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
4a221af
·
verified ·
1 Parent(s): 253ae3e

Add files using upload-large-folder tool

Browse files
Files changed (20) hide show
  1. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000000/ep_meta.json +392 -0
  2. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000001/ep_meta.json +497 -0
  3. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000008/ep_meta.json +530 -0
  4. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000011/ep_meta.json +575 -0
  5. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000024/ep_meta.json +575 -0
  6. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000025/ep_meta.json +473 -0
  7. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000027/ep_meta.json +452 -0
  8. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000028/ep_meta.json +479 -0
  9. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000033/ep_meta.json +530 -0
  10. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000048/ep_meta.json +443 -0
  11. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000053/ep_meta.json +533 -0
  12. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000060/ep_meta.json +422 -0
  13. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000072/ep_meta.json +506 -0
  14. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000073/ep_meta.json +533 -0
  15. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000074/ep_meta.json +548 -0
  16. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000076/ep_meta.json +500 -0
  17. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000084/ep_meta.json +506 -0
  18. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000092/ep_meta.json +443 -0
  19. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000100/ep_meta.json +473 -0
  20. pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000107/ep_meta.json +419 -0
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000000/ep_meta.json ADDED
@@ -0,0 +1,392 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 40,
3
+ "style_id": 26,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "counter_1_right_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 0.9295512259761805,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 0.7527243870119098,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_1"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "hot_dog",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "hot_dog",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "counter_1_right_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "marshmallow",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "marshmallow",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 0.9295512259761805,
130
+ 0.65
131
+ ],
132
+ "offset": [
133
+ 0.7527243870119098,
134
+ -3.469446951953614e-17,
135
+ 0.46
136
+ ],
137
+ "name": "geom_1"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_left_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_left_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_main_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_main_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_right_1_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_right_1_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_main_2_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_main_2_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "floor_1_room": {
167
+ "cls": "Floor"
168
+ },
169
+ "floor_1_backing_room": {
170
+ "cls": "Floor"
171
+ },
172
+ "floor_2_room": {
173
+ "cls": "Floor"
174
+ },
175
+ "floor_2_backing_room": {
176
+ "cls": "Floor"
177
+ },
178
+ "lightswitch_room": {
179
+ "cls": "WallAccessory"
180
+ },
181
+ "wallaccessory.002_room": {
182
+ "cls": "WallAccessory"
183
+ },
184
+ "wallaccessory.001_room": {
185
+ "cls": "WallAccessory"
186
+ },
187
+ "wallaccessory.003_room": {
188
+ "cls": "WallAccessory"
189
+ },
190
+ "window_group_room": {
191
+ "cls": "Window"
192
+ },
193
+ "counter_corner_1_main_group_1": {
194
+ "cls": "Counter"
195
+ },
196
+ "counter_1_main_group_1": {
197
+ "cls": "Counter"
198
+ },
199
+ "hingecabinet_1_main_group_1": {
200
+ "cls": "HingeCabinet"
201
+ },
202
+ "singlecabinet_1_main_group_1": {
203
+ "cls": "SingleCabinet"
204
+ },
205
+ "box_1_main_group_1": {
206
+ "cls": "Box"
207
+ },
208
+ "stack_1_main_group_1_base": {
209
+ "cls": "Box"
210
+ },
211
+ "stack_1_main_group_1_1": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "stack_1_main_group_1_2": {
215
+ "cls": "Drawer"
216
+ },
217
+ "stack_2_main_group_1_base": {
218
+ "cls": "Box"
219
+ },
220
+ "stack_2_main_group_1_1": {
221
+ "cls": "SingleCabinet"
222
+ },
223
+ "cube_2_main_group_1": {
224
+ "cls": "Box"
225
+ },
226
+ "coffeemachine_main_group_1": {
227
+ "cls": "CoffeeMachine"
228
+ },
229
+ "papertowel_main_group_1": {
230
+ "cls": "Accessory"
231
+ },
232
+ "sink_right_group_1": {
233
+ "cls": "Sink"
234
+ },
235
+ "counter_1_right_group_1": {
236
+ "cls": "Counter"
237
+ },
238
+ "stove_right_group_1": {
239
+ "cls": "Stove"
240
+ },
241
+ "microwave_right_group_1": {
242
+ "cls": "Microwave"
243
+ },
244
+ "micro_cab_right_group_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "singlecabinet_1_right_group_1": {
248
+ "cls": "SingleCabinet"
249
+ },
250
+ "singlecabinet_2_right_group_1": {
251
+ "cls": "SingleCabinet"
252
+ },
253
+ "box_1_right_group_1": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_1_right_group_1_base": {
257
+ "cls": "Box"
258
+ },
259
+ "stack_1_right_group_1_1": {
260
+ "cls": "SingleCabinet"
261
+ },
262
+ "stack_2_right_group_1_base": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_2_right_group_1_1": {
266
+ "cls": "SingleCabinet"
267
+ },
268
+ "stack_2_right_group_1_2": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_3_right_group_1_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_3_right_group_1_1": {
275
+ "cls": "HingeCabinet"
276
+ },
277
+ "dishwasher_1_right_group_1": {
278
+ "cls": "Dishwasher"
279
+ },
280
+ "box_2_right_group_1": {
281
+ "cls": "Box"
282
+ },
283
+ "toaster_right_group_1": {
284
+ "cls": "Toaster"
285
+ },
286
+ "fridgefrenchdoor_right_group_1": {
287
+ "cls": "FridgeFrenchDoor"
288
+ },
289
+ "fridgefrenchdoor_housing_right_group_1": {
290
+ "cls": "HousingCabinet"
291
+ },
292
+ "hingecabinet_1_right_group_1": {
293
+ "cls": "HingeCabinet"
294
+ }
295
+ },
296
+ "gen_textures": {},
297
+ "lang": "Add the marshmallow to the tupperware that contains the hot dog.",
298
+ "fixture_refs": {
299
+ "counter": "counter_1_right_group_1"
300
+ },
301
+ "cam_configs": {
302
+ "robot0_agentview_center": {
303
+ "pos": [
304
+ -0.6,
305
+ 0.0,
306
+ 1.15
307
+ ],
308
+ "quat": [
309
+ 0.636945903301239,
310
+ 0.3325185477733612,
311
+ -0.3199238181114197,
312
+ -0.6175596117973328
313
+ ],
314
+ "parent_body": "mobilebase0_support"
315
+ },
316
+ "robot0_agentview_left": {
317
+ "pos": [
318
+ -0.5,
319
+ 0.35,
320
+ 1.05
321
+ ],
322
+ "quat": [
323
+ 0.55623853,
324
+ 0.29935253,
325
+ -0.37678665,
326
+ -0.6775092
327
+ ],
328
+ "camera_attribs": {
329
+ "fovy": "60"
330
+ },
331
+ "parent_body": "mobilebase0_support"
332
+ },
333
+ "robot0