls": "Dishwasher"
271
+ },
272
+ "fridgesidebyside_main_group_1": {
273
+ "cls": "FridgeSideBySide"
274
+ },
275
+ "fridgesidebyside_housing_main_group_1": {
276
+ "cls": "HousingCabinet"
277
+ },
278
+ "toaster_main_group_1": {
279
+ "cls": "Toaster"
280
+ },
281
+ "papertowel_main_group_1": {
282
+ "cls": "Accessory"
283
+ },
284
+ "counter_1_left_group_1": {
285
+ "cls": "Counter"
286
+ },
287
+ "stove_left_group_1": {
288
+ "cls": "Stove"
289
+ },
290
+ "microwave_left_group_1": {
291
+ "cls": "Microwave"
292
+ },
293
+ "micro_cab_left_group_1": {
294
+ "cls": "HingeCabinet"
295
+ },
296
+ "counter_2_left_group_1": {
297
+ "cls": "Counter"
298
+ },
299
+ "singlecabinet_1_left_group_1": {
300
+ "cls": "SingleCabinet"
301
+ },
302
+ "hingecabinet_1_left_group_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "cube_3_left_group_1": {
306
+ "cls": "Box"
307
+ },
308
+ "cube_4_left_group_1": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_1_left_group_1_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_1_left_group_1_1": {
315
+ "cls": "SingleCabinet"
316
+ },
317
+ "stack_1_left_group_1_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_2_left_group_1_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_2_left_group_1_1": {
324
+ "cls": "SingleCabinet"
325
+ },
326
+ "stack_2_left_group_1_2": {
327
+ "cls": "Drawer"
328
+ },
329
+ "cube_1_left_group_1": {
330
+ "cls": "Box"
331
+ },
332
+ "cube_2_left_group_1": {
333
+ "cls": "Box"
334
+ },
335
+ "coffee_machine_left_group_1": {
336
+ "cls": "CoffeeMachine"
337
+ },
338
+ "island_island_group_1": {
339
+ "cls": "Counter"
340
+ },
341
+ "cube_island_group_1": {
342
+ "cls": "Box"
343
+ },
344
+ "cube_2_island_group_1": {
345
+ "cls": "Box"
346
+ },
347
+ "cube_3_island_group_1": {
348
+ "cls": "Box"
349
+ },
350
+ "cube_4_island_group_1": {
351
+ "cls": "Box"
352
+ }
353
+ },
354
+ "gen_textures": {},
355
+ "lang": "Open the cabinet door.",
356
+ "fixture_refs": {
357
+ "fxtr": "singlecabinet_1_main_group_1"
358
+ },
359
+ "cam_configs": {
360
+ "robot0_agentview_center": {
361
+ "pos": [
362
+ -0.6,
363
+ 0.0,
364
+ 1.15
365
+ ],
366
+ "quat": [
367
+ 0.636945903301239,
368
+ 0.3325185477733612,
369
+ -0.3199238181114197,
370
+ -0.6175596117973328
371
+ ],
372
+ "parent_body": "mobilebase0_support"
373
+ },
374
+ "robot0_agentview_left": {
375
+ "pos": [
376
+ -0.5,
377
+ 0.35,
378
+ 1.05
379
+ ],
380
+ "quat": [
381
+ 0.55623853,
382
+ 0.29935253,
383
+ -0.37678665,
384
+ -0.6775092
385
+ ],
386
+ "camera_attribs": {
387
+ "fovy": "60"
388
+ },
389
+ "parent_body": "mobilebase0_support"
390
+ },
391
+ "robot0_agentview_right": {
392
+ "pos": [
393
+ -0.5,
394
+ -0.35,
395
+ 1.05
396
+ ],
397
+ "quat": [
398
+ 0.6775091886520386,
399
+ 0.3767866790294647,
400
+ -0.2993525564670563,
401
+ -0.55623859167099
402
+ ],
403
+ "camera_attribs": {
404
+ "fovy": "60"
405
+ },
406
+ "parent_body": "mobilebase0_support"
407
+ },
408
+ "robot0_frontview": {
409
+ "pos": [
410
+ -0.5,
411
+ 0,
412
+ 0.95
413
+ ],
414
+ "quat": [
415
+ 0.6088936924934387,
416
+ 0.3814677894115448,
417
+ -0.3673907518386841,
418
+ -0.5905545353889465
419
+ ],
420
+ "camera_attribs": {
421
+ "fovy": "60"
422
+ },
423
+ "parent_body": "mobilebase0_support"
424
+ },
425
+ "robot0_eye_in_hand": {
426
+ "pos": [
427
+ 0.05,
428
+ 0,
429
+ 0
430
+ ],
431
+ "quat": [
432
+ 0,
433
+ 0.707107,
434
+ 0.707107,
435
+ 0
436
+ ],
437
+ "parent_body": "robot0_right_hand"
438
+ }
439
+ },
440
+ "init_robot_base_pos": [
441
+ 2.646753729768232,
442
+ -0.9411672900877858,
443
+ 0.0
444
+ ],
445
+ "init_robot_base_ori": [
446
+ 0.0,
447
+ 0.0,
448
+ 1.5707963267948966
449
+ ]
450
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000049/ep_meta.json ADDED
@@ -0,0 +1,402 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 41,
3
+ "style_id": 35,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "singlecabinet_2_main_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "beer",
25
+ "alcohol",
26
+ "drink"
27
+ ],
28
+ "groups": [
29
+ "all"
30
+ ],
31
+ "cat": "beer",
32
+ "split": "train",
33
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_10/model.xml"
34
+ },
35
+ "reset_region": {
36
+ "offset": [
37
+ 0.0,
38
+ 0.0,
39
+ -0.43
40
+ ],
41
+ "size": [
42
+ 0.554049,
43
+ 0.39917
44
+ ],
45
+ "height": 0.2666666666666667,
46
+ "name": "level0"
47
+ }
48
+ },
49
+ {
50
+ "name": "distr_counter_1",
51
+ "obj_groups": "all",
52
+ "placement": {
53
+ "fixture": "counter_1_main_group_1",
54
+ "sample_region_kwargs": {
55
+ "ref": "singlecabinet_2_main_group_1",
56
+ "min_size": [
57
+ 0.09726746624999996,
58
+ 0.13574656619999995,
59
+ 0.030184386749999986
60
+ ]
61
+ },
62
+ "size": [
63
+ 1.0,
64
+ 0.5
65
+ ],
66
+ "pos": [
67
+ null,
68
+ -1.0
69
+ ],
70
+ "offset": [
71
+ 0.0,
72
+ 0.1
73
+ ]
74
+ },
75
+ "type": "object",
76
+ "info": {
77
+ "groups_containing_sampled_obj": [
78
+ "all",
79
+ "bagged_food",
80
+ "packaged_food"
81
+ ],
82
+ "groups": [
83
+ "all"
84
+ ],
85
+ "cat": "bagged_food",
86
+ "split": "train",
87
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagged_food/bagged_food_11/model.xml"
88
+ },
89
+ "reset_region": {
90
+ "size": [
91
+ 0.6140279999999994,
92
+ 0.650008
93
+ ],
94
+ "offset": [
95
+ 1.0024000000000002,
96
+ -3.469446951953614e-17,
97
+ 0.46
98
+ ],
99
+ "name": "geom_0"
100
+ }
101
+ }
102
+ ],
103
+ "fixtures": {
104
+ "wall_main_1_room": {
105
+ "cls": "Wall"
106
+ },
107
+ "wall_main_1_backing_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_right_1_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_right_1_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_right_2_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_right_2_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_3_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_3_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "floor_1_room": {
129
+ "cls": "Floor"
130
+ },
131
+ "floor_1_backing_room": {
132
+ "cls": "Floor"
133
+ },
134
+ "lightswitch_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "wallaccessory.003_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "wallaccessory.001_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "window_group_room": {
144
+ "cls": "Window"
145
+ },
146
+ "stool_1_room": {
147
+ "cls": "Stool"
148
+ },
149
+ "stool_2_room": {
150
+ "cls": "Stool"
151
+ },
152
+ "sink_main_group_1": {
153
+ "cls": "Sink"
154
+ },
155
+ "counter_1_main_group_1": {
156
+ "cls": "Counter"
157
+ },
158
+ "singlecabinet_1_main_group_1": {
159
+ "cls": "SingleCabinet"
160
+ },
161
+ "singlecabinet_2_main_group_1": {
162
+ "cls": "SingleCabinet"
163
+ },
164
+ "stack_1_main_group_1_base": {
165
+ "cls": "Box"
166
+ },
167
+ "stack_1_main_group_1_1": {
168
+ "cls": "HingeCabinet"
169
+ },
170
+ "stack_1_main_group_1_2": {
171
+ "cls": "Drawer"
172
+ },
173
+ "stack_2_main_group_1_base": {
174
+ "cls": "Box"
175
+ },
176
+ "stack_2_main_group_1_1": {
177
+ "cls": "HingeCabinet"
178
+ },
179
+ "stack_2_main_group_1_2": {
180
+ "cls": "PanelCabinet"
181
+ },
182
+ "cube_1_main_group_1": {
183
+ "cls": "Box"
184
+ },
185
+ "dishwasher_1_main_group_1": {
186
+ "cls": "Dishwasher"
187
+ },
188
+ "bottom_main_group_1_base": {
189
+ "cls": "Box"
190
+ },
191
+ "bottom_main_group_1_1": {
192
+ "cls": "Drawer"
193
+ },
194
+ "microwave_main_group_1": {
195
+ "cls": "Microwave"
196
+ },
197
+ "fridgesidebyside_main_group_1": {
198
+ "cls": "FridgeSideBySide"
199
+ },
200
+ "fridgesidebyside_housing_main_group_1": {
201
+ "cls": "HousingCabinet"
202
+ },
203
+ "oven_cabinet_main_group_1": {
204
+ "cls": "HingeCabinet"
205
+ },
206
+ "hingecabinet_1_main_group_1": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "microwave_housing_main_group_1": {
210
+ "cls": "HousingCabinet"
211
+ },
212
+ "top_main_group_1": {
213
+ "cls": "HingeCabinet"
214
+ },
215
+ "coffee_machine_main_group_1": {
216
+ "cls": "CoffeeMachine"
217
+ },
218
+ "knife_block_main_group_1": {
219
+ "cls": "Accessory"
220
+ },
221
+ "counter_1_right_group_1": {
222
+ "cls": "Counter"
223
+ },
224
+ "counter_2_right_group_1": {
225
+ "cls": "Counter"
226
+ },
227
+ "stove_right_group_1": {
228
+ "cls": "Stove"
229
+ },
230
+ "stove_hood_right_group_1": {
231
+ "cls": "Hood"
232
+ },
233
+ "singlecabinet_1_right_group_1": {
234
+ "cls": "SingleCabinet"
235
+ },
236
+ "singlecabinet_2_right_group_1": {
237
+ "cls": "SingleCabinet"
238
+ },
239
+ "stack_1_right_group_1_base": {
240
+ "cls": "Box"
241
+ },
242
+ "stack_1_right_group_1_1": {
243
+ "cls": "HingeCabinet"
244
+ },
245
+ "stack_1_right_group_1_2": {
246
+ "cls": "Drawer"
247
+ },
248
+ "stack_2_right_group_1_base": {
249
+ "cls": "Box"
250
+ },
251
+ "stack_2_right_group_1_1": {
252
+ "cls": "HingeCabinet"
253
+ },
254
+ "stack_2_right_group_1_2": {
255
+ "cls": "Drawer"
256
+ },
257
+ "toaster_right_group_1": {
258
+ "cls": "Toaster"
259
+ },
260
+ "stack_1_island_group_1_base": {
261
+ "cls": "Box"
262
+ },
263
+ "stack_1_island_group_1_1": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "stack_1_island_group_1_2": {
267
+ "cls": "Drawer"
268
+ },
269
+ "stack_2_island_group_1_base": {
270
+ "cls": "Box"
271
+ },
272
+ "stack_2_island_group_1_1": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "stack_2_island_group_1_2": {
276
+ "cls": "Drawer"
277
+ },
278
+ "stack_3_island_group_1_base": {
279
+ "cls": "Box"
280
+ },
281
+ "stack_3_island_group_1_1": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_3_island_group_1_2": {
285
+ "cls": "Drawer"
286
+ },
287
+ "island_island_group_2": {
288
+ "cls": "Counter"
289
+ },
290
+ "stack_4_island_group_2_base": {
291
+ "cls": "Box"
292
+ },
293
+ "stack_4_island_group_2_1": {
294
+ "cls": "SingleCabinet"
295
+ },
296
+ "stack_5_island_group_2_base": {
297
+ "cls": "Box"
298
+ },
299
+ "stack_5_island_group_2_1": {
300
+ "cls": "SingleCabinet"
301
+ },
302
+ "paper_towel_island_group_2": {
303
+ "cls": "Accessory"
304
+ }
305
+ },
306
+ "gen_textures": {},
307
+ "lang": "Open the cabinet door.",
308
+ "fixture_refs": {
309
+ "fxtr": "singlecabinet_2_main_group_1"
310
+ },
311
+ "cam_configs": {
312
+ "robot0_agentview_center": {
313
+ "pos": [
314
+ -0.6,
315
+ 0.0,
316
+ 1.15
317
+ ],
318
+ "quat": [
319
+ 0.636945903301239,
320
+ 0.3325185477733612,
321
+ -0.3199238181114197,
322
+ -0.6175596117973328
323
+ ],
324
+ "parent_body": "mobilebase0_support"
325
+ },
326
+ "robot0_agentview_left": {
327
+ "pos": [
328
+ -0.5,
329
+ 0.35,
330
+ 1.05
331
+ ],
332
+ "quat": [
333
+ 0.55623853,
334
+ 0.29935253,
335
+ -0.37678665,
336
+ -0.6775092
337
+ ],
338
+ "camera_attribs": {
339
+ "fovy": "60"
340
+ },
341
+ "parent_body": "mobilebase0_support"
342
+ },
343
+ "robot0_agentview_right": {
344
+ "pos": [
345
+ -0.5,
346
+ -0.35,
347
+ 1.05
348
+ ],
349
+ "quat": [
350
+ 0.6775091886520386,
351
+ 0.3767866790294647,
352
+ -0.2993525564670563,
353
+ -0.55623859167099
354
+ ],
355
+ "camera_attribs": {
356
+ "fovy": "60"
357
+ },
358
+ "parent_body": "mobilebase0_support"
359
+ },
360
+ "robot0_frontview": {
361
+ "pos": [
362
+ -0.5,
363
+ 0,
364
+ 0.95
365
+ ],
366
+ "quat": [
367
+ 0.6088936924934387,
368
+ 0.3814677894115448,
369
+ -0.3673907518386841,
370
+ -0.5905545353889465
371
+ ],
372
+ "camera_attribs": {
373
+ "fovy": "60"
374
+ },
375
+ "parent_body": "mobilebase0_support"
376
+ },
377
+ "robot0_eye_in_hand": {
378
+ "pos": [
379
+ 0.05,
380
+ 0,
381
+ 0
382
+ ],
383
+ "quat": [
384
+ 0,
385
+ 0.707107,
386
+ 0.707107,
387
+ 0
388
+ ],
389
+ "parent_body": "robot0_right_hand"
390
+ }
391
+ },
392
+ "init_robot_base_pos": [
393
+ 3.4166434927438263,
394
+ -0.8339773291595352,
395
+ 0.0
396
+ ],
397
+ "init_robot_base_ori": [
398
+ 0.0,
399
+ 0.0,
400
+ 1.5707963267948966
401
+ ]
402
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000053/ep_meta.json ADDED
@@ -0,0 +1,617 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 15,
3
+ "style_id": 14,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_2_left_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "turkey_slice"
25
+ ],
26
+ "groups": [
27
+ "all"
28
+ ],
29
+ "cat": "turkey_slice",
30
+ "split": "train",
31
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turkey_slice/TurkeySlice007/model.xml"
32
+ },
33
+ "reset_region": {
34
+ "offset": [
35
+ 0.0,
36
+ 0.0,
37
+ -0.43
38
+ ],
39
+ "size": [
40
+ 0.74,
41
+ 0.34
42
+ ],
43
+ "height": 0.2666666666666667,
44
+ "name": "level0"
45
+ }
46
+ },
47
+ {
48
+ "name": "distr_counter_1",
49
+ "obj_groups": "all",
50
+ "placement": {
51
+ "fixture": "counter_1_left_group_1",
52
+ "sample_region_kwargs": {
53
+ "ref": "cab_2_left_group_1",
54
+ "min_size": [
55
+ 0.1305485,
56
+ 0.15809495,
57
+ 0.09527527
58
+ ]
59
+ },
60
+ "size": [
61
+ 1.0,
62
+ 0.5
63
+ ],
64
+ "pos": [
65
+ null,
66
+ -1.0
67
+ ],
68
+ "offset": [
69
+ 0.0,
70
+ 0.1
71
+ ]
72
+ },
73
+ "type": "object",
74
+ "info": {
75
+ "groups_containing_sampled_obj": [
76
+ "all",
77
+ "reamer",
78
+ "tool",
79
+ "in_container"
80
+ ],
81
+ "groups": [
82
+ "all"
83
+ ],
84
+ "cat": "reamer",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer007/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 0.8000000000000012,
91
+ 0.65
92
+ ],
93
+ "offset": [
94
+ -0.8999999999999995,
95
+ -3.469446951953614e-17,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "distr_counter_2",
103
+ "obj_groups": "all",
104
+ "placement": {
105
+ "fixture": "counter_1_left_group_1",
106
+ "sample_region_kwargs": {
107
+ "ref": "cab_2_left_group_1",
108
+ "min_size": [
109
+ 0.04503726720000004,
110
+ 0.28800001152000004,
111
+ 0.01562026176
112
+ ]
113
+ },
114
+ "size": [
115
+ 1.0,
116
+ 0.5
117
+ ],
118
+ "pos": [
119
+ null,
120
+ -1.0
121
+ ],
122
+ "offset": [
123
+ 0.0,
124
+ 0.1
125
+ ]
126
+ },
127
+ "type": "object",
128
+ "info": {
129
+ "groups_containing_sampled_obj": [
130
+ "all",
131
+ "knife",
132
+ "utensil"
133
+ ],
134
+ "groups": [
135
+ "all"
136
+ ],
137
+ "cat": "knife",
138
+ "split": "train",
139
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_16/model.xml"
140
+ },
141
+ "reset_region": {
142
+ "size": [
143
+ 0.8000000000000012,
144
+ 0.65
145
+ ],
146
+ "offset": [
147
+ -0.8999999999999995,
148
+ -3.469446951953614e-17,
149
+ 0.46
150
+ ],
151
+ "name": "geom_0"
152
+ }
153
+ },
154
+ {
155
+ "name": "distr_counter_3",
156
+ "obj_groups": "all",
157
+ "placement": {
158
+ "fixture": "counter_1_left_group_1",
159
+ "sample_region_kwargs": {
160
+ "ref": "cab_2_left_group_1",
161
+ "min_size": [
162
+ 0.12405540000000001,
163
+ 0.10193400000000001,
164
+ 0.12899880000000002
165
+ ]
166
+ },
167
+ "size": [
168
+ 1.0,
169
+ 0.5
170
+ ],
171
+ "pos": [
172
+ null,
173
+ -1.0
174
+ ],
175
+ "offset": [
176
+ 0.0,
177
+ 0.1
178
+ ]
179
+ },
180
+ "type": "object",
181
+ "info": {
182
+ "groups_containing_sampled_obj": [
183
+ "all",
184
+ "lettuce",
185
+ "vegetable",
186
+ "food",
187
+ "in_container"
188
+ ],
189
+ "groups": [
190
+ "all"
191
+ ],
192
+ "cat": "lettuce",
193
+ "split": "train",
194
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce007/model.xml"
195
+ },
196
+ "reset_region": {
197
+ "size": [
198
+ 0.8000000000000012,
199
+ 0.65
200
+ ],
201
+ "offset": [
202
+ -0.8999999999999995,
203
+ -3.469446951953614e-17,
204
+ 0.46
205
+ ],
206
+ "name": "geom_0"
207
+ }
208
+ }
209
+ ],
210
+ "fixtures": {
211
+ "wall_main_1_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "wall_main_1_backing_room": {
215
+ "cls": "Wall"
216
+ },
217
+ "wall_left_1_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "wall_left_1_backing_room": {
221
+ "cls": "Wall"
222
+ },
223
+ "wall_left_2_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "wall_left_2_backing_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_left_3_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "wall_left_3_backing_room": {
233
+ "cls": "Wall"
234
+ },
235
+ "wall_front_1_room": {
236
+ "cls": "Wall"
237
+ },
238
+ "wall_front_1_backing_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "wall_right_1_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_right_1_backing_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_right_2_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_right_2_backing_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_front_2_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "wall_front_2_backing_room": {
257
+ "cls": "Wall"
258
+ },
259
+ "wall_main_2_room": {
260
+ "cls": "Wall"
261
+ },
262
+ "wall_main_2_backing_room": {
263
+ "cls": "Wall"
264
+ },
265
+ "wall_left_4_room": {
266
+ "cls": "Wall"
267
+ },
268
+ "wall_left_4_backing_room": {
269
+ "cls": "Wall"
270
+ },
271
+ "wall_left_5_room": {
272
+ "cls": "Wall"
273
+ },
274
+ "wall_left_5_backing_room": {
275
+ "cls": "Wall"
276
+ },
277
+ "floor_1_room": {
278
+ "cls": "Floor"
279
+ },
280
+ "floor_1_backing_room": {
281
+ "cls": "Floor"
282
+ },
283
+ "floor_2_room": {
284
+ "cls": "Floor"
285
+ },
286
+ "floor_2_backing_room": {
287
+ "cls": "Floor"
288
+ },
289
+ "floor_3_room": {
290
+ "cls": "Floor"
291
+ },
292
+ "floor_3_backing_room": {
293
+ "cls": "Floor"
294
+ },
295
+ "wall_accessory_1_room": {
296
+ "cls": "WallAccessory"
297
+ },
298
+ "wall_accessory_2_room": {
299
+ "cls": "WallAccessory"
300
+ },
301
+ "wall_accessory_3_room": {
302
+ "cls": "WallAccessory"
303
+ },
304
+ "light_switch_room": {
305
+ "cls": "WallAccessory"
306
+ },
307
+ "wall_accessory_4_room": {
308
+ "cls": "WallAccessory"
309
+ },
310
+ "wall_accessory_5_room": {
311
+ "cls": "WallAccessory"
312
+ },
313
+ "wall_accessory_6_room": {
314
+ "cls": "WallAccessory"
315
+ },
316
+ "stool_1_room": {
317
+ "cls": "Stool"
318
+ },
319
+ "stool_2_room": {
320
+ "cls": "Stool"
321
+ },
322
+ "stool_3_room": {
323
+ "cls": "Stool"
324
+ },
325
+ "fridge_1_main_group_1": {
326
+ "cls": "FridgeFrenchDoor"
327
+ },
328
+ "fridge_1_housing_main_group_1": {
329
+ "cls": "HousingCabinet"
330
+ },
331
+ "fridge_top_main_group_1": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "bottom_main_group_1_base": {
335
+ "cls": "Box"
336
+ },
337
+ "bottom_main_group_1_1": {
338
+ "cls": "Drawer"
339
+ },
340
+ "oven_main_group_1": {
341
+ "cls": "Oven"
342
+ },
343
+ "oven_housing_main_group_1": {
344
+ "cls": "HousingCabinet"
345
+ },
346
+ "microwave_main_group_1": {
347
+ "cls": "Microwave"
348
+ },
349
+ "microwave_housing_main_group_1": {
350
+ "cls": "HousingCabinet"
351
+ },
352
+ "top_main_group_1": {
353
+ "cls": "HingeCabinet"
354
+ },
355
+ "counter_1_main_group_1": {
356
+ "cls": "Counter"
357
+ },
358
+ "stack_1_main_group_1_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_1_main_group_1_1": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_1_main_group_1_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_1_main_group_1_3": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_2_main_group_1_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_2_main_group_1_1": {
374
+ "cls": "SingleCabinet"
375
+ },
376
+ "stack_2_main_group_1_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "cab_1_main_group_1": {
380
+ "cls": "HingeCabinet"
381
+ },
382
+ "toaster_main_group_1": {
383
+ "cls": "Toaster"
384
+ },
385
+ "stovetop_1_left_group_1": {
386
+ "cls": "Stovetop"
387
+ },
388
+ "counter_1_left_group_1": {
389
+ "cls": "Counter"
390
+ },
391
+ "stack_1_left_group_1_base": {
392
+ "cls": "Box"
393
+ },
394
+ "stack_1_left_group_1_1": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "stack_1_left_group_1_2": {
398
+ "cls": "PanelCabinet"
399
+ },
400
+ "stack_2_left_group_1_base": {
401
+ "cls": "Box"
402
+ },
403
+ "stack_2_left_group_1_1": {
404
+ "cls": "HingeCabinet"
405
+ },
406
+ "stack_2_left_group_1_2": {
407
+ "cls": "Drawer"
408
+ },
409
+ "stack_3_left_group_1_base": {
410
+ "cls": "Box"
411
+ },
412
+ "stack_3_left_group_1_1": {
413
+ "cls": "HingeCabinet"
414
+ },
415
+ "stack_3_left_group_1_2": {
416
+ "cls": "Drawer"
417
+ },
418
+ "hood_left_group_1": {
419
+ "cls": "Hood"
420
+ },
421
+ "cab_1_left_group_1": {
422
+ "cls": "HingeCabinet"
423
+ },
424
+ "cab_2_left_group_1": {
425
+ "cls": "HingeCabinet"
426
+ },
427
+ "coffee_machine_left_group_1": {
428
+ "cls": "CoffeeMachine"
429
+ },
430
+ "counter_1_front_group_1": {
431
+ "cls": "Counter"
432
+ },
433
+ "stack_1_front_group_1_base": {
434
+ "cls": "Box"
435
+ },
436
+ "stack_1_front_group_1_1": {
437
+ "cls": "HingeCabinet"
438
+ },
439
+ "stack_1_front_group_1_2": {
440
+ "cls": "Drawer"
441
+ },
442
+ "stack_2_front_group_1_base": {
443
+ "cls": "Box"
444
+ },
445
+ "stack_2_front_group_1_1": {
446
+ "cls": "HingeCabinet"
447
+ },
448
+ "stack_2_front_group_1_2": {
449
+ "cls": "Drawer"
450
+ },
451
+ "stack_3_front_group_1_base": {
452
+ "cls": "Box"
453
+ },
454
+ "stack_3_front_group_1_1": {
455
+ "cls": "HingeCabinet"
456
+ },
457
+ "stack_3_front_group_1_2": {
458
+ "cls": "Drawer"
459
+ },
460
+ "cab_1_front_group_1": {
461
+ "cls": "HingeCabinet"
462
+ },
463
+ "cab_2_front_group_1": {
464
+ "cls": "HingeCabinet"
465
+ },
466
+ "cab_3_front_group_1": {
467
+ "cls": "HingeCabinet"
468
+ },
469
+ "toaster_oven_front_group_1": {
470
+ "cls": "ToasterOven"
471
+ },
472
+ "sink_island_group": {
473
+ "cls": "Sink"
474
+ },
475
+ "island_island_group": {
476
+ "cls": "Counter"
477
+ },
478
+ "panel_stack_island_group_base": {
479
+ "cls": "Box"
480
+ },
481
+ "panel_stack_island_group_1": {
482
+ "cls": "PanelCabinet"
483
+ },
484
+ "dishwasher_island_group": {
485
+ "cls": "Dishwasher"
486
+ },
487
+ "box_island_group": {
488
+ "cls": "Box"
489
+ },
490
+ "stack_1_island_group_base": {
491
+ "cls": "Box"
492
+ },
493
+ "stack_1_island_group_1": {
494
+ "cls": "HingeCabinet"
495
+ },
496
+ "stack_1_island_group_2": {
497
+ "cls": "PanelCabinet"
498
+ },
499
+ "stack_2_island_group_base": {
500
+ "cls": "Box"
501
+ },
502
+ "stack_2_island_group_1": {
503
+ "cls": "HingeCabinet"
504
+ },
505
+ "stack_2_island_group_2": {
506
+ "cls": "Drawer"
507
+ },
508
+ "stack_2_island_group_3": {
509
+ "cls": "Drawer"
510
+ },
511
+ "stack_3_island_group_base": {
512
+ "cls": "Box"
513
+ },
514
+ "stack_3_island_group_1": {
515
+ "cls": "PanelCabinet"
516
+ },
517
+ "paper_towel_island_group": {
518
+ "cls": "Accessory"
519
+ }
520
+ },
521
+ "gen_textures": {},
522
+ "lang": "Open the cabinet doors.",
523
+ "fixture_refs": {
524
+ "fxtr": "cab_2_left_group_1"
525
+ },
526
+ "cam_configs": {
527
+ "robot0_agentview_center": {
528
+ "pos": [
529
+ -0.6,
530
+ 0.0,
531
+ 1.15
532
+ ],
533
+ "quat": [
534
+ 0.636945903301239,
535
+ 0.3325185477733612,
536
+ -0.3199238181114197,
537
+ -0.6175596117973328
538
+ ],
539
+ "parent_body": "mobilebase0_support"
540
+ },
541
+ "robot0_agentview_left": {
542
+ "pos": [
543
+ -0.5,
544
+ 0.35,
545
+ 1.05
546
+ ],
547
+ "quat": [
548
+ 0.55623853,
549
+ 0.29935253,
550
+ -0.37678665,
551
+ -0.6775092
552
+ ],
553
+ "camera_attribs": {
554
+ "fovy": "60"
555
+ },
556
+ "parent_body": "mobilebase0_support"
557
+ },
558
+ "robot0_agentview_right": {
559
+ "pos": [
560
+ -0.5,
561
+ -0.35,
562
+ 1.05
563
+ ],
564
+ "quat": [
565
+ 0.6775091886520386,
566
+ 0.3767866790294647,
567
+ -0.2993525564670563,
568
+ -0.55623859167099
569
+ ],
570
+ "camera_attribs": {
571
+ "fovy": "60"
572
+ },
573
+ "parent_body": "mobilebase0_support"
574
+ },
575
+ "robot0_frontview": {
576
+ "pos": [
577
+ -0.5,
578
+ 0,
579
+ 0.95
580
+ ],
581
+ "quat": [
582
+ 0.6088936924934387,
583
+ 0.3814677894115448,
584
+ -0.3673907518386841,
585
+ -0.5905545353889465
586
+ ],
587
+ "camera_attribs": {
588
+ "fovy": "60"
589
+ },
590
+ "parent_body": "mobilebase0_support"
591
+ },
592
+ "robot0_eye_in_hand": {
593
+ "pos": [
594
+ 0.05,
595
+ 0,
596
+ 0
597
+ ],
598
+ "quat": [
599
+ 0,
600
+ 0.707107,
601
+ 0.707107,
602
+ 0
603
+ ],
604
+ "parent_body": "robot0_right_hand"
605
+ }
606
+ },
607
+ "init_robot_base_pos": [
608
+ 0.7993998592361272,
609
+ -3.877178441801684,
610
+ 0.0
611
+ ],
612
+ "init_robot_base_ori": [
613
+ 0.0,
614
+ 0.0,
615
+ 3.1415926193612504
616
+ ]
617
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000056/ep_meta.json ADDED
@@ -0,0 +1,451 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 21,
3
+ "style_id": 29,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_2_left_group",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "hotdog_bun",
25
+ "bread_food",
26
+ "food",
27
+ "in_container"
28
+ ],
29
+ "groups": [
30
+ "all"
31
+ ],
32
+ "cat": "hotdog_bun",
33
+ "split": "train",
34
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml"
35
+ },
36
+ "reset_region": {
37
+ "offset": [
38
+ 0.0,
39
+ 0.0,
40
+ -0.43
41
+ ],
42
+ "size": [
43
+ 0.69,
44
+ 0.34
45
+ ],
46
+ "height": 0.2666666666666667,
47
+ "name": "level0"
48
+ }
49
+ },
50
+ {
51
+ "name": "distr_counter_1",
52
+ "obj_groups": "all",
53
+ "placement": {
54
+ "fixture": "counter_1_left_group",
55
+ "sample_region_kwargs": {
56
+ "ref": "cab_2_left_group",
57
+ "min_size": [
58
+ 0.04033332207189279,
59
+ 0.1008333269597293,
60
+ 0.12099999999999997
61
+ ]
62
+ },
63
+ "size": [
64
+ 1.0,
65
+ 0.5
66
+ ],
67
+ "pos": [
68
+ null,
69
+ -1.0
70
+ ],
71
+ "offset": [
72
+ 0.0,
73
+ 0.1
74
+ ]
75
+ },
76
+ "type": "object",
77
+ "info": {
78
+ "groups_containing_sampled_obj": [
79
+ "all",
80
+ "boxed_food",
81
+ "packaged_food"
82
+ ],
83
+ "groups": [
84
+ "all"
85
+ ],
86
+ "cat": "boxed_food",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_11/model.xml"
89
+ },
90
+ "reset_region": {
91
+ "size": [
92
+ 0.6520000000000007,
93
+ 0.65
94
+ ],
95
+ "offset": [
96
+ 0.06649999999999967,
97
+ 0.0,
98
+ 0.46
99
+ ],
100
+ "name": "geom_0"
101
+ }
102
+ }
103
+ ],
104
+ "fixtures": {
105
+ "wall_left_1_room": {
106
+ "cls": "Wall"
107
+ },
108
+ "wall_left_1_backing_room": {
109
+ "cls": "Wall"
110
+ },
111
+ "wall_main_1_room": {
112
+ "cls": "Wall"
113
+ },
114
+ "wall_main_1_backing_room": {
115
+ "cls": "Wall"
116
+ },
117
+ "wall_right_1_room": {
118
+ "cls": "Wall"
119
+ },
120
+ "wall_right_1_backing_room": {
121
+ "cls": "Wall"
122
+ },
123
+ "wall_front_1_room": {
124
+ "cls": "Wall"
125
+ },
126
+ "wall_front_1_backing_room": {
127
+ "cls": "Wall"
128
+ },
129
+ "wall_right_2_room": {
130
+ "cls": "Wall"
131
+ },
132
+ "wall_right_2_backing_room": {
133
+ "cls": "Wall"
134
+ },
135
+ "wall_main_2_room": {
136
+ "cls": "Wall"
137
+ },
138
+ "wall_main_2_backing_room": {
139
+ "cls": "Wall"
140
+ },
141
+ "wall_main_3_room": {
142
+ "cls": "Wall"
143
+ },
144
+ "wall_main_3_backing_room": {
145
+ "cls": "Wall"
146
+ },
147
+ "floor_1_room": {
148
+ "cls": "Floor"
149
+ },
150
+ "floor_1_backing_room": {
151
+ "cls": "Floor"
152
+ },
153
+ "floor_2_room": {
154
+ "cls": "Floor"
155
+ },
156
+ "floor_2_backing_room": {
157
+ "cls": "Floor"
158
+ },
159
+ "wall_accessory_1_room": {
160
+ "cls": "WallAccessory"
161
+ },
162
+ "wall_accessory_2_room": {
163
+ "cls": "WallAccessory"
164
+ },
165
+ "wall_accessory_3_room": {
166
+ "cls": "WallAccessory"
167
+ },
168
+ "wall_accessory_4_room": {
169
+ "cls": "WallAccessory"
170
+ },
171
+ "wall_accessory_5_room": {
172
+ "cls": "WallAccessory"
173
+ },
174
+ "light_switch_1_room": {
175
+ "cls": "WallAccessory"
176
+ },
177
+ "wall_accessory_6_room": {
178
+ "cls": "WallAccessory"
179
+ },
180
+ "wall_accessory_7_room": {
181
+ "cls": "WallAccessory"
182
+ },
183
+ "window_group_room": {
184
+ "cls": "Window"
185
+ },
186
+ "stool_1_room": {
187
+ "cls": "Stool"
188
+ },
189
+ "stool_2_room": {
190
+ "cls": "Stool"
191
+ },
192
+ "counter_corner_main_group": {
193
+ "cls": "Counter"
194
+ },
195
+ "sink_main_group": {
196
+ "cls": "Sink"
197
+ },
198
+ "counter_1_main_group": {
199
+ "cls": "Counter"
200
+ },
201
+ "box_main_group": {
202
+ "cls": "Box"
203
+ },
204
+ "stack_1_main_group_base": {
205
+ "cls": "Box"
206
+ },
207
+ "stack_1_main_group_1": {
208
+ "cls": "HingeCabinet"
209
+ },
210
+ "dishwasher_main_group": {
211
+ "cls": "Dishwasher"
212
+ },
213
+ "stack_2_main_group_base": {
214
+ "cls": "Box"
215
+ },
216
+ "stack_2_main_group_1": {
217
+ "cls": "SingleCabinet"
218
+ },
219
+ "stack_2_main_group_2": {
220
+ "cls": "Drawer"
221
+ },
222
+ "cab_1_main_group": {
223
+ "cls": "SingleCabinet"
224
+ },
225
+ "paper_towel_main_group": {
226
+ "cls": "Accessory"
227
+ },
228
+ "toaster_main_group": {
229
+ "cls": "Toaster"
230
+ },
231
+ "counter_1_left_group": {
232
+ "cls": "Counter"
233
+ },
234
+ "stove_left_group": {
235
+ "cls": "Stove"
236
+ },
237
+ "counter_2_left_group": {
238
+ "cls": "Counter"
239
+ },
240
+ "hood_left_group": {
241
+ "cls": "Hood"
242
+ },
243
+ "stack_1_left_group_base": {
244
+ "cls": "Box"
245
+ },
246
+ "stack_1_left_group_1": {
247
+ "cls": "HingeCabinet"
248
+ },
249
+ "stack_1_left_group_2": {
250
+ "cls": "Drawer"
251
+ },
252
+ "stack_2_left_group_base": {
253
+ "cls": "Box"
254
+ },
255
+ "stack_2_left_group_1": {
256
+ "cls": "SingleCabinet"
257
+ },
258
+ "stack_2_left_group_2": {
259
+ "cls": "Drawer"
260
+ },
261
+ "stack_3_left_group_base": {
262
+ "cls": "Box"
263
+ },
264
+ "stack_3_left_group_1": {
265
+ "cls": "SingleCabinet"
266
+ },
267
+ "box_left_group": {
268
+ "cls": "Box"
269
+ },
270
+ "fridge_left_group": {
271
+ "cls": "FridgeSideBySide"
272
+ },
273
+ "fridge_housing_left_group": {
274
+ "cls": "HousingCabinet"
275
+ },
276
+ "stack_4_left_group_base": {
277
+ "cls": "Box"
278
+ },
279
+ "stack_4_left_group_1": {
280
+ "cls": "SingleCabinet"
281
+ },
282
+ "stack_4_left_group_2": {
283
+ "cls": "Drawer"
284
+ },
285
+ "counter_3_left_group": {
286
+ "cls": "Counter"
287
+ },
288
+ "cab_1_left_group": {
289
+ "cls": "HingeCabinet"
290
+ },
291
+ "cab_2_left_group": {
292
+ "cls": "HingeCabinet"
293
+ },
294
+ "cab_3_left_group": {
295
+ "cls": "HingeCabinet"
296
+ },
297
+ "cab_4_left_group": {
298
+ "cls": "SingleCabinet"
299
+ },
300
+ "coffee_machine_left_group": {
301
+ "cls": "CoffeeMachine"
302
+ },
303
+ "toaster_oven_left_group": {
304
+ "cls": "ToasterOven"
305
+ },
306
+ "counter_1_right_group": {
307
+ "cls": "Counter"
308
+ },
309
+ "stack_1_right_group_base": {
310
+ "cls": "Box"
311
+ },
312
+ "stack_1_right_group_1": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "stack_1_right_group_2": {
316
+ "cls": "Drawer"
317
+ },
318
+ "stack_2_right_group_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_2_right_group_1": {
322
+ "cls": "SingleCabinet"
323
+ },
324
+ "cab_1_right_group": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "cab_2_right_group": {
328
+ "cls": "HingeCabinet"
329
+ },
330
+ "microwave_right_group": {
331
+ "cls": "Microwave"
332
+ },
333
+ "island_island_group": {
334
+ "cls": "Counter"
335
+ },
336
+ "stack_1_island_group_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_1_island_group_1": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "stack_1_island_group_2": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_2_island_group_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_2_island_group_1": {
349
+ "cls": "HingeCabinet"
350
+ },
351
+ "stack_2_island_group_2": {
352
+ "cls": "Drawer"
353
+ }
354
+ },
355
+ "gen_textures": {},
356
+ "lang": "Open the cabinet doors.",
357
+ "fixture_refs": {
358
+ "fxtr": "cab_2_left_group"
359
+ },
360
+ "cam_configs": {
361
+ "robot0_agentview_center": {
362
+ "pos": [
363
+ -0.6,
364
+ 0.0,
365
+ 1.15
366
+ ],
367
+ "quat": [
368
+ 0.636945903301239,
369
+ 0.3325185477733612,
370
+ -0.3199238181114197,
371
+ -0.6175596117973328
372
+ ],
373
+ "parent_body": "mobilebase0_support"
374
+ },
375
+ "robot0_agentview_left": {
376
+ "pos": [
377
+ -0.5,
378
+ 0.35,
379
+ 1.05
380
+ ],
381
+ "quat": [
382
+ 0.55623853,
383
+ 0.29935253,
384
+ -0.37678665,
385
+ -0.6775092
386
+ ],
387
+ "camera_attribs": {
388
+ "fovy": "60"
389
+ },
390
+ "parent_body": "mobilebase0_support"
391
+ },
392
+ "robot0_agentview_right": {
393
+ "pos": [
394
+ -0.5,
395
+ -0.35,
396
+ 1.05
397
+ ],
398
+ "quat": [
399
+ 0.6775091886520386,
400
+ 0.3767866790294647,
401
+ -0.2993525564670563,
402
+ -0.55623859167099
403
+ ],
404
+ "camera_attribs": {
405
+ "fovy": "60"
406
+ },
407
+ "parent_body": "mobilebase0_support"
408
+ },
409
+ "robot0_frontview": {
410
+ "pos": [
411
+ -0.5,
412
+ 0,
413
+ 0.95
414
+ ],
415
+ "quat": [
416
+ 0.6088936924934387,
417
+ 0.3814677894115448,
418
+ -0.3673907518386841,
419
+ -0.5905545353889465
420
+ ],
421
+ "camera_attribs": {
422
+ "fovy": "60"
423
+ },
424
+ "parent_body": "mobilebase0_support"
425
+ },
426
+ "robot0_eye_in_hand": {
427
+ "pos": [
428
+ 0.05,
429
+ 0,
430
+ 0
431
+ ],
432
+ "quat": [
433
+ 0,
434
+ 0.707107,
435
+ 0.707107,
436
+ 0
437
+ ],
438
+ "parent_body": "robot0_right_hand"
439
+ }
440
+ },
441
+ "init_robot_base_pos": [
442
+ 0.7905690894516919,
443
+ -0.9550949753736484,
444
+ 0.0
445
+ ],
446
+ "init_robot_base_ori": [
447
+ 0.0,
448
+ 0.0,
449
+ 3.1415926193612504
450
+ ]
451
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000064/ep_meta.json ADDED
@@ -0,0 +1,398 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 44,
3
+ "style_id": 15,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "singlecabinet_1_main_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "condiment_bottle",
25
+ "condiment"
26
+ ],
27
+ "groups": [
28
+ "all"
29
+ ],
30
+ "cat": "condiment_bottle",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_0/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0,
37
+ 0.0,
38
+ -0.43
39
+ ],
40
+ "size": [
41
+ 0.371623,
42
+ 0.351304
43
+ ],
44
+ "height": 0.2666666666666667,
45
+ "name": "level0"
46
+ }
47
+ },
48
+ {
49
+ "name": "distr_counter_1",
50
+ "obj_groups": "all",
51
+ "placement": {
52
+ "fixture": "counter_1_main_group_1",
53
+ "sample_region_kwargs": {
54
+ "ref": "singlecabinet_1_main_group_1",
55
+ "min_size": [
56
+ 0.12204,
57
+ 0.14225279999999998,
58
+ 0.053881464
59
+ ]
60
+ },
61
+ "size": [
62
+ 1.0,
63
+ 0.5
64
+ ],
65
+ "pos": [
66
+ null,
67
+ -1.0
68
+ ],
69
+ "offset": [
70
+ 0.0,
71
+ 0.1
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "chicken_drumstick",
79
+ "meat",
80
+ "food",
81
+ "in_container",
82
+ "oven_ready"
83
+ ],
84
+ "groups": [
85
+ "all"
86
+ ],
87
+ "cat": "chicken_drumstick",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml"
90
+ },
91
+ "reset_region": {
92
+ "size": [
93
+ 0.8120065803869252,
94
+ 0.650008
95
+ ],
96
+ "offset": [
97
+ 0.5145992098065373,
98
+ -3.469446951953614e-17,
99
+ 0.46
100
+ ],
101
+ "name": "geom_0"
102
+ }
103
+ }
104
+ ],
105
+ "fixtures": {
106
+ "wall_main_1_room": {
107
+ "cls": "Wall"
108
+ },
109
+ "wall_main_1_backing_room": {
110
+ "cls": "Wall"
111
+ },
112
+ "wall_right_1_room": {
113
+ "cls": "Wall"
114
+ },
115
+ "wall_right_1_backing_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_left_1_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "wall_left_1_backing_room": {
122
+ "cls": "Wall"
123
+ },
124
+ "wall_main_2_room": {
125
+ "cls": "Wall"
126
+ },
127
+ "wall_main_2_backing_room": {
128
+ "cls": "Wall"
129
+ },
130
+ "wall_right_2_room": {
131
+ "cls": "Wall"
132
+ },
133
+ "wall_right_2_backing_room": {
134
+ "cls": "Wall"
135
+ },
136
+ "wall_right_3_room": {
137
+ "cls": "Wall"
138
+ },
139
+ "wall_right_3_backing_room": {
140
+ "cls": "Wall"
141
+ },
142
+ "floor_1_room": {
143
+ "cls": "Floor"
144
+ },
145
+ "floor_1_backing_room": {
146
+ "cls": "Floor"
147
+ },
148
+ "floor_2_room": {
149
+ "cls": "Floor"
150
+ },
151
+ "floor_2_backing_room": {
152
+ "cls": "Floor"
153
+ },
154
+ "wallaccessory.001_room": {
155
+ "cls": "WallAccessory"
156
+ },
157
+ "wallaccessory.005_room": {
158
+ "cls": "WallAccessory"
159
+ },
160
+ "wallaccessory_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "wallaccessory.003_room": {
164
+ "cls": "WallAccessory"
165
+ },
166
+ "wallaccessory.004_room": {
167
+ "cls": "WallAccessory"
168
+ },
169
+ "wallaccessory.002_room": {
170
+ "cls": "WallAccessory"
171
+ },
172
+ "window_group_1_room": {
173
+ "cls": "Window"
174
+ },
175
+ "window_group_2_room": {
176
+ "cls": "Window"
177
+ },
178
+ "stool_1_room": {
179
+ "cls": "Stool"
180
+ },
181
+ "stool_2_room": {
182
+ "cls": "Stool"
183
+ },
184
+ "stool_3_room": {
185
+ "cls": "Stool"
186
+ },
187
+ "counter_corner_1_main_group_1": {
188
+ "cls": "Counter"
189
+ },
190
+ "sink_main_group_1": {
191
+ "cls": "Sink"
192
+ },
193
+ "counter_1_main_group_1": {
194
+ "cls": "Counter"
195
+ },
196
+ "singlecabinet_1_main_group_1": {
197
+ "cls": "SingleCabinet"
198
+ },
199
+ "cube_main_group_1": {
200
+ "cls": "Box"
201
+ },
202
+ "singlecabinet_2_main_group_1": {
203
+ "cls": "SingleCabinet"
204
+ },
205
+ "hingecabinet_1_main_group_1": {
206
+ "cls": "HingeCabinet"
207
+ },
208
+ "stack_1_main_group_1_base": {
209
+ "cls": "Box"
210
+ },
211
+ "stack_1_main_group_1_1": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "cube_1_main_group_1": {
215
+ "cls": "Box"
216
+ },
217
+ "dishwasher_1_main_group_1": {
218
+ "cls": "Dishwasher"
219
+ },
220
+ "fridgesidebyside_main_group_1": {
221
+ "cls": "FridgeSideBySide"
222
+ },
223
+ "fridgesidebyside_housing_main_group_1": {
224
+ "cls": "HousingCabinet"
225
+ },
226
+ "toaster_main_group_1": {
227
+ "cls": "Toaster"
228
+ },
229
+ "papertowel_main_group_1": {
230
+ "cls": "Accessory"
231
+ },
232
+ "counter_1_left_group_1": {
233
+ "cls": "Counter"
234
+ },
235
+ "stove_left_group_1": {
236
+ "cls": "Stove"
237
+ },
238
+ "microwave_left_group_1": {
239
+ "cls": "Microwave"
240
+ },
241
+ "micro_cab_left_group_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "counter_2_left_group_1": {
245
+ "cls": "Counter"
246
+ },
247
+ "singlecabinet_1_left_group_1": {
248
+ "cls": "SingleCabinet"
249
+ },
250
+ "hingecabinet_1_left_group_1": {
251
+ "cls": "HingeCabinet"
252
+ },
253
+ "cube_3_left_group_1": {
254
+ "cls": "Box"
255
+ },
256
+ "cube_4_left_group_1": {
257
+ "cls": "Box"
258
+ },
259
+ "stack_1_left_group_1_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_1_left_group_1_1": {
263
+ "cls": "SingleCabinet"
264
+ },
265
+ "stack_1_left_group_1_2": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_2_left_group_1_base": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_2_left_group_1_1": {
272
+ "cls": "SingleCabinet"
273
+ },
274
+ "stack_2_left_group_1_2": {
275
+ "cls": "Drawer"
276
+ },
277
+ "cube_1_left_group_1": {
278
+ "cls": "Box"
279
+ },
280
+ "cube_2_left_group_1": {
281
+ "cls": "Box"
282
+ },
283
+ "coffee_machine_left_group_1": {
284
+ "cls": "CoffeeMachine"
285
+ },
286
+ "island_island_group_1": {
287
+ "cls": "Counter"
288
+ },
289
+ "cube_island_group_1": {
290
+ "cls": "Box"
291
+ },
292
+ "cube_2_island_group_1": {
293
+ "cls": "Box"
294
+ },
295
+ "cube_3_island_group_1": {
296
+ "cls": "Box"
297
+ },
298
+ "cube_4_island_group_1": {
299
+ "cls": "Box"
300
+ }
301
+ },
302
+ "gen_textures": {},
303
+ "lang": "Open the cabinet door.",
304
+ "fixture_refs": {
305
+ "fxtr": "singlecabinet_1_main_group_1"
306
+ },
307
+ "cam_configs": {
308
+ "robot0_agentview_center": {
309
+ "pos": [
310
+ -0.6,
311
+ 0.0,
312
+ 1.15
313
+ ],
314
+ "quat": [
315
+ 0.636945903301239,
316
+ 0.3325185477733612,
317
+ -0.3199238181114197,
318
+ -0.6175596117973328
319
+ ],
320
+ "parent_body": "mobilebase0_support"
321
+ },
322
+ "robot0_agentview_left": {
323
+ "pos": [
324
+ -0.5,
325
+ 0.35,
326
+ 1.05
327
+ ],
328
+ "quat": [
329
+ 0.55623853,
330
+ 0.29935253,
331
+ -0.37678665,
332
+ -0.6775092
333
+ ],
334
+ "camera_attribs": {
335
+ "fovy": "60"
336
+ },
337
+ "parent_body": "mobilebase0_support"
338
+ },
339
+ "robot0_agentview_right": {
340
+ "pos": [
341
+ -0.5,
342
+ -0.35,
343
+ 1.05
344
+ ],
345
+ "quat": [
346
+ 0.6775091886520386,
347
+ 0.3767866790294647,
348
+ -0.2993525564670563,
349
+ -0.55623859167099
350
+ ],
351
+ "camera_attribs": {
352
+ "fovy": "60"
353
+ },
354
+ "parent_body": "mobilebase0_support"
355
+ },
356
+ "robot0_frontview": {
357
+ "pos": [
358
+ -0.5,
359
+ 0,
360
+ 0.95
361
+ ],
362
+ "quat": [
363
+ 0.6088936924934387,
364
+ 0.3814677894115448,
365
+ -0.3673907518386841,
366
+ -0.5905545353889465
367
+ ],
368
+ "camera_attribs": {
369
+ "fovy": "60"
370
+ },
371
+ "parent_body": "mobilebase0_support"
372
+ },
373
+ "robot0_eye_in_hand": {
374
+ "pos": [
375
+ 0.05,
376
+ 0,
377
+ 0
378
+ ],
379
+ "quat": [
380
+ 0,
381
+ 0.707107,
382
+ 0.707107,
383
+ 0
384
+ ],
385
+ "parent_body": "robot0_right_hand"
386
+ }
387
+ },
388
+ "init_robot_base_pos": [
389
+ 2.702248589488672,
390
+ -0.8531065709222077,
391
+ 0.0
392
+ ],
393
+ "init_robot_base_ori": [
394
+ 0.0,
395
+ 0.0,
396
+ 1.5707963267948966
397
+ ]
398
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000074/ep_meta.json ADDED
@@ -0,0 +1,553 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 35,
3
+ "style_id": 18,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_1_main_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "apple",
25
+ "fruit",
26
+ "food",
27
+ "in_container",
28
+ "food_set1",
29
+ "group1"
30
+ ],
31
+ "groups": [
32
+ "all"
33
+ ],
34
+ "cat": "apple",
35
+ "split": "train",
36
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_22/model.xml"
37
+ },
38
+ "reset_region": {
39
+ "offset": [
40
+ 0.0,
41
+ 0.0,
42
+ -0.43
43
+ ],
44
+ "size": [
45
+ 0.9924,
46
+ 0.34
47
+ ],
48
+ "height": 0.2666666666666667,
49
+ "name": "level0"
50
+ }
51
+ },
52
+ {
53
+ "name": "distr_counter_1",
54
+ "obj_groups": "all",
55
+ "placement": {
56
+ "fixture": "counter_1_main_group_1",
57
+ "sample_region_kwargs": {
58
+ "ref": "hingecabinet_1_main_group_1",
59
+ "min_size": [
60
+ 0.081484883,
61
+ 0.081485412,
62
+ 0.11688754099999998
63
+ ]
64
+ },
65
+ "size": [
66
+ 1.0,
67
+ 0.5
68
+ ],
69
+ "pos": [
70
+ null,
71
+ -1.0
72
+ ],
73
+ "offset": [
74
+ 0.0,
75
+ 0.1
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "mayonnaise",
83
+ "condiment"
84
+ ],
85
+ "groups": [
86
+ "all"
87
+ ],
88
+ "cat": "mayonnaise",
89
+ "split": "train",
90
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mayonnaise/Mayonnaise007/model.xml"
91
+ },
92
+ "reset_region": {
93
+ "size": [
94
+ 1.0312,
95
+ 0.65
96
+ ],
97
+ "offset": [
98
+ 0.005300000000000082,
99
+ 0.0,
100
+ 0.46
101
+ ],
102
+ "name": "geom_0"
103
+ }
104
+ },
105
+ {
106
+ "name": "distr_counter_2",
107
+ "obj_groups": "all",
108
+ "placement": {
109
+ "fixture": "counter_1_main_group_1",
110
+ "sample_region_kwargs": {
111
+ "ref": "hingecabinet_1_main_group_1",
112
+ "min_size": [
113
+ 0.058767396000000034,
114
+ 0.05876740200000004,
115
+ 0.05286663060000003
116
+ ]
117
+ },
118
+ "size": [
119
+ 1.0,
120
+ 0.5
121
+ ],
122
+ "pos": [
123
+ null,
124
+ -1.0
125
+ ],
126
+ "offset": [
127
+ 0.0,
128
+ 0.1
129
+ ]
130
+ },
131
+ "type": "object",
132
+ "info": {
133
+ "groups_containing_sampled_obj": [
134
+ "all",
135
+ "tomato",
136
+ "vegetable",
137
+ "food",
138
+ "in_container"
139
+ ],
140
+ "groups": [
141
+ "all"
142
+ ],
143
+ "cat": "tomato",
144
+ "split": "train",
145
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml"
146
+ },
147
+ "reset_region": {
148
+ "size": [
149
+ 1.0312,
150
+ 0.65
151
+ ],
152
+ "offset": [
153
+ 0.005300000000000082,
154
+ 0.0,
155
+ 0.46
156
+ ],
157
+ "name": "geom_0"
158
+ }
159
+ }
160
+ ],
161
+ "fixtures": {
162
+ "wall_left_1_room": {
163
+ "cls": "Wall"
164
+ },
165
+ "wall_left_1_backing_room": {
166
+ "cls": "Wall"
167
+ },
168
+ "wall_main_1_room": {
169
+ "cls": "Wall"
170
+ },
171
+ "wall_main_1_backing_room": {
172
+ "cls": "Wall"
173
+ },
174
+ "wall_right_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_right_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_main_2_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_main_2_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_right_2_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_right_2_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_main_3_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_main_3_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "floor_1_room": {
199
+ "cls": "Floor"
200
+ },
201
+ "floor_1_backing_room": {
202
+ "cls": "Floor"
203
+ },
204
+ "wallaccessory_room": {
205
+ "cls": "WallAccessory"
206
+ },
207
+ "wallaccessory.002_room": {
208
+ "cls": "WallAccessory"
209
+ },
210
+ "wallaccessory.003_room": {
211
+ "cls": "WallAccessory"
212
+ },
213
+ "stool_3_room": {
214
+ "cls": "Stool"
215
+ },
216
+ "stool_2_room": {
217
+ "cls": "Stool"
218
+ },
219
+ "stool_1_room": {
220
+ "cls": "Stool"
221
+ },
222
+ "counter_1_main_group_1": {
223
+ "cls": "Counter"
224
+ },
225
+ "counter_corner_1_main_group_1": {
226
+ "cls": "Counter"
227
+ },
228
+ "hingecabinet_1_main_group_1": {
229
+ "cls": "HingeCabinet"
230
+ },
231
+ "box_1_main_group_1": {
232
+ "cls": "Box"
233
+ },
234
+ "hingecabinet_2_main_group_1": {
235
+ "cls": "HingeCabinet"
236
+ },
237
+ "stack_1_main_group_1_base": {
238
+ "cls": "Box"
239
+ },
240
+ "stack_1_main_group_1_1": {
241
+ "cls": "Drawer"
242
+ },
243
+ "stack_1_main_group_1_2": {
244
+ "cls": "Drawer"
245
+ },
246
+ "stack_1_main_group_1_3": {
247
+ "cls": "Drawer"
248
+ },
249
+ "stack_2_main_group_1_base": {
250
+ "cls": "Box"
251
+ },
252
+ "stack_2_main_group_1_1": {
253
+ "cls": "SingleCabinet"
254
+ },
255
+ "fridgefrenchdoor_main_group_1": {
256
+ "cls": "FridgeFrenchDoor"
257
+ },
258
+ "fridgefrenchdoor_housing_main_group_1": {
259
+ "cls": "HousingCabinet"
260
+ },
261
+ "knifeblock_main_group_1": {
262
+ "cls": "Accessory"
263
+ },
264
+ "paper_towel_main_group_1": {
265
+ "cls": "Accessory"
266
+ },
267
+ "toaster_main_group_1": {
268
+ "cls": "Toaster"
269
+ },
270
+ "sink_right_group_1": {
271
+ "cls": "Sink"
272
+ },
273
+ "counter_1_right_group_1": {
274
+ "cls": "Counter"
275
+ },
276
+ "counter_2_right_group_1": {
277
+ "cls": "Counter"
278
+ },
279
+ "singlecabinet_1_right_group_1": {
280
+ "cls": "SingleCabinet"
281
+ },
282
+ "cube_2_right_group_1": {
283
+ "cls": "Box"
284
+ },
285
+ "stack_3_right_group_1_base": {
286
+ "cls": "Box"
287
+ },
288
+ "stack_3_right_group_1_1": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_3_right_group_1_2": {
292
+ "cls": "Drawer"
293
+ },
294
+ "stack_3_right_group_1_3": {
295
+ "cls": "Drawer"
296
+ },
297
+ "stack_1_right_group_1_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_1_right_group_1_1": {
301
+ "cls": "SingleCabinet"
302
+ },
303
+ "cube_1_right_group_1": {
304
+ "cls": "Box"
305
+ },
306
+ "stack_2_right_group_1_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_2_right_group_1_1": {
310
+ "cls": "HingeCabinet"
311
+ },
312
+ "stack_2_right_group_1_2": {
313
+ "cls": "PanelCabinet"
314
+ },
315
+ "dishwasher_1_right_group_1": {
316
+ "cls": "Dishwasher"
317
+ },
318
+ "cube_3_right_group_1": {
319
+ "cls": "Box"
320
+ },
321
+ "stovetop_left_group_1": {
322
+ "cls": "Stovetop"
323
+ },
324
+ "counter_1_left_group_1": {
325
+ "cls": "Counter"
326
+ },
327
+ "hingecabinet_3_left_group_1": {
328
+ "cls": "HingeCabinet"
329
+ },
330
+ "hingecabinet_2_left_group_1": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "hingecabinet_1_left_group_1": {
334
+ "cls": "HingeCabinet"
335
+ },
336
+ "bottom_left_group_1_base": {
337
+ "cls": "Box"
338
+ },
339
+ "bottom_left_group_1_1": {
340
+ "cls": "Drawer"
341
+ },
342
+ "oven_left_group_1": {
343
+ "cls": "Oven"
344
+ },
345
+ "oven_housing_left_group_1": {
346
+ "cls": "HousingCabinet"
347
+ },
348
+ "microwave_left_group_1": {
349
+ "cls": "Microwave"
350
+ },
351
+ "microwave_housing_left_group_1": {
352
+ "cls": "HousingCabinet"
353
+ },
354
+ "top_left_group_1": {
355
+ "cls": "HingeCabinet"
356
+ },
357
+ "stack_1_left_group_1_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_1_left_group_1_1": {
361
+ "cls": "HingeCabinet"
362
+ },
363
+ "stack_1_left_group_1_2": {
364
+ "cls": "Drawer"
365
+ },
366
+ "stack_2_left_group_1_base": {
367
+ "cls": "Box"
368
+ },
369
+ "stack_2_left_group_1_1": {
370
+ "cls": "HingeCabinet"
371
+ },
372
+ "stack_2_left_group_1_2": {
373
+ "cls": "PanelCabinet"
374
+ },
375
+ "stack_3_left_group_1_base": {
376
+ "cls": "Box"
377
+ },
378
+ "stack_3_left_group_1_1": {
379
+ "cls": "HingeCabinet"
380
+ },
381
+ "stack_3_left_group_1_2": {
382
+ "cls": "Drawer"
383
+ },
384
+ "coffeemachine_left_group_1": {
385
+ "cls": "CoffeeMachine"
386
+ },
387
+ "toaster_oven_left_group_1": {
388
+ "cls": "ToasterOven"
389
+ },
390
+ "counter_1_island_group": {
391
+ "cls": "Counter"
392
+ },
393
+ "stack_2_island_group_base": {
394
+ "cls": "Box"
395
+ },
396
+ "stack_2_island_group_1": {
397
+ "cls": "Drawer"
398
+ },
399
+ "stack_2_island_group_2": {
400
+ "cls": "Drawer"
401
+ },
402
+ "stack_1_island_group_base": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_1_island_group_1": {
406
+ "cls": "SingleCabinet"
407
+ },
408
+ "stack_3_island_group_base": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_3_island_group_1": {
412
+ "cls": "SingleCabinet"
413
+ },
414
+ "plant_island_group": {
415
+ "cls": "Accessory"
416
+ },
417
+ "stack_2_dining_area_group_base": {
418
+ "cls": "Box"
419
+ },
420
+ "stack_2_dining_area_group_1": {
421
+ "cls": "HingeCabinet"
422
+ },
423
+ "stack_2_dining_area_group_2": {
424
+ "cls": "Drawer"
425
+ },
426
+ "stack_4_dining_area_group_base": {
427
+ "cls": "Box"
428
+ },
429
+ "stack_4_dining_area_group_1": {
430
+ "cls": "SingleCabinet"
431
+ },
432
+ "stack_1_dining_area_group_base": {
433
+ "cls": "Box"
434
+ },
435
+ "stack_1_dining_area_group_1": {
436
+ "cls": "SingleCabinet"
437
+ },
438
+ "stack_3_dining_area_group_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_3_dining_area_group_1": {
442
+ "cls": "HingeCabinet"
443
+ },
444
+ "stack_3_dining_area_group_2": {
445
+ "cls": "Drawer"
446
+ },
447
+ "stool_3_stool_group_1": {
448
+ "cls": "Stool"
449
+ },
450
+ "stool_2_stool_group_1": {
451
+ "cls": "Stool"
452
+ },
453
+ "stool_1_stool_group_1": {
454
+ "cls": "Stool"
455
+ }
456
+ },
457
+ "gen_textures": {},
458
+ "lang": "Open the cabinet doors.",
459
+ "fixture_refs": {
460
+ "fxtr": "hingecabinet_1_main_group_1"
461
+ },
462
+ "cam_configs": {
463
+ "robot0_agentview_center": {
464
+ "pos": [
465
+ -0.6,
466
+ 0.0,
467
+ 1.15
468
+ ],
469
+ "quat": [
470
+ 0.636945903301239,
471
+ 0.3325185477733612,
472
+ -0.3199238181114197,
473
+ -0.6175596117973328
474
+ ],
475
+ "parent_body": "mobilebase0_support"
476
+ },
477
+ "robot0_agentview_left": {
478
+ "pos": [
479
+ -0.5,
480
+ 0.35,
481
+ 1.05
482
+ ],
483
+ "quat": [
484
+ 0.55623853,
485
+ 0.29935253,
486
+ -0.37678665,
487
+ -0.6775092
488
+ ],
489
+ "camera_attribs": {
490
+ "fovy": "60"
491
+ },
492
+ "parent_body": "mobilebase0_support"
493
+ },
494
+ "robot0_agentview_right": {
495
+ "pos": [
496
+ -0.5,
497
+ -0.35,
498
+ 1.05
499
+ ],
500
+ "quat": [
501
+ 0.6775091886520386,
502
+ 0.3767866790294647,
503
+ -0.2993525564670563,
504
+ -0.55623859167099
505
+ ],
506
+ "camera_attribs": {
507
+ "fovy": "60"
508
+ },
509
+ "parent_body": "mobilebase0_support"
510
+ },
511
+ "robot0_frontview": {
512
+ "pos": [
513
+ -0.5,
514
+ 0,
515
+ 0.95
516
+ ],
517
+ "quat": [
518
+ 0.6088936924934387,
519
+ 0.3814677894115448,
520
+ -0.3673907518386841,
521
+ -0.5905545353889465
522
+ ],
523
+ "camera_attribs": {
524
+ "fovy": "60"
525
+ },
526
+ "parent_body": "mobilebase0_support"
527
+ },
528
+ "robot0_eye_in_hand": {
529
+ "pos": [
530
+ 0.05,
531
+ 0,
532
+ 0
533
+ ],
534
+ "quat": [
535
+ 0,
536
+ 0.707107,
537
+ 0.707107,
538
+ 0
539
+ ],
540
+ "parent_body": "robot0_right_hand"
541
+ }
542
+ },
543
+ "init_robot_base_pos": [
544
+ 4.267028513961939,
545
+ -0.8429424419513085,
546
+ 0.0
547
+ ],
548
+ "init_robot_base_ori": [
549
+ 0.0,
550
+ 0.0,
551
+ 1.5707961519493434
552
+ ]
553
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000075/ep_meta.json ADDED
@@ -0,0 +1,497 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 19,
3
+ "style_id": 21,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_1_right_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "steak",
25
+ "meat",
26
+ "food",
27
+ "in_container",
28
+ "oven_ready"
29
+ ],
30
+ "groups": [
31
+ "all"
32
+ ],
33
+ "cat": "steak",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 0.798,
45
+ 0.34
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "distr_counter_1",
53
+ "obj_groups": "all",
54
+ "placement": {
55
+ "fixture": "counter_1_right_group_1",
56
+ "sample_region_kwargs": {
57
+ "ref": "cab_1_right_group_1",
58
+ "min_size": [
59
+ 0.09726746624999996,
60
+ 0.13574656619999995,
61
+ 0.030184386749999986
62
+ ]
63
+ },
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ null,
70
+ -1.0
71
+ ],
72
+ "offset": [
73
+ 0.0,
74
+ 0.1
75
+ ]
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "bagged_food",
82
+ "packaged_food"
83
+ ],
84
+ "groups": [
85
+ "all"
86
+ ],
87
+ "cat": "bagged_food",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagged_food/bagged_food_11/model.xml"
90
+ },
91
+ "reset_region": {
92
+ "size": [
93
+ 0.3580000000000001,
94
+ 0.65
95
+ ],
96
+ "offset": [
97
+ -0.8069999999999999,
98
+ 0.0,
99
+ 0.46
100
+ ],
101
+ "name": "geom_0"
102
+ }
103
+ },
104
+ {
105
+ "name": "distr_counter_2",
106
+ "obj_groups": "all",
107
+ "placement": {
108
+ "fixture": "counter_1_right_group_1",
109
+ "sample_region_kwargs": {
110
+ "ref": "cab_1_right_group_1",
111
+ "min_size": [
112
+ 0.05559585023999997,
113
+ 0.05559589807999997,
114
+ 0.18602373319999987
115
+ ]
116
+ },
117
+ "size": [
118
+ 1.0,
119
+ 0.5
120
+ ],
121
+ "pos": [
122
+ null,
123
+ -1.0
124
+ ],
125
+ "offset": [
126
+ 0.0,
127
+ 0.1
128
+ ]
129
+ },
130
+ "type": "object",
131
+ "info": {
132
+ "groups_containing_sampled_obj": [
133
+ "all",
134
+ "beer",
135
+ "alcohol",
136
+ "drink"
137
+ ],
138
+ "groups": [
139
+ "all"
140
+ ],
141
+ "cat": "beer",
142
+ "split": "train",
143
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_11/model.xml"
144
+ },
145
+ "reset_region": {
146
+ "size": [
147
+ 0.3580000000000001,
148
+ 0.65
149
+ ],
150
+ "offset": [
151
+ -0.8069999999999999,
152
+ 0.0,
153
+ 0.46
154
+ ],
155
+ "name": "geom_0"
156
+ }
157
+ }
158
+ ],
159
+ "fixtures": {
160
+ "wall_left_1_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_left_1_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_main_1_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_main_1_backing_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_main_3_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_main_3_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_2_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_2_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "floor_1_room": {
191
+ "cls": "Floor"
192
+ },
193
+ "floor_1_backing_room": {
194
+ "cls": "Floor"
195
+ },
196
+ "wall_accessory_1_room": {
197
+ "cls": "WallAccessory"
198
+ },
199
+ "wall_accessory_2_room": {
200
+ "cls": "WallAccessory"
201
+ },
202
+ "wall_accessory_3_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "light_switch_1_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "window_group_room": {
209
+ "cls": "Window"
210
+ },
211
+ "stool_1_room": {
212
+ "cls": "Stool"
213
+ },
214
+ "stool_2_room": {
215
+ "cls": "Stool"
216
+ },
217
+ "sink_left_group_1": {
218
+ "cls": "Sink"
219
+ },
220
+ "counter_1_left_group_1": {
221
+ "cls": "Counter"
222
+ },
223
+ "stack_1_left_group_1_base": {
224
+ "cls": "Box"
225
+ },
226
+ "stack_1_left_group_1_1": {
227
+ "cls": "HingeCabinet"
228
+ },
229
+ "stack_1_left_group_1_2": {
230
+ "cls": "Drawer"
231
+ },
232
+ "stack_1_left_group_1_3": {
233
+ "cls": "Drawer"
234
+ },
235
+ "stack_2_left_group_1_base": {
236
+ "cls": "Box"
237
+ },
238
+ "stack_2_left_group_1_1": {
239
+ "cls": "HingeCabinet"
240
+ },
241
+ "stack_2_left_group_1_2": {
242
+ "cls": "PanelCabinet"
243
+ },
244
+ "stack_3_left_group_1_base": {
245
+ "cls": "Box"
246
+ },
247
+ "stack_3_left_group_1_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "stack_3_left_group_1_2": {
251
+ "cls": "Drawer"
252
+ },
253
+ "stack_3_left_group_1_3": {
254
+ "cls": "Drawer"
255
+ },
256
+ "cab_1_left_group_1": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "cab_2_left_group_1": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "cab_3_left_group_1": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "bottom_left_group_1_base": {
266
+ "cls": "Box"
267
+ },
268
+ "bottom_left_group_1_1": {
269
+ "cls": "Drawer"
270
+ },
271
+ "middle_1_left_group_1": {
272
+ "cls": "HingeCabinet"
273
+ },
274
+ "middle_2_left_group_1": {
275
+ "cls": "HingeCabinet"
276
+ },
277
+ "top_1_left_group_1": {
278
+ "cls": "HingeCabinet"
279
+ },
280
+ "toaster_oven_left_group_1": {
281
+ "cls": "ToasterOven"
282
+ },
283
+ "counter_1_right_group_1": {
284
+ "cls": "Counter"
285
+ },
286
+ "counter_corner_right_group_1": {
287
+ "cls": "Counter"
288
+ },
289
+ "box_1_right_group_1": {
290
+ "cls": "Box"
291
+ },
292
+ "stack_1_right_group_1_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_1_right_group_1_1": {
296
+ "cls": "SingleCabinet"
297
+ },
298
+ "stack_1_right_group_1_2": {
299
+ "cls": "Drawer"
300
+ },
301
+ "dishwasher_1_right_group_1": {
302
+ "cls": "Dishwasher"
303
+ },
304
+ "stack_2_right_group_1_base": {
305
+ "cls": "Box"
306
+ },
307
+ "stack_2_right_group_1_1": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "stack_2_right_group_1_2": {
311
+ "cls": "Drawer"
312
+ },
313
+ "box_2_right_group_1": {
314
+ "cls": "Box"
315
+ },
316
+ "cab_1_right_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "coffee_machine_right_group_1": {
320
+ "cls": "CoffeeMachine"
321
+ },
322
+ "toaster_right_group_1": {
323
+ "cls": "Toaster"
324
+ },
325
+ "paper_towel_right_group_1": {
326
+ "cls": "Accessory"
327
+ },
328
+ "counter_corner_1_main_group_3": {
329
+ "cls": "Counter"
330
+ },
331
+ "stove_main_group_3": {
332
+ "cls": "Stove"
333
+ },
334
+ "fridge_1_main_group_3": {
335
+ "cls": "FridgeBottomFreezer"
336
+ },
337
+ "fridge_1_housing_main_group_3": {
338
+ "cls": "HousingCabinet"
339
+ },
340
+ "top_1_main_group_3": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "cab_1_main_group_3": {
344
+ "cls": "OpenCabinet"
345
+ },
346
+ "microwave_main_group_3": {
347
+ "cls": "Microwave"
348
+ },
349
+ "cab_micro_main_group_3": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "cab_corner_main_group_3": {
353
+ "cls": "Box"
354
+ },
355
+ "dining_dining_area_group": {
356
+ "cls": "Counter"
357
+ },
358
+ "box_dining_area_group": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_1_dining_area_group_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_1_dining_area_group_1": {
365
+ "cls": "SingleCabinet"
366
+ },
367
+ "stack_1_dining_area_group_2": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_2_dining_area_group_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_2_dining_area_group_1": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_2_dining_area_group_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_2_dining_area_group_3": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_2_dining_area_group_4": {
383
+ "cls": "Drawer"
384
+ },
385
+ "stack_3_dining_area_group_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_3_dining_area_group_1": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_3_dining_area_group_2": {
392
+ "cls": "Drawer"
393
+ },
394
+ "stack_3_dining_area_group_3": {
395
+ "cls": "Drawer"
396
+ },
397
+ "stack_3_dining_area_group_4": {
398
+ "cls": "Drawer"
399
+ }
400
+ },
401
+ "gen_textures": {},
402
+ "lang": "Open the cabinet doors.",
403
+ "fixture_refs": {
404
+ "fxtr": "cab_1_right_group_1"
405
+ },
406
+ "cam_configs": {
407
+ "robot0_agentview_center": {
408
+ "pos": [
409
+ -0.6,
410
+ 0.0,
411
+ 1.15
412
+ ],
413
+ "quat": [
414
+ 0.636945903301239,
415
+ 0.3325185477733612,
416
+ -0.3199238181114197,
417
+ -0.6175596117973328
418
+ ],
419
+ "parent_body": "mobilebase0_support"
420
+ },
421
+ "robot0_agentview_left": {
422
+ "pos": [
423
+ -0.5,
424
+ 0.35,
425
+ 1.05
426
+ ],
427
+ "quat": [
428
+ 0.55623853,
429
+ 0.29935253,
430
+ -0.37678665,
431
+ -0.6775092
432
+ ],
433
+ "camera_attribs": {
434
+ "fovy": "60"
435
+ },
436
+ "parent_body": "mobilebase0_support"
437
+ },
438
+ "robot0_agentview_right": {
439
+ "pos": [
440
+ -0.5,
441
+ -0.35,
442
+ 1.05
443
+ ],
444
+ "quat": [
445
+ 0.6775091886520386,
446
+ 0.3767866790294647,
447
+ -0.2993525564670563,
448
+ -0.55623859167099
449
+ ],
450
+ "camera_attribs": {
451
+ "fovy": "60"
452
+ },
453
+ "parent_body": "mobilebase0_support"
454
+ },
455
+ "robot0_frontview": {
456
+ "pos": [
457
+ -0.5,
458
+ 0,
459
+ 0.95
460
+ ],
461
+ "quat": [
462
+ 0.6088936924934387,
463
+ 0.3814677894115448,
464
+ -0.3673907518386841,
465
+ -0.5905545353889465
466
+ ],
467
+ "camera_attribs": {
468
+ "fovy": "60"
469
+ },
470
+ "parent_body": "mobilebase0_support"
471
+ },
472
+ "robot0_eye_in_hand": {
473
+ "pos": [
474
+ 0.05,
475
+ 0,
476
+ 0
477
+ ],
478
+ "quat": [
479
+ 0,
480
+ 0.707107,
481
+ 0.707107,
482
+ 0
483
+ ],
484
+ "parent_body": "robot0_right_hand"
485
+ }
486
+ },
487
+ "init_robot_base_pos": [
488
+ 3.362197496921944,
489
+ -0.9154926768687318,
490
+ 0.0
491
+ ],
492
+ "init_robot_base_ori": [
493
+ 0.0,
494
+ 0.0,
495
+ 3.422854288892552e-08
496
+ ]
497
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000076/ep_meta.json ADDED
@@ -0,0 +1,512 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 27,
3
+ "style_id": 19,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_2_main_group",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "broccoli",
25
+ "vegetable",
26
+ "food",
27
+ "in_container",
28
+ "oven_ready"
29
+ ],
30
+ "groups": [
31
+ "all"
32
+ ],
33
+ "cat": "broccoli",
34
+ "split": "train",
35
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml"
36
+ },
37
+ "reset_region": {
38
+ "offset": [
39
+ 0.0,
40
+ 0.0,
41
+ -0.43
42
+ ],
43
+ "size": [
44
+ 0.44,
45
+ 0.34
46
+ ],
47
+ "height": 0.2666666666666667,
48
+ "name": "level0"
49
+ }
50
+ },
51
+ {
52
+ "name": "distr_counter_1",
53
+ "obj_groups": "all",
54
+ "placement": {
55
+ "fixture": "counter_1_main_group",
56
+ "sample_region_kwargs": {
57
+ "ref": "cab_2_main_group",
58
+ "min_size": [
59
+ 0.23316937559999998,
60
+ 0.233169455925,
61
+ 0.019775783475
62
+ ]
63
+ },
64
+ "size": [
65
+ 1.0,
66
+ 0.5
67
+ ],
68
+ "pos": [
69
+ null,
70
+ -1.0
71
+ ],
72
+ "offset": [
73
+ 0.0,
74
+ 0.1
75
+ ]
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "plate",
82
+ "receptacle",
83
+ "container",
84
+ "container_set2"
85
+ ],
86
+ "groups": [
87
+ "all"
88
+ ],
89
+ "cat": "plate",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml"
92
+ },
93
+ "reset_region": {
94
+ "size": [
95
+ 0.7158351869098496,
96
+ 0.65
97
+ ],
98
+ "offset": [
99
+ 0.20999999999999952,
100
+ -3.469446951953614e-17,
101
+ 0.46
102
+ ],
103
+ "name": "geom_0"
104
+ }
105
+ },
106
+ {
107
+ "name": "distr_counter_2",
108
+ "obj_groups": "all",
109
+ "placement": {
110
+ "fixture": "counter_1_main_group",
111
+ "sample_region_kwargs": {
112
+ "ref": "cab_2_main_group",
113
+ "min_size": [
114
+ 0.2247071,
115
+ 0.1715911,
116
+ 0.19962311000000002
117
+ ]
118
+ },
119
+ "size": [
120
+ 1.0,
121
+ 0.5
122
+ ],
123
+ "pos": [
124
+ null,
125
+ -1.0
126
+ ],
127
+ "offset": [
128
+ 0.0,
129
+ 0.1
130
+ ]
131
+ },
132
+ "type": "object",
133
+ "info": {
134
+ "groups_containing_sampled_obj": [
135
+ "all",
136
+ "kettle_non_electric",
137
+ "receptacle",
138
+ "kettle",
139
+ "cookware"
140
+ ],
141
+ "groups": [
142
+ "all"
143
+ ],
144
+ "cat": "kettle_non_electric",
145
+ "split": "train",
146
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle003/model.xml"
147
+ },
148
+ "reset_region": {
149
+ "size": [
150
+ 0.7158351869098496,
151
+ 0.65
152
+ ],
153
+ "offset": [
154
+ 0.20999999999999952,
155
+ -3.469446951953614e-17,
156
+ 0.46
157
+ ],
158
+ "name": "geom_0"
159
+ }
160
+ }
161
+ ],
162
+ "fixtures": {
163
+ "wall_left_1_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_left_1_backing_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_main_1_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_main_1_backing_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_right_1_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_right_1_backing_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_2_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_main_2_backing_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "floor_1_room": {
188
+ "cls": "Floor"
189
+ },
190
+ "floor_1_backing_room": {
191
+ "cls": "Floor"
192
+ },
193
+ "floor_2_room": {
194
+ "cls": "Floor"
195
+ },
196
+ "floor_2_backing_room": {
197
+ "cls": "Floor"
198
+ },
199
+ "wall_accessory_1_room": {
200
+ "cls": "WallAccessory"
201
+ },
202
+ "wall_accessory_2_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "wall_accessory_3_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "wall_accessory_4_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "light_switch_1_room": {
212
+ "cls": "WallAccessory"
213
+ },
214
+ "window_group_1_room": {
215
+ "cls": "Window"
216
+ },
217
+ "window_group_2_room": {
218
+ "cls": "Window"
219
+ },
220
+ "window_group_3_room": {
221
+ "cls": "Window"
222
+ },
223
+ "window_group_4_room": {
224
+ "cls": "Window"
225
+ },
226
+ "stool_1_room": {
227
+ "cls": "Stool"
228
+ },
229
+ "stool_2_room": {
230
+ "cls": "Stool"
231
+ },
232
+ "stool_3_room": {
233
+ "cls": "Stool"
234
+ },
235
+ "counter_corner_main_group": {
236
+ "cls": "Counter"
237
+ },
238
+ "sink_1_main_group": {
239
+ "cls": "Sink"
240
+ },
241
+ "counter_1_main_group": {
242
+ "cls": "Counter"
243
+ },
244
+ "box_main_group": {
245
+ "cls": "Box"
246
+ },
247
+ "stack_1_main_group_base": {
248
+ "cls": "Box"
249
+ },
250
+ "stack_1_main_group_1": {
251
+ "cls": "HingeCabinet"
252
+ },
253
+ "stack_2_main_group_base": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_2_main_group_1": {
257
+ "cls": "SingleCabinet"
258
+ },
259
+ "stack_3_main_group_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_3_main_group_1": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "stack_3_main_group_2": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_3_main_group_3": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_4_main_group_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_4_main_group_1": {
275
+ "cls": "SingleCabinet"
276
+ },
277
+ "stack_4_main_group_2": {
278
+ "cls": "SingleCabinet"
279
+ },
280
+ "bottom_main_group_base": {
281
+ "cls": "Box"
282
+ },
283
+ "bottom_main_group_1": {
284
+ "cls": "Drawer"
285
+ },
286
+ "middle_main_group": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "microwave_main_group": {
290
+ "cls": "Microwave"
291
+ },
292
+ "microwave_housing_main_group": {
293
+ "cls": "HousingCabinet"
294
+ },
295
+ "top_main_group": {
296
+ "cls": "HingeCabinet"
297
+ },
298
+ "cab_1_main_group": {
299
+ "cls": "HingeCabinet"
300
+ },
301
+ "cab_2_main_group": {
302
+ "cls": "SingleCabinet"
303
+ },
304
+ "toaster_main_group": {
305
+ "cls": "Toaster"
306
+ },
307
+ "paper_towel_main_group": {
308
+ "cls": "Accessory"
309
+ },
310
+ "counter_1_left_group": {
311
+ "cls": "Counter"
312
+ },
313
+ "stack_1_left_group_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_1_left_group_1": {
317
+ "cls": "SingleCabinet"
318
+ },
319
+ "stack_1_left_group_2": {
320
+ "cls": "Drawer"
321
+ },
322
+ "stack_2_left_group_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_2_left_group_1": {
326
+ "cls": "Drawer"
327
+ },
328
+ "stack_2_left_group_2": {
329
+ "cls": "Drawer"
330
+ },
331
+ "stack_2_left_group_3": {
332
+ "cls": "Drawer"
333
+ },
334
+ "dishwasher_left_group": {
335
+ "cls": "Dishwasher"
336
+ },
337
+ "box_left_group": {
338
+ "cls": "Box"
339
+ },
340
+ "fridge_left_group": {
341
+ "cls": "FridgeBottomFreezer"
342
+ },
343
+ "fridge_housing_left_group": {
344
+ "cls": "HousingCabinet"
345
+ },
346
+ "fridge_top_left_group": {
347
+ "cls": "HingeCabinet"
348
+ },
349
+ "cab_1_left_group": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "coffee_machine_left_group": {
353
+ "cls": "CoffeeMachine"
354
+ },
355
+ "toaster_oven_left_group": {
356
+ "cls": "ToasterOven"
357
+ },
358
+ "counter_1_front_group": {
359
+ "cls": "Counter"
360
+ },
361
+ "stove_front_group": {
362
+ "cls": "Stove"
363
+ },
364
+ "counter_2_front_group": {
365
+ "cls": "Counter"
366
+ },
367
+ "counter_3_front_group": {
368
+ "cls": "Counter"
369
+ },
370
+ "counter_4_front_group": {
371
+ "cls": "Counter"
372
+ },
373
+ "counter_5_front_group": {
374
+ "cls": "Counter"
375
+ },
376
+ "stack_1_front_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_1_front_group_1": {
380
+ "cls": "HingeCabinet"
381
+ },
382
+ "stack_1_front_group_2": {
383
+ "cls": "Drawer"
384
+ },
385
+ "stack_2_front_group_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_2_front_group_1": {
389
+ "cls": "SingleCabinet"
390
+ },
391
+ "stack_2_front_group_2": {
392
+ "cls": "Drawer"
393
+ },
394
+ "stack_3_front_group_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_3_front_group_1": {
398
+ "cls": "SingleCabinet"
399
+ },
400
+ "stack_3_front_group_2": {
401
+ "cls": "Drawer"
402
+ },
403
+ "box_1_front_group": {
404
+ "cls": "Box"
405
+ },
406
+ "box_2_front_group": {
407
+ "cls": "Box"
408
+ },
409
+ "box_3_front_group": {
410
+ "cls": "Box"
411
+ },
412
+ "hood_front_group": {
413
+ "cls": "Hood"
414
+ }
415
+ },
416
+ "gen_textures": {},
417
+ "lang": "Open the cabinet door.",
418
+ "fixture_refs": {
419
+ "fxtr": "cab_2_main_group"
420
+ },
421
+ "cam_configs": {
422
+ "robot0_agentview_center": {
423
+ "pos": [
424
+ -0.6,
425
+ 0.0,
426
+ 1.15
427
+ ],
428
+ "quat": [
429
+ 0.636945903301239,
430
+ 0.3325185477733612,
431
+ -0.3199238181114197,
432
+ -0.6175596117973328
433
+ ],
434
+ "parent_body": "mobilebase0_support"
435
+ },
436
+ "robot0_agentview_left": {
437
+ "pos": [
438
+ -0.5,
439
+ 0.35,
440
+ 1.05
441
+ ],
442
+ "quat": [
443
+ 0.55623853,
444
+ 0.29935253,
445
+ -0.37678665,
446
+ -0.6775092
447
+ ],
448
+ "camera_attribs": {
449
+ "fovy": "60"
450
+ },
451
+ "parent_body": "mobilebase0_support"
452
+ },
453
+ "robot0_agentview_right": {
454
+ "pos": [
455
+ -0.5,
456
+ -0.35,
457
+ 1.05
458
+ ],
459
+ "quat": [
460
+ 0.6775091886520386,
461
+ 0.3767866790294647,
462
+ -0.2993525564670563,
463
+ -0.55623859167099
464
+ ],
465
+ "camera_attribs": {
466
+ "fovy": "60"
467
+ },
468
+ "parent_body": "mobilebase0_support"
469
+ },
470
+ "robot0_frontview": {
471
+ "pos": [
472
+ -0.5,
473
+ 0,
474
+ 0.95
475
+ ],
476
+ "quat": [
477
+ 0.6088936924934387,
478
+ 0.3814677894115448,
479
+ -0.3673907518386841,
480
+ -0.5905545353889465
481
+ ],
482
+ "camera_attribs": {
483
+ "fovy": "60"
484
+ },
485
+ "parent_body": "mobilebase0_support"
486
+ },
487
+ "robot0_eye_in_hand": {
488
+ "pos": [
489
+ 0.05,
490
+ 0,
491
+ 0
492
+ ],
493
+ "quat": [
494
+ 0,
495
+ 0.707107,
496
+ 0.707107,
497
+ 0
498
+ ],
499
+ "parent_body": "robot0_right_hand"
500
+ }
501
+ },
502
+ "init_robot_base_pos": [
503
+ 2.1670752933182116,
504
+ -0.8078737207609588,
505
+ 0.0
506
+ ],
507
+ "init_robot_base_ori": [
508
+ 0.0,
509
+ 0.0,
510
+ 1.5707963267948966
511
+ ]
512
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000078/ep_meta.json ADDED
@@ -0,0 +1,387 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 52,
3
+ "style_id": 58,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_1_main_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "banana",
25
+ "fruit",
26
+ "food",
27
+ "in_container",
28
+ "food_set1",
29
+ "group1"
30
+ ],
31
+ "groups": [
32
+ "all"
33
+ ],
34
+ "cat": "banana",
35
+ "split": "train",
36
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_11/model.xml"
37
+ },
38
+ "reset_region": {
39
+ "offset": [
40
+ 0.0,
41
+ 0.0,
42
+ -0.43
43
+ ],
44
+ "size": [
45
+ 0.6999599999999999,
46
+ 0.34
47
+ ],
48
+ "height": 0.2666666666666667,
49
+ "name": "level0"
50
+ }
51
+ },
52
+ {
53
+ "name": "distr_counter_1",
54
+ "obj_groups": "all",
55
+ "placement": {
56
+ "fixture": "counter_3_main_group_1",
57
+ "sample_region_kwargs": {
58
+ "ref": "hingecabinet_1_main_group_1",
59
+ "min_size": [
60
+ 0.08117588,
61
+ 0.08189596,
62
+ 0.19258767999999998
63
+ ]
64
+ },
65
+ "size": [
66
+ 1.0,
67
+ 0.5
68
+ ],
69
+ "pos": [
70
+ null,
71
+ -1.0
72
+ ],
73
+ "offset": [
74
+ 0.0,
75
+ 0.1
76
+ ]
77
+ },
78
+ "type": "object",
79
+ "info": {
80
+ "groups_containing_sampled_obj": [
81
+ "all",
82
+ "soap_dispenser",
83
+ "cleaner"
84
+ ],
85
+ "groups": [
86
+ "all"
87
+ ],
88
+ "cat": "soap_dispenser",
89
+ "split": "train",
90
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser003/model.xml"
91
+ },
92
+ "reset_region": {
93
+ "size": [
94
+ 0.608586,
95
+ 0.65
96
+ ],
97
+ "offset": [
98
+ 0.0,
99
+ 0.0,
100
+ 0.46
101
+ ],
102
+ "name": "geom_0"
103
+ }
104
+ }
105
+ ],
106
+ "fixtures": {
107
+ "wall_main_1_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_main_1_backing_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_right_1_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_right_1_backing_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_1_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_left_1_backing_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_front_1.001_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_front_1.001_backing_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_front_2.002_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_front_2.002_backing_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "wall_front_3.003_room": {
138
+ "cls": "Wall"
139
+ },
140
+ "wall_front_3.003_backing_room": {
141
+ "cls": "Wall"
142
+ },
143
+ "floor_1_room": {
144
+ "cls": "Floor"
145
+ },
146
+ "floor_1_backing_room": {
147
+ "cls": "Floor"
148
+ },
149
+ "wallaccessory_4_room": {
150
+ "cls": "WallAccessory"
151
+ },
152
+ "wallaccessory_3_room": {
153
+ "cls": "WallAccessory"
154
+ },
155
+ "wallaccessory_2_room": {
156
+ "cls": "WallAccessory"
157
+ },
158
+ "cube_4_main_group_1": {
159
+ "cls": "Box"
160
+ },
161
+ "cube_5_main_group_1": {
162
+ "cls": "Box"
163
+ },
164
+ "hingecabinet_2_main_group_1": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "singlecabinet_2_main_group_1": {
168
+ "cls": "SingleCabinet"
169
+ },
170
+ "hingecabinet_1_main_group_1": {
171
+ "cls": "HingeCabinet"
172
+ },
173
+ "counter_corner_1_main_group_1": {
174
+ "cls": "Counter"
175
+ },
176
+ "counter_corner_2_main_group_1": {
177
+ "cls": "Counter"
178
+ },
179
+ "counter_2_main_group_1": {
180
+ "cls": "Counter"
181
+ },
182
+ "counter_3_main_group_1": {
183
+ "cls": "Counter"
184
+ },
185
+ "stove_main_group_1": {
186
+ "cls": "Stove"
187
+ },
188
+ "stack_04_main_group_1_base": {
189
+ "cls": "Box"
190
+ },
191
+ "stack_04_main_group_1_1": {
192
+ "cls": "SingleCabinet"
193
+ },
194
+ "stack_03_main_group_1_base": {
195
+ "cls": "Box"
196
+ },
197
+ "stack_03_main_group_1_1": {
198
+ "cls": "SingleCabinet"
199
+ },
200
+ "coffee_machine_main_group_1": {
201
+ "cls": "CoffeeMachine"
202
+ },
203
+ "papertowel_main_group_1": {
204
+ "cls": "Accessory"
205
+ },
206
+ "hingecabinet_3_right_group_1": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "hingecabinet_4_right_group_1": {
210
+ "cls": "HingeCabinet"
211
+ },
212
+ "hingecabinet_5_right_group_1": {
213
+ "cls": "HingeCabinet"
214
+ },
215
+ "sink_right_group_1": {
216
+ "cls": "Sink"
217
+ },
218
+ "counter_4_right_group_1": {
219
+ "cls": "Counter"
220
+ },
221
+ "cube_1_right_group_1": {
222
+ "cls": "Box"
223
+ },
224
+ "stack_2_right_group_1_base": {
225
+ "cls": "Box"
226
+ },
227
+ "stack_2_right_group_1_1": {
228
+ "cls": "HingeCabinet"
229
+ },
230
+ "stack_2_right_group_1_2": {
231
+ "cls": "PanelCabinet"
232
+ },
233
+ "dishwasher_1_right_group_1": {
234
+ "cls": "Dishwasher"
235
+ },
236
+ "cube_2_right_group_1": {
237
+ "cls": "Box"
238
+ },
239
+ "stack_01_right_group_1_base": {
240
+ "cls": "Box"
241
+ },
242
+ "stack_01_right_group_1_1": {
243
+ "cls": "Drawer"
244
+ },
245
+ "stack_01_right_group_1_2": {
246
+ "cls": "Drawer"
247
+ },
248
+ "stack_01_right_group_1_3": {
249
+ "cls": "Drawer"
250
+ },
251
+ "toaster_right_group_1": {
252
+ "cls": "Toaster"
253
+ },
254
+ "counter_1_left_group_1": {
255
+ "cls": "Counter"
256
+ },
257
+ "stack_05_left_group_1_base": {
258
+ "cls": "Box"
259
+ },
260
+ "stack_05_left_group_1_1": {
261
+ "cls": "Drawer"
262
+ },
263
+ "stack_05_left_group_1_2": {
264
+ "cls": "Drawer"
265
+ },
266
+ "stack_05_left_group_1_3": {
267
+ "cls": "Drawer"
268
+ },
269
+ "cube_1_left_group_1": {
270
+ "cls": "Box"
271
+ },
272
+ "fridgebottomfreezer_left_group_1": {
273
+ "cls": "FridgeBottomFreezer"
274
+ },
275
+ "fridgebottomfreezer_housing_left_group_1": {
276
+ "cls": "HousingCabinet"
277
+ },
278
+ "hingecabinet_5_left_group_1": {
279
+ "cls": "HingeCabinet"
280
+ },
281
+ "singlecabinet_1_left_group_1": {
282
+ "cls": "SingleCabinet"
283
+ },
284
+ "microwave_left_group_1": {
285
+ "cls": "Microwave"
286
+ },
287
+ "cab_micro_left_group_1": {
288
+ "cls": "HingeCabinet"
289
+ }
290
+ },
291
+ "gen_textures": {},
292
+ "lang": "Open the cabinet doors.",
293
+ "fixture_refs": {
294
+ "fxtr": "hingecabinet_1_main_group_1"
295
+ },
296
+ "cam_configs": {
297
+ "robot0_agentview_center": {
298
+ "pos": [
299
+ -0.6,
300
+ 0.0,
301
+ 1.15
302
+ ],
303
+ "quat": [
304
+ 0.636945903301239,
305
+ 0.3325185477733612,
306
+ -0.3199238181114197,
307
+ -0.6175596117973328
308
+ ],
309
+ "parent_body": "mobilebase0_support"
310
+ },
311
+ "robot0_agentview_left": {
312
+ "pos": [
313
+ -0.5,
314
+ 0.35,
315
+ 1.05
316
+ ],
317
+ "quat": [
318
+ 0.55623853,
319
+ 0.29935253,
320
+ -0.37678665,
321
+ -0.6775092
322
+ ],
323
+ "camera_attribs": {
324
+ "fovy": "60"
325
+ },
326
+ "parent_body": "mobilebase0_support"
327
+ },
328
+ "robot0_agentview_right": {
329
+ "pos": [
330
+ -0.5,
331
+ -0.35,
332
+ 1.05
333
+ ],
334
+ "quat": [
335
+ 0.6775091886520386,
336
+ 0.3767866790294647,
337
+ -0.2993525564670563,
338
+ -0.55623859167099
339
+ ],
340
+ "camera_attribs": {
341
+ "fovy": "60"
342
+ },
343
+ "parent_body": "mobilebase0_support"
344
+ },
345
+ "robot0_frontview": {
346
+ "pos": [
347
+ -0.5,
348
+ 0,
349
+ 0.95
350
+ ],
351
+ "quat": [
352
+ 0.6088936924934387,
353
+ 0.3814677894115448,
354
+ -0.3673907518386841,
355
+ -0.5905545353889465
356
+ ],
357
+ "camera_attribs": {
358
+ "fovy": "60"
359
+ },
360
+ "parent_body": "mobilebase0_support"
361
+ },
362
+ "robot0_eye_in_hand": {
363
+ "pos": [
364
+ 0.05,
365
+ 0,
366
+ 0
367
+ ],
368
+ "quat": [
369
+ 0,
370
+ 0.707107,
371
+ 0.707107,
372
+ 0
373
+ ],
374
+ "parent_body": "robot0_right_hand"
375
+ }
376
+ },
377
+ "init_robot_base_pos": [
378
+ 1.689114999647264,
379
+ -0.8914603534376475,
380
+ 0.0
381
+ ],
382
+ "init_robot_base_ori": [
383
+ 0.0,
384
+ 0.0,
385
+ 1.5706272411567803
386
+ ]
387
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000079/ep_meta.json ADDED
@@ -0,0 +1,422 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 11,
3
+ "style_id": 18,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "cab_1_main_group",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "liquor",
25
+ "alcohol",
26
+ "drink"
27
+ ],
28
+ "groups": [
29
+ "all"
30
+ ],
31
+ "cat": "liquor",
32
+ "split": "train",
33
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_11/model.xml"
34
+ },
35
+ "reset_region": {
36
+ "offset": [
37
+ 0.0,
38
+ 0.0,
39
+ -0.43
40
+ ],
41
+ "size": [
42
+ 1.071,
43
+ 0.34
44
+ ],
45
+ "height": 0.2666666666666667,
46
+ "name": "level0"
47
+ }
48
+ },
49
+ {
50
+ "name": "distr_counter_1",
51
+ "obj_groups": "all",
52
+ "placement": {
53
+ "fixture": "counter_1_main_group",
54
+ "sample_region_kwargs": {
55
+ "ref": "cab_1_main_group",
56
+ "min_size": [
57
+ 0.06363695099999997,
58
+ 0.07499999549999996,
59
+ 0.061309115999999976
60
+ ]
61
+ },
62
+ "size": [
63
+ 1.0,
64
+ 0.5
65
+ ],
66
+ "pos": [
67
+ null,
68
+ -1.0
69
+ ],
70
+ "offset": [
71
+ 0.0,
72
+ 0.1
73
+ ]
74
+ },
75
+ "type": "object",
76
+ "info": {
77
+ "groups_containing_sampled_obj": [
78
+ "all",
79
+ "lime",
80
+ "vegetable",
81
+ "food",
82
+ "in_container"
83
+ ],
84
+ "groups": [
85
+ "all"
86
+ ],
87
+ "cat": "lime",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml"
90
+ },
91
+ "reset_region": {
92
+ "size": [
93
+ 1.122,
94
+ 0.65
95
+ ],
96
+ "offset": [
97
+ 0.0044999999999999485,
98
+ 0.0,
99
+ 0.46
100
+ ],
101
+ "name": "geom_0"
102
+ }
103
+ }
104
+ ],
105
+ "fixtures": {
106
+ "wall_left_1_room": {
107
+ "cls": "Wall"
108
+ },
109
+ "wall_left_1_backing_room": {
110
+ "cls": "Wall"
111
+ },
112
+ "wall_main_room": {
113
+ "cls": "Wall"
114
+ },
115
+ "wall_main_backing_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_right_1_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "wall_right_1_backing_room": {
122
+ "cls": "Wall"
123
+ },
124
+ "wall_left_2_room": {
125
+ "cls": "Wall"
126
+ },
127
+ "wall_left_2_backing_room": {
128
+ "cls": "Wall"
129
+ },
130
+ "wall_left_3_room": {
131
+ "cls": "Wall"
132
+ },
133
+ "wall_left_3_backing_room": {
134
+ "cls": "Wall"
135
+ },
136
+ "floor_1_room": {
137
+ "cls": "Floor"
138
+ },
139
+ "floor_1_backing_room": {
140
+ "cls": "Floor"
141
+ },
142
+ "floor_2_room": {
143
+ "cls": "Floor"
144
+ },
145
+ "floor_2_backing_room": {
146
+ "cls": "Floor"
147
+ },
148
+ "wall_accessory_1_room": {
149
+ "cls": "WallAccessory"
150
+ },
151
+ "wall_accessory_2_room": {
152
+ "cls": "WallAccessory"
153
+ },
154
+ "light_switch_room": {
155
+ "cls": "WallAccessory"
156
+ },
157
+ "wall_accessory_3_room": {
158
+ "cls": "WallAccessory"
159
+ },
160
+ "wall_accessory_4_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "stool_2_room": {
164
+ "cls": "Stool"
165
+ },
166
+ "stool_1_room": {
167
+ "cls": "Stool"
168
+ },
169
+ "counter_corner_main_group": {
170
+ "cls": "Counter"
171
+ },
172
+ "counter_1_main_group": {
173
+ "cls": "Counter"
174
+ },
175
+ "stove_1_main_group": {
176
+ "cls": "Stove"
177
+ },
178
+ "counter_2_main_group": {
179
+ "cls": "Counter"
180
+ },
181
+ "stack_1_main_group_base": {
182
+ "cls": "Box"
183
+ },
184
+ "stack_1_main_group_1": {
185
+ "cls": "Drawer"
186
+ },
187
+ "stack_1_main_group_2": {
188
+ "cls": "Drawer"
189
+ },
190
+ "stack_1_main_group_3": {
191
+ "cls": "Drawer"
192
+ },
193
+ "stack_1_main_group_4": {
194
+ "cls": "Drawer"
195
+ },
196
+ "stack_2_main_group_base": {
197
+ "cls": "Box"
198
+ },
199
+ "stack_2_main_group_1": {
200
+ "cls": "SingleCabinet"
201
+ },
202
+ "stack_2_main_group_2": {
203
+ "cls": "Drawer"
204
+ },
205
+ "stack_3_main_group_base": {
206
+ "cls": "Box"
207
+ },
208
+ "stack_3_main_group_1": {
209
+ "cls": "SingleCabinet"
210
+ },
211
+ "stack_3_main_group_2": {
212
+ "cls": "Drawer"
213
+ },
214
+ "stack_4_main_group_base": {
215
+ "cls": "Box"
216
+ },
217
+ "stack_4_main_group_1": {
218
+ "cls": "Drawer"
219
+ },
220
+ "stack_4_main_group_2": {
221
+ "cls": "Drawer"
222
+ },
223
+ "stack_4_main_group_3": {
224
+ "cls": "Drawer"
225
+ },
226
+ "stack_4_main_group_4": {
227
+ "cls": "Drawer"
228
+ },
229
+ "stack_5_main_group_base": {
230
+ "cls": "Box"
231
+ },
232
+ "stack_5_main_group_1": {
233
+ "cls": "SingleCabinet"
234
+ },
235
+ "stack_5_main_group_2": {
236
+ "cls": "SingleCabinet"
237
+ },
238
+ "cab_1_main_group": {
239
+ "cls": "HingeCabinet"
240
+ },
241
+ "microwave_main_group": {
242
+ "cls": "Microwave"
243
+ },
244
+ "cab_2_main_group": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "cab_3_main_group": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "counter_stack_main_group_base": {
251
+ "cls": "Box"
252
+ },
253
+ "counter_stack_main_group_1": {
254
+ "cls": "SingleCabinet"
255
+ },
256
+ "counter_stack_main_group_2": {
257
+ "cls": "SingleCabinet"
258
+ },
259
+ "counter_stack_main_group_3": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "toaster_main_group": {
263
+ "cls": "Toaster"
264
+ },
265
+ "sink_left_group": {
266
+ "cls": "Sink"
267
+ },
268
+ "counter_1_left_group": {
269
+ "cls": "Counter"
270
+ },
271
+ "counter_left_group": {
272
+ "cls": "Counter"
273
+ },
274
+ "panel_cab_left_group_base": {
275
+ "cls": "Box"
276
+ },
277
+ "panel_cab_left_group_1": {
278
+ "cls": "PanelCabinet"
279
+ },
280
+ "dishwasher_left_group": {
281
+ "cls": "Dishwasher"
282
+ },
283
+ "stack_1_left_group_base": {
284
+ "cls": "Box"
285
+ },
286
+ "stack_1_left_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "stack_1_left_group_2": {
290
+ "cls": "PanelCabinet"
291
+ },
292
+ "stack_2_left_group_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_2_left_group_1": {
296
+ "cls": "SingleCabinet"
297
+ },
298
+ "stack_2_left_group_2": {
299
+ "cls": "Drawer"
300
+ },
301
+ "box_left_group": {
302
+ "cls": "Box"
303
+ },
304
+ "coffee_machine_left_group": {
305
+ "cls": "CoffeeMachine"
306
+ },
307
+ "paper_towel_left_group": {
308
+ "cls": "Accessory"
309
+ },
310
+ "box_right_group": {
311
+ "cls": "Box"
312
+ },
313
+ "fridge_right_group": {
314
+ "cls": "FridgeBottomFreezer"
315
+ },
316
+ "fridge_housing_right_group": {
317
+ "cls": "HousingCabinet"
318
+ },
319
+ "cab_1_right_group": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "dining_dining_group": {
323
+ "cls": "Counter"
324
+ }
325
+ },
326
+ "gen_textures": {},
327
+ "lang": "Open the cabinet doors.",
328
+ "fixture_refs": {
329
+ "fxtr": "cab_1_main_group"
330
+ },
331
+ "cam_configs": {
332
+ "robot0_agentview_center": {
333
+ "pos": [
334
+ -0.6,
335
+ 0.0,
336
+ 1.15
337
+ ],
338
+ "quat": [
339
+ 0.636945903301239,
340
+ 0.3325185477733612,
341
+ -0.3199238181114197,
342
+ -0.6175596117973328
343
+ ],
344
+ "parent_body": "mobilebase0_support"
345
+ },
346
+ "robot0_agentview_left": {
347
+ "pos": [
348
+ -0.5,
349
+ 0.35,
350
+ 1.05
351
+ ],
352
+ "quat": [
353
+ 0.55623853,
354
+ 0.29935253,
355
+ -0.37678665,
356
+ -0.6775092
357
+ ],
358
+ "camera_attribs": {
359
+ "fovy": "60"
360
+ },
361
+ "parent_body": "mobilebase0_support"
362
+ },
363
+ "robot0_agentview_right": {
364
+ "pos": [
365
+ -0.5,
366
+ -0.35,
367
+ 1.05
368
+ ],
369
+ "quat": [
370
+ 0.6775091886520386,
371
+ 0.3767866790294647,
372
+ -0.2993525564670563,
373
+ -0.55623859167099
374
+ ],
375
+ "camera_attribs": {
376
+ "fovy": "60"
377
+ },
378
+ "parent_body": "mobilebase0_support"
379
+ },
380
+ "robot0_frontview": {
381
+ "pos": [
382
+ -0.5,
383
+ 0,
384
+ 0.95
385
+ ],
386
+ "quat": [
387
+ 0.6088936924934387,
388
+ 0.3814677894115448,
389
+ -0.3673907518386841,
390
+ -0.5905545353889465
391
+ ],
392
+ "camera_attribs": {
393
+ "fovy": "60"
394
+ },
395
+ "parent_body": "mobilebase0_support"
396
+ },
397
+ "robot0_eye_in_hand": {
398
+ "pos": [
399
+ 0.05,
400
+ 0,
401
+ 0
402
+ ],
403
+ "quat": [
404
+ 0,
405
+ 0.707107,
406
+ 0.707107,
407
+ 0
408
+ ],
409
+ "parent_body": "robot0_right_hand"
410
+ }
411
+ },
412
+ "init_robot_base_pos": [
413
+ 1.12370937724687,
414
+ -0.8081830316162621,
415
+ 0.0
416
+ ],
417
+ "init_robot_base_ori": [
418
+ 0.0,
419
+ 0.0,
420
+ 1.5707963267948966
421
+ ]
422
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000084/ep_meta.json ADDED
@@ -0,0 +1,437 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 54,
3
+ "style_id": 49,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_3_main_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "beer",
25
+ "alcohol",
26
+ "drink"
27
+ ],
28
+ "groups": [
29
+ "all"
30
+ ],
31
+ "cat": "beer",
32
+ "split": "train",
33
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_12/model.xml"
34
+ },
35
+ "reset_region": {
36
+ "offset": [
37
+ 0.0,
38
+ 0.0,
39
+ -0.43
40
+ ],
41
+ "size": [
42
+ 0.9623269999999999,
43
+ 0.34
44
+ ],
45
+ "height": 0.2666666666666667,
46
+ "name": "level0"
47
+ }
48
+ },
49
+ {
50
+ "name": "distr_counter_1",
51
+ "obj_groups": "all",
52
+ "placement": {
53
+ "fixture": "counter_2_main_group_1",
54
+ "sample_region_kwargs": {
55
+ "ref": "hingecabinet_3_main_group_1",
56
+ "min_size": [
57
+ 0.063,
58
+ 0.063,
59
+ 0.0395256393
60
+ ]
61
+ },
62
+ "size": [
63
+ 1.0,
64
+ 0.5
65
+ ],
66
+ "pos": [
67
+ null,
68
+ -1.0
69
+ ],
70
+ "offset": [
71
+ 0.0,
72
+ 0.1
73
+ ]
74
+ },
75
+ "type": "object",
76
+ "info": {
77
+ "groups_containing_sampled_obj": [
78
+ "all",
79
+ "kiwi",
80
+ "fruit",
81
+ "food",
82
+ "in_container"
83
+ ],
84
+ "groups": [
85
+ "all"
86
+ ],
87
+ "cat": "kiwi",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml"
90
+ },
91
+ "reset_region": {
92
+ "size": [
93
+ 1.022279,
94
+ 0.65
95
+ ],
96
+ "offset": [
97
+ 0.0,
98
+ 0.0,
99
+ 0.46
100
+ ],
101
+ "name": "geom_0"
102
+ }
103
+ }
104
+ ],
105
+ "fixtures": {
106
+ "wall_right_1_room": {
107
+ "cls": "Wall"
108
+ },
109
+ "wall_right_1_backing_room": {
110
+ "cls": "Wall"
111
+ },
112
+ "wall_main_1_room": {
113
+ "cls": "Wall"
114
+ },
115
+ "wall_main_1_backing_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "floor_1_room": {
119
+ "cls": "Floor"
120
+ },
121
+ "floor_1_backing_room": {
122
+ "cls": "Floor"
123
+ },
124
+ "wallaccessory_2_room": {
125
+ "cls": "WallAccessory"
126
+ },
127
+ "wallaccessory_1_room": {
128
+ "cls": "WallAccessory"
129
+ },
130
+ "wallaccessory_3_room": {
131
+ "cls": "WallAccessory"
132
+ },
133
+ "wallaccessory_4_room": {
134
+ "cls": "WallAccessory"
135
+ },
136
+ "window_group_room": {
137
+ "cls": "Window"
138
+ },
139
+ "stool_1_room": {
140
+ "cls": "Stool"
141
+ },
142
+ "stool_2_room": {
143
+ "cls": "Stool"
144
+ },
145
+ "stool_3_room": {
146
+ "cls": "Stool"
147
+ },
148
+ "stool_4_room": {
149
+ "cls": "Stool"
150
+ },
151
+ "fridgefrenchdoor_main_group_1": {
152
+ "cls": "FridgeFrenchDoor"
153
+ },
154
+ "fridgefrenchdoor_housing_main_group_1": {
155
+ "cls": "HousingCabinet"
156
+ },
157
+ "bottom_main_group_1_base": {
158
+ "cls": "Box"
159
+ },
160
+ "bottom_main_group_1_1": {
161
+ "cls": "Drawer"
162
+ },
163
+ "microwave_main_group_1": {
164
+ "cls": "Microwave"
165
+ },
166
+ "oven_cabinet_main_group_1": {
167
+ "cls": "HingeCabinet"
168
+ },
169
+ "hingecabinet_4_main_group_1": {
170
+ "cls": "HingeCabinet"
171
+ },
172
+ "microwave_housing_main_group_1": {
173
+ "cls": "HousingCabinet"
174
+ },
175
+ "top_main_group_1": {
176
+ "cls": "HingeCabinet"
177
+ },
178
+ "hingecabinet_1_main_group_1": {
179
+ "cls": "HingeCabinet"
180
+ },
181
+ "hingecabinet_3_main_group_1": {
182
+ "cls": "HingeCabinet"
183
+ },
184
+ "singlecabinet_2_main_group_1": {
185
+ "cls": "SingleCabinet"
186
+ },
187
+ "cube_1_main_group_1": {
188
+ "cls": "Box"
189
+ },
190
+ "counter_1_main_group_1": {
191
+ "cls": "Counter"
192
+ },
193
+ "counter_2_main_group_1": {
194
+ "cls": "Counter"
195
+ },
196
+ "counter_corner_1_main_group_1": {
197
+ "cls": "Counter"
198
+ },
199
+ "stove_main_group_1": {
200
+ "cls": "Stove"
201
+ },
202
+ "stove_hood_main_group_1": {
203
+ "cls": "Hood"
204
+ },
205
+ "stack_03_main_group_1_base": {
206
+ "cls": "Box"
207
+ },
208
+ "stack_03_main_group_1_1": {
209
+ "cls": "Drawer"
210
+ },
211
+ "stack_03_main_group_1_2": {
212
+ "cls": "Drawer"
213
+ },
214
+ "stack_03_main_group_1_3": {
215
+ "cls": "Drawer"
216
+ },
217
+ "stack_02_main_group_1_base": {
218
+ "cls": "Box"
219
+ },
220
+ "stack_02_main_group_1_1": {
221
+ "cls": "HingeCabinet"
222
+ },
223
+ "stack_02_main_group_1_2": {
224
+ "cls": "Drawer"
225
+ },
226
+ "stack_01_main_group_1_base": {
227
+ "cls": "Box"
228
+ },
229
+ "stack_01_main_group_1_1": {
230
+ "cls": "SingleCabinet"
231
+ },
232
+ "papertowel_main_group_1": {
233
+ "cls": "Accessory"
234
+ },
235
+ "coffee_machine_main_group_1": {
236
+ "cls": "CoffeeMachine"
237
+ },
238
+ "toaster_oven_main_group_1": {
239
+ "cls": "ToasterOven"
240
+ },
241
+ "opencabinet_1_right_group_1": {
242
+ "cls": "OpenCabinet"
243
+ },
244
+ "cube_3_right_group_1": {
245
+ "cls": "Box"
246
+ },
247
+ "cube_4_right_group_1": {
248
+ "cls": "Box"
249
+ },
250
+ "hingecabinet_6_right_group_1": {
251
+ "cls": "HingeCabinet"
252
+ },
253
+ "hingecabinet_5_right_group_1": {
254
+ "cls": "HingeCabinet"
255
+ },
256
+ "sink_right_group_1": {
257
+ "cls": "Sink"
258
+ },
259
+ "counter_4_right_group_1": {
260
+ "cls": "Counter"
261
+ },
262
+ "stack_05_right_group_1_base": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_05_right_group_1_1": {
266
+ "cls": "HingeCabinet"
267
+ },
268
+ "stack_05_right_group_1_2": {
269
+ "cls": "PanelCabinet"
270
+ },
271
+ "stack_04_right_group_1_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_04_right_group_1_1": {
275
+ "cls": "SingleCabinet"
276
+ },
277
+ "stack_06_right_group_1_base": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_06_right_group_1_1": {
281
+ "cls": "SingleCabinet"
282
+ },
283
+ "cube_2_right_group_1": {
284
+ "cls": "Box"
285
+ },
286
+ "cube_1_right_group_1": {
287
+ "cls": "Box"
288
+ },
289
+ "toaster_right_group_1": {
290
+ "cls": "Toaster"
291
+ },
292
+ "island_island_group_1": {
293
+ "cls": "Counter"
294
+ },
295
+ "stack_07_island_group_1_base": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_07_island_group_1_1": {
299
+ "cls": "SingleCabinet"
300
+ },
301
+ "stack_07_island_group_1_2": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_08_island_group_1_base": {
305
+ "cls": "Box"
306
+ },
307
+ "stack_08_island_group_1_1": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "stack_08_island_group_1_2": {
311
+ "cls": "Drawer"
312
+ },
313
+ "cube_3_island_group_1": {
314
+ "cls": "Box"
315
+ },
316
+ "cube_4_island_group_1": {
317
+ "cls": "Box"
318
+ },
319
+ "stack_06_island_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_06_island_group_1_1": {
323
+ "cls": "SingleCabinet"
324
+ },
325
+ "stack_06_island_group_1_2": {
326
+ "cls": "Drawer"
327
+ },
328
+ "cube_1_island_group_1": {
329
+ "cls": "Box"
330
+ },
331
+ "cube_2_island_group_1": {
332
+ "cls": "Box"
333
+ },
334
+ "dishwasher_1_island_group_1": {
335
+ "cls": "Dishwasher"
336
+ },
337
+ "plant_island_group_1": {
338
+ "cls": "Accessory"
339
+ }
340
+ },
341
+ "gen_textures": {},
342
+ "lang": "Open the cabinet doors.",
343
+ "fixture_refs": {
344
+ "fxtr": "hingecabinet_3_main_group_1"
345
+ },
346
+ "cam_configs": {
347
+ "robot0_agentview_center": {
348
+ "pos": [
349
+ -0.6,
350
+ 0.0,
351
+ 1.15
352
+ ],
353
+ "quat": [
354
+ 0.636945903301239,
355
+ 0.3325185477733612,
356
+ -0.3199238181114197,
357
+ -0.6175596117973328
358
+ ],
359
+ "parent_body": "mobilebase0_support"
360
+ },
361
+ "robot0_agentview_left": {
362
+ "pos": [
363
+ -0.5,
364
+ 0.35,
365
+ 1.05
366
+ ],
367
+ "quat": [
368
+ 0.55623853,
369
+ 0.29935253,
370
+ -0.37678665,
371
+ -0.6775092
372
+ ],
373
+ "camera_attribs": {
374
+ "fovy": "60"
375
+ },
376
+ "parent_body": "mobilebase0_support"
377
+ },
378
+ "robot0_agentview_right": {
379
+ "pos": [
380
+ -0.5,
381
+ -0.35,
382
+ 1.05
383
+ ],
384
+ "quat": [
385
+ 0.6775091886520386,
386
+ 0.3767866790294647,
387
+ -0.2993525564670563,
388
+ -0.55623859167099
389
+ ],
390
+ "camera_attribs": {
391
+ "fovy": "60"
392
+ },
393
+ "parent_body": "mobilebase0_support"
394
+ },
395
+ "robot0_frontview": {
396
+ "pos": [
397
+ -0.5,
398
+ 0,
399
+ 0.95
400
+ ],
401
+ "quat": [
402
+ 0.6088936924934387,
403
+ 0.3814677894115448,
404
+ -0.3673907518386841,
405
+ -0.5905545353889465
406
+ ],
407
+ "camera_attribs": {
408
+ "fovy": "60"
409
+ },
410
+ "parent_body": "mobilebase0_support"
411
+ },
412
+ "robot0_eye_in_hand": {
413
+ "pos": [
414
+ 0.05,
415
+ 0,
416
+ 0
417
+ ],
418
+ "quat": [
419
+ 0,
420
+ 0.707107,
421
+ 0.707107,
422
+ 0
423
+ ],
424
+ "parent_body": "robot0_right_hand"
425
+ }
426
+ },
427
+ "init_robot_base_pos": [
428
+ 2.399077425680729,
429
+ -0.9230321668292314,
430
+ 0.0
431
+ ],
432
+ "init_robot_base_ori": [
433
+ 0.0,
434
+ 0.0,
435
+ 1.5706379572530664
436
+ ]
437
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000087/ep_meta.json ADDED
@@ -0,0 +1,495 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 48,
3
+ "style_id": 44,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_4_right_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "boxed_food",
25
+ "packaged_food"
26
+ ],
27
+ "groups": [
28
+ "all"
29
+ ],
30
+ "cat": "boxed_food",
31
+ "split": "train",
32
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_0/model.xml"
33
+ },
34
+ "reset_region": {
35
+ "offset": [
36
+ 0.0,
37
+ 0.0,
38
+ -0.43
39
+ ],
40
+ "size": [
41
+ 1.029804,
42
+ 0.309156
43
+ ],
44
+ "height": 0.2666666666666667,
45
+ "name": "level0"
46
+ }
47
+ },
48
+ {
49
+ "name": "distr_counter_1",
50
+ "obj_groups": "all",
51
+ "placement": {
52
+ "fixture": "counter_3_right_group_1",
53
+ "sample_region_kwargs": {
54
+ "ref": "hingecabinet_4_right_group_1",
55
+ "min_size": [
56
+ 0.0646094442,
57
+ 0.0646086945,
58
+ 0.10601520719999999
59
+ ]
60
+ },
61
+ "size": [
62
+ 1.0,
63
+ 0.5
64
+ ],
65
+ "pos": [
66
+ null,
67
+ -1.0
68
+ ],
69
+ "offset": [
70
+ 0.0,
71
+ 0.1
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "coffee_cup",
79
+ "drink"
80
+ ],
81
+ "groups": [
82
+ "all"
83
+ ],
84
+ "cat": "coffee_cup",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_3/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "size": [
90
+ 1.0900400000000001,
91
+ 0.650012
92
+ ],
93
+ "offset": [
94
+ 1.0936,
95
+ -3.469446951953614e-17,
96
+ 0.46
97
+ ],
98
+ "name": "geom_0"
99
+ }
100
+ },
101
+ {
102
+ "name": "distr_counter_2",
103
+ "obj_groups": "all",
104
+ "placement": {
105
+ "fixture": "counter_3_right_group_1",
106
+ "sample_region_kwargs": {
107
+ "ref": "hingecabinet_4_right_group_1",
108
+ "min_size": [
109
+ 0.049493408,
110
+ 0.053414656,
111
+ 0.04857624000000001
112
+ ]
113
+ },
114
+ "size": [
115
+ 1.0,
116
+ 0.5
117
+ ],
118
+ "pos": [
119
+ null,
120
+ -1.0
121
+ ],
122
+ "offset": [
123
+ 0.0,
124
+ 0.1
125
+ ]
126
+ },
127
+ "type": "object",
128
+ "info": {
129
+ "groups_containing_sampled_obj": [
130
+ "all",
131
+ "cookie_dough_ball",
132
+ "sweets",
133
+ "food",
134
+ "in_container"
135
+ ],
136
+ "groups": [
137
+ "all"
138
+ ],
139
+ "cat": "cookie_dough_ball",
140
+ "split": "train",
141
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall002/model.xml"
142
+ },
143
+ "reset_region": {
144
+ "size": [
145
+ 1.0900400000000001,
146
+ 0.650012
147
+ ],
148
+ "offset": [
149
+ 1.0936,
150
+ -3.469446951953614e-17,
151
+ 0.46
152
+ ],
153
+ "name": "geom_0"
154
+ }
155
+ }
156
+ ],
157
+ "fixtures": {
158
+ "wall_main_1_room": {
159
+ "cls": "Wall"
160
+ },
161
+ "wall_main_1_backing_room": {
162
+ "cls": "Wall"
163
+ },
164
+ "wall_right_1_room": {
165
+ "cls": "Wall"
166
+ },
167
+ "wall_right_1_backing_room": {
168
+ "cls": "Wall"
169
+ },
170
+ "floor_1_room": {
171
+ "cls": "Floor"
172
+ },
173
+ "floor_1_backing_room": {
174
+ "cls": "Floor"
175
+ },
176
+ "lightswitch_5_room": {
177
+ "cls": "WallAccessory"
178
+ },
179
+ "wallaccessory_1_room": {
180
+ "cls": "WallAccessory"
181
+ },
182
+ "wallaccessory_2_room": {
183
+ "cls": "WallAccessory"
184
+ },
185
+ "lightswitch_6_room": {
186
+ "cls": "WallAccessory"
187
+ },
188
+ "wallaccessory_3_room": {
189
+ "cls": "WallAccessory"
190
+ },
191
+ "lightswitch_1_room": {
192
+ "cls": "WallAccessory"
193
+ },
194
+ "lightswitch_2_room": {
195
+ "cls": "WallAccessory"
196
+ },
197
+ "lightswitch_3_room": {
198
+ "cls": "WallAccessory"
199
+ },
200
+ "stool_1_room": {
201
+ "cls": "Stool"
202
+ },
203
+ "stool_2_room": {
204
+ "cls": "Stool"
205
+ },
206
+ "stool_3_room": {
207
+ "cls": "Stool"
208
+ },
209
+ "stool_4_room": {
210
+ "cls": "Stool"
211
+ },
212
+ "fridgefrenchdoor_right_group_1": {
213
+ "cls": "FridgeFrenchDoor"
214
+ },
215
+ "fridgefrenchdoor_housing_right_group_1": {
216
+ "cls": "HousingCabinet"
217
+ },
218
+ "bottom_right_group_1_base": {
219
+ "cls": "Box"
220
+ },
221
+ "bottom_right_group_1_1": {
222
+ "cls": "Drawer"
223
+ },
224
+ "microwave_right_group_1": {
225
+ "cls": "Microwave"
226
+ },
227
+ "oven_cabinet_right_group_1": {
228
+ "cls": "HingeCabinet"
229
+ },
230
+ "hingecabinet_5_right_group_1": {
231
+ "cls": "HingeCabinet"
232
+ },
233
+ "microwave_housing_right_group_1": {
234
+ "cls": "HousingCabinet"
235
+ },
236
+ "top_right_group_1": {
237
+ "cls": "HingeCabinet"
238
+ },
239
+ "hingecabinet_4_right_group_1": {
240
+ "cls": "HingeCabinet"
241
+ },
242
+ "hingecabinet_2_right_group_1": {
243
+ "cls": "HingeCabinet"
244
+ },
245
+ "hingecabinet_3_right_group_1": {
246
+ "cls": "HingeCabinet"
247
+ },
248
+ "opencabinet_right_group_1": {
249
+ "cls": "OpenCabinet"
250
+ },
251
+ "sink_right_group_1": {
252
+ "cls": "Sink"
253
+ },
254
+ "counter_3_right_group_1": {
255
+ "cls": "Counter"
256
+ },
257
+ "stack_04_right_group_1_base": {
258
+ "cls": "Box"
259
+ },
260
+ "stack_04_right_group_1_1": {
261
+ "cls": "SingleCabinet"
262
+ },
263
+ "stack_04_right_group_1_2": {
264
+ "cls": "Drawer"
265
+ },
266
+ "stack_06_right_group_1_base": {
267
+ "cls": "Box"
268
+ },
269
+ "stack_06_right_group_1_1": {
270
+ "cls": "Drawer"
271
+ },
272
+ "stack_06_right_group_1_2": {
273
+ "cls": "Drawer"
274
+ },
275
+ "stack_06_right_group_1_3": {
276
+ "cls": "Drawer"
277
+ },
278
+ "stack_03_right_group_1_base": {
279
+ "cls": "Box"
280
+ },
281
+ "stack_03_right_group_1_1": {
282
+ "cls": "HingeCabinet"
283
+ },
284
+ "stack_03_right_group_1_2": {
285
+ "cls": "Drawer"
286
+ },
287
+ "stack_05_right_group_1_base": {
288
+ "cls": "Box"
289
+ },
290
+ "stack_05_right_group_1_1": {
291
+ "cls": "HingeCabinet"
292
+ },
293
+ "stack_05_right_group_1_2": {
294
+ "cls": "PanelCabinet"
295
+ },
296
+ "cube_2_right_group_1": {
297
+ "cls": "Box"
298
+ },
299
+ "cube_1_right_group_1": {
300
+ "cls": "Box"
301
+ },
302
+ "dishwasher_1_right_group_1": {
303
+ "cls": "Dishwasher"
304
+ },
305
+ "coffee_machine_right_group_1": {
306
+ "cls": "CoffeeMachine"
307
+ },
308
+ "toaster_right_group_1": {
309
+ "cls": "Toaster"
310
+ },
311
+ "counter_1_main_group_1": {
312
+ "cls": "Counter"
313
+ },
314
+ "counter_corner_1_main_group_1": {
315
+ "cls": "Counter"
316
+ },
317
+ "widestove_main_group_1": {
318
+ "cls": "Stove"
319
+ },
320
+ "stove_hood_main_group_1": {
321
+ "cls": "Hood"
322
+ },
323
+ "counter_2_main_group_1": {
324
+ "cls": "Counter"
325
+ },
326
+ "stack_02_main_group_1_base": {
327
+ "cls": "Box"
328
+ },
329
+ "stack_02_main_group_1_1": {
330
+ "cls": "SingleCabinet"
331
+ },
332
+ "stack_01_main_group_1_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_01_main_group_1_1": {
336
+ "cls": "HingeCabinet"
337
+ },
338
+ "hingecabinet_1_main_group_1": {
339
+ "cls": "HingeCabinet"
340
+ },
341
+ "singlecabinet_1_main_group_1": {
342
+ "cls": "SingleCabinet"
343
+ },
344
+ "cube_4_main_group_1": {
345
+ "cls": "Box"
346
+ },
347
+ "papertowel_main_group_1": {
348
+ "cls": "Accessory"
349
+ },
350
+ "toaster_oven_main_group_1": {
351
+ "cls": "ToasterOven"
352
+ },
353
+ "island_island_group_1": {
354
+ "cls": "Counter"
355
+ },
356
+ "cube_1_island_group_1": {
357
+ "cls": "Box"
358
+ },
359
+ "cube_2_island_group_1": {
360
+ "cls": "Box"
361
+ },
362
+ "cube_3_island_group_1": {
363
+ "cls": "Box"
364
+ },
365
+ "stack_09_island_group_1_base": {
366
+ "cls": "Box"
367
+ },
368
+ "stack_09_island_group_1_1": {
369
+ "cls": "Drawer"
370
+ },
371
+ "stack_09_island_group_1_2": {
372
+ "cls": "Drawer"
373
+ },
374
+ "stack_09_island_group_1_3": {
375
+ "cls": "Drawer"
376
+ },
377
+ "stack_08_island_group_1_base": {
378
+ "cls": "Box"
379
+ },
380
+ "stack_08_island_group_1_1": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_08_island_group_1_2": {
384
+ "cls": "Drawer"
385
+ },
386
+ "stack_08_island_group_1_3": {
387
+ "cls": "Drawer"
388
+ },
389
+ "stack_07_island_group_1_base": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_07_island_group_1_1": {
393
+ "cls": "Drawer"
394
+ },
395
+ "stack_07_island_group_1_2": {
396
+ "cls": "HingeCabinet"
397
+ }
398
+ },
399
+ "gen_textures": {},
400
+ "lang": "Open the cabinet doors.",
401
+ "fixture_refs": {
402
+ "fxtr": "hingecabinet_4_right_group_1"
403
+ },
404
+ "cam_configs": {
405
+ "robot0_agentview_center": {
406
+ "pos": [
407
+ -0.6,
408
+ 0.0,
409
+ 1.15
410
+ ],
411
+ "quat": [
412
+ 0.636945903301239,
413
+ 0.3325185477733612,
414
+ -0.3199238181114197,
415
+ -0.6175596117973328
416
+ ],
417
+ "parent_body": "mobilebase0_support"
418
+ },
419
+ "robot0_agentview_left": {
420
+ "pos": [
421
+ -0.5,
422
+ 0.35,
423
+ 1.05
424
+ ],
425
+ "quat": [
426
+ 0.55623853,
427
+ 0.29935253,
428
+ -0.37678665,
429
+ -0.6775092
430
+ ],
431
+ "camera_attribs": {
432
+ "fovy": "60"
433
+ },
434
+ "parent_body": "mobilebase0_support"
435
+ },
436
+ "robot0_agentview_right": {
437
+ "pos": [
438
+ -0.5,
439
+ -0.35,
440
+ 1.05
441
+ ],
442
+ "quat": [
443
+ 0.6775091886520386,
444
+ 0.3767866790294647,
445
+ -0.2993525564670563,
446
+ -0.55623859167099
447
+ ],
448
+ "camera_attribs": {
449
+ "fovy": "60"
450
+ },
451
+ "parent_body": "mobilebase0_support"
452
+ },
453
+ "robot0_frontview": {
454
+ "pos": [
455
+ -0.5,
456
+ 0,
457
+ 0.95
458
+ ],
459
+ "quat": [
460
+ 0.6088936924934387,
461
+ 0.3814677894115448,
462
+ -0.3673907518386841,
463
+ -0.5905545353889465
464
+ ],
465
+ "camera_attribs": {
466
+ "fovy": "60"
467
+ },
468
+ "parent_body": "mobilebase0_support"
469
+ },
470
+ "robot0_eye_in_hand": {
471
+ "pos": [
472
+ 0.05,
473
+ 0,
474
+ 0
475
+ ],
476
+ "quat": [
477
+ 0,
478
+ 0.707107,
479
+ 0.707107,
480
+ 0
481
+ ],
482
+ "parent_body": "robot0_right_hand"
483
+ }
484
+ },
485
+ "init_robot_base_pos": [
486
+ 3.7233872526340646,
487
+ -3.525235400859455,
488
+ 0.0
489
+ ],
490
+ "init_robot_base_ori": [
491
+ 0.0,
492
+ 0.0,
493
+ -0.00014782238328514552
494
+ ]
495
+ }
pretrain/atomic/OpenCabinet/20250819/lerobot/extras/episode_000100/ep_meta.json ADDED
@@ -0,0 +1,551 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 56,
3
+ "style_id": 56,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "door_obj",
7
+ "obj_groups": "all",
8
+ "graspable": true,
9
+ "placement": {
10
+ "fixture": "hingecabinet_9_right_group_1",
11
+ "size": [
12
+ 0.3,
13
+ 0.3
14
+ ],
15
+ "pos": [
16
+ null,
17
+ -1.0
18
+ ]
19
+ },
20
+ "type": "object",
21
+ "info": {
22
+ "groups_containing_sampled_obj": [
23
+ "all",
24
+ "bread",
25
+ "bread_food",
26
+ "food",
27
+ "in_container"
28
+ ],
29
+ "groups": [
30
+ "all"
31
+ ],
32
+ "cat": "bread",
33
+ "split": "train",
34
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml"
35
+ },
36
+ "reset_region": {
37
+ "offset": [
38
+ 0.0,
39
+ 0.0,
40
+ -0.43
41
+ ],
42
+ "size": [
43
+ 1.087991,
44
+ 0.309157
45
+ ],
46
+ "height": 0.2666666666666667,
47
+ "name": "level0"
48
+ }
49
+ },
50
+ {
51
+ "name": "distr_counter_1",
52
+ "obj_groups": "all",
53
+ "placement": {
54
+ "fixture": "counter_8_right_group_1",
55
+ "sample_region_kwargs": {
56
+ "ref": "hingecabinet_9_right_group_1",
57
+ "min_size": [
58
+ 0.0632092734,
59
+ 0.20999999160000002,
60
+ 0.036692390700000015
61
+ ]
62
+ },
63
+ "size": [
64
+ 1.0,
65
+ 0.5
66
+ ],
67
+ "pos": [
68
+ null,
69
+ -1.0
70
+ ],
71
+ "offset": [
72
+ 0.0,
73
+ 0.1
74
+ ]
75
+ },
76
+ "type": "object",
77
+ "info": {
78
+ "groups_containing_sampled_obj": [
79
+ "all",
80
+ "baguette",
81
+ "bread_food",
82
+ "food",
83
+ "in_container",
84
+ "food_set1"
85
+ ],
86
+ "groups": [
87
+ "all"
88
+ ],
89
+ "cat": "baguette",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_2/model.xml"
92
+ },
93
+ "reset_region": {
94
+ "size": [
95
+ 1.147992,
96
+ 0.65
97
+ ],
98
+ "offset": [
99
+ 0.0,
100
+ 0.0,
101
+ 0.46
102
+ ],
103
+ "name": "geom_0"
104
+ }
105
+ },
106
+ {
107
+ "name": "distr_counter_2",
108
+ "obj_groups": "all",
109
+ "placement": {
110
+ "fixture": "counter_8_right_group_1",
111
+ "sample_region_kwargs": {
112
+ "ref": "hingecabinet_9_right_group_1",
113
+ "min_size": [
114
+ 0.02481822,
115
+ 0.09999134,
116
+ 0.02138027
117
+ ]
118
+ },
119
+ "size": [
120
+ 1.0,
121
+ 0.5
122
+ ],
123
+ "pos": [
124
+ null,
125
+ -1.0
126
+ ],
127
+ "offset": [
128
+ 0.0,
129
+ 0.1
130
+ ]
131
+ },
132
+ "type": "object",
133
+ "info": {
134
+ "groups_containing_sampled_obj": [
135
+ "all",
136
+ "shrimp",
137
+ "meat",
138
+ "food",
139
+ "in_container"
140
+ ],
141
+ "groups": [
142
+ "all"
143
+ ],
144
+ "cat": "shrimp",
145
+ "split": "train",
146
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml"
147
+ },
148
+ "reset_region": {
149
+ "size": [
150
+ 1.147992,
151
+ 0.65
152
+ ],
153
+ "offset": [
154
+ 0.0,
155
+ 0.0,
156
+ 0.46
157
+ ],
158
+ "name": "geom_0"
159
+ }
160
+ }
161
+ ],
162
+ "fixtures": {
163
+ "wall_main_1_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_main_1_backing_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_right_1_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_right_1_backing_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "floor_1_room": {
176
+ "cls": "Floor"
177
+ },
178
+ "floor_1_backing_room": {
179
+ "cls": "Floor"
180
+ },
181
+ "wallaccessory_1_room": {
182
+ "cls": "WallAccessory"
183
+ },
184
+ "wallaccessory_2_room": {
185
+ "cls": "WallAccessory"
186
+ },
187
+ "wallaccessory_3_room": {
188
+ "cls": "WallAccessory"
189
+ },
190
+ "wallaccessory_4_room": {
191
+ "cls": "WallAccessory"
192
+ },
193
+ "lightswitch_02_room": {
194
+ "cls": "WallAccessory"
195
+ },
196
+ "lightswitch_03_room": {
197
+ "cls": "WallAccessory"
198
+ },
199
+ "stool_3_room": {
200
+ "cls": "Stool"
201
+ },
202
+ "stool_2_room": {
203
+ "cls": "Stool"
204
+ },
205
+ "stool_1_room": {
206
+ "cls": "Stool"
207
+ },
208
+ "stack_13_island_group_2_base": {
209
+ "cls": "Box"
210
+ },
211
+ "stack_13_island_group_2_1": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "stack_04_island_group_2_base": {
215
+ "cls": "Box"
216
+ },
217
+ "stack_04_island_group_2_1": {
218
+ "cls": "HingeCabinet"
219
+ },
220
+ "stack_12_island_group_2_base": {
221
+ "cls": "Box"
222
+ },
223
+ "stack_12_island_group_2_1": {
224
+ "cls": "HingeCabinet"
225
+ },
226
+ "singlecabinet_2_main_group_1": {
227
+ "cls": "SingleCabinet"
228
+ },
229
+ "hingecabinet_5_main_group_1": {
230
+ "cls": "HingeCabinet"
231
+ },
232
+ "hingecabinet_4_main_group_1": {
233
+ "cls": "HingeCabinet"
234
+ },
235
+ "opencabinet_2_main_group_1": {
236
+ "cls": "OpenCabinet"
237
+ },
238
+ "opencabinet_3_main_group_1": {
239
+ "cls": "OpenCabinet"
240
+ },
241
+ "counter_2_main_group_1": {
242
+ "cls": "Counter"
243
+ },
244
+ "counter_corner_1_main_group_1": {
245
+ "cls": "Counter"
246
+ },
247
+ "counter_3_main_group_1": {
248
+ "cls": "Counter"
249
+ },
250
+ "stove_main_group_1": {
251
+ "cls": "Stove"
252
+ },
253
+ "stove_hood_main_group_1": {
254
+ "cls": "Hood"
255
+ },
256
+ "cube_4_main_group_1": {
257
+ "cls": "Box"
258
+ },
259
+ "stack_11_main_group_1_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_11_main_group_1_1": {
263
+ "cls": "SingleCabinet"
264
+ },
265
+ "stack_03_main_group_1_base": {
266
+ "cls": "Box"
267
+ },
268
+ "stack_03_main_group_1_1": {
269
+ "cls": "HingeCabinet"
270
+ },
271
+ "stack_03_main_group_1_2": {
272
+ "cls": "Drawer"
273
+ },
274
+ "stack_02_main_group_1_base": {
275
+ "cls": "Box"
276
+ },
277
+ "stack_02_main_group_1_1": {
278
+ "cls": "SingleCabinet"
279
+ },
280
+ "stack_04_main_group_1_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_04_main_group_1_1": {
284
+ "cls": "Drawer"
285
+ },
286
+ "stack_04_main_group_1_2": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_04_main_group_1_3": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_08_main_group_1_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_08_main_group_1_1": {
296
+ "cls": "HingeCabinet"
297
+ },
298
+ "stack_08_main_group_1_2": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_06_main_group_1_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_06_main_group_1_1": {
305
+ "cls": "SingleCabinet"
306
+ },
307
+ "stack_07_main_group_1_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_07_main_group_1_1": {
311
+ "cls": "Drawer"
312
+ },
313
+ "stack_07_main_group_1_2": {
314
+ "cls": "Drawer"
315
+ },
316
+ "stack_07_main_group_1_3": {
317
+ "cls": "Drawer"
318
+ },
319
+ "cube_8_main_group_1": {
320
+ "cls": "Box"
321
+ },
322
+ "coffee_machine_main_group_1": {
323
+ "cls": "CoffeeMachine"
324
+ },
325
+ "papertowel_main_group_1": {
326
+ "cls": "Accessory"
327
+ },
328
+ "plant_main_group_1": {
329
+ "cls": "Accessory"
330
+ },
331
+ "toaster_oven_main_group_1": {
332
+ "cls": "ToasterOven"
333
+ },
334
+ "singlecabinet_1_right_group_1": {
335
+ "cls": "SingleCabinet"
336
+ },
337
+ "hingecabinet_1_right_group_1": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "hingecabinet_9_right_group_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "counter_1_right_group_1": {
344
+ "cls": "Counter"
345
+ },
346
+ "counter_8_right_group_1": {
347
+ "cls": "Counter"
348
+ },
349
+ "stack_6_right_group_1_base": {
350
+ "cls": "Box"
351
+ },
352
+ "stack_6_right_group_1_1": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_6_right_group_1_2": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "stack_4_right_group_1_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_4_right_group_1_1": {
362
+ "cls": "SingleCabinet"
363
+ },
364
+ "cube_11_right_group_1": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_7_right_group_1_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_7_right_group_1_1": {
371
+ "cls": "HingeCabinet"
372
+ },
373
+ "stack_7_right_group_1_2": {
374
+ "cls": "Drawer"
375
+ },
376
+ "cube_12_right_group_1": {
377
+ "cls": "Box"
378
+ },
379
+ "fridgefrenchdoor_right_group_1": {
380
+ "cls": "FridgeFrenchDoor"
381
+ },
382
+ "fridgefrenchdoor_housing_right_group_1": {
383
+ "cls": "HousingCabinet"
384
+ },
385
+ "bottom_right_group_1_base": {
386
+ "cls": "Box"
387
+ },
388
+ "bottom_right_group_1_1": {
389
+ "cls": "Drawer"
390
+ },
391
+ "oven_cabinet_right_group_1": {
392
+ "cls": "HingeCabinet"
393
+ },
394
+ "microwave_right_group_1": {
395
+ "cls": "Microwave"
396
+ },
397
+ "microwave_housing_right_group_1": {
398
+ "cls": "HousingCabinet"
399
+ },
400
+ "top_right_group_1": {
401
+ "cls": "HingeCabinet"
402
+ },
403
+ "hingecabinet_2_right_group_1": {
404
+ "cls": "HingeCabinet"
405
+ },
406
+ "toaster_right_group_1": {
407
+ "cls": "Toaster"
408
+ },
409
+ "sink_island_group_1": {
410
+ "cls": "Sink"
411
+ },
412
+ "island_island_group_1": {
413
+ "cls": "Counter"
414
+ },
415
+ "stack_11_island_group_1_base": {
416
+ "cls": "Box"
417
+ },
418
+ "stack_11_island_group_1_1": {
419
+ "cls": "HingeCabinet"
420
+ },
421
+ "stack_11_island_group_1_2": {
422
+ "cls": "PanelCabinet"
423
+ },
424
+ "stack_09_island_group_1_base": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_09_island_group_1_1": {
428
+ "cls": "Drawer"
429
+ },
430
+ "stack_09_island_group_1_2": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_09_island_group_1_3": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_10_island_group_1_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_10_island_group_1_1": {
440
+ "cls": "SingleCabinet"
441
+ },
442
+ "stack_10_island_group_1_2": {
443
+ "cls": "Drawer"
444
+ },
445
+ "dishwasher_1_island_group_1": {
446
+ "cls": "Dishwasher"
447
+ },
448
+ "cube_1_island_group_1": {
449
+ "cls": "Box"
450
+ },
451
+ "cube_2_island_group_1": {
452
+ "cls": "Box"
453
+ }
454
+ },
455
+ "gen_textures": {},
456
+ "lang": "Open the cabinet doors.",
457
+ "fixture_refs": {
458
+ "fxtr": "hingecabinet_9_right_group_1"
459
+ },
460
+ "cam_configs": {
461
+ "robot0_agentview_center": {
462
+ "pos": [
463
+ -0.6,
464
+ 0.0,
465
+ 1.15
466
+ ],
467
+ "quat": [
468
+ 0.636945903301239,
469
+ 0.3325185477733612,
470
+ -0.3199238181114197,
471
+ -0.6175596117973328
472
+ ],
473
+ "parent_body": "mobilebase0_support"
474
+ },
475
+ "robot0_agentview_left": {
476
+ "pos": [
477
+ -0.5,
478
+ 0.35,
479
+ 1.05
480
+ ],
481
+ "quat": [
482
+ 0.55623853,
483
+ 0.29935253,
484
+ -0.37678665,
485
+ -0.6775092
486
+ ],
487
+ "camera_attribs": {
488
+ "fovy": "60"
489
+ },
490
+ "parent_body": "mobilebase0_support"
491
+ },
492
+ "robot0_agentview_right": {
493
+ "pos": [
494
+ -0.5,
495
+ -0.35,
496
+ 1.05
497
+ ],
498
+ "quat": [
499
+ 0.6775091886520386,
500
+ 0.3767866790294647,
501
+ -0.2993525564670563,
502
+ -0.55623859167099
503
+ ],
504
+ "camera_attribs": {
505
+ "fovy": "60"
506
+ },
507
+ "parent_body": "mobilebase0_support"
508
+ },
509
+ "robot0_frontview": {
510
+ "pos": [
511
+ -0.5,
512
+ 0,
513
+ 0.95
514
+ ],
515
+ "quat": [
516
+ 0.6088936924934387,
517
+ 0.3814677894115448,
518
+ -0.3673907518386841,
519
+ -0.5905545353889465
520
+ ],
521
+ "camera_attribs": {
522
+ "fovy": "60"
523
+ },
524
+ "parent_body": "mobilebase0_support"
525
+ },
526
+ "robot0_eye_in_hand": {
527
+ "pos": [
528
+ 0.05,
529
+ 0,
530
+ 0
531
+ ],
532
+ "quat": [
533
+ 0,
534
+ 0.707107,
535
+ 0.707107,
536
+ 0
537
+ ],
538
+ "parent_body": "robot0_right_hand"
539
+ }
540
+ },
541
+ "init_robot_base_pos": [
542
+ 5.934193692189132,
543
+ -4.420043639967603,
544
+ 0.0
545
+ ],
546
+ "init_robot_base_ori": [
547
+ 0.0,
548
+ 0.0,
549
+ -0.0001655254467980427
550
+ ]
551
+ }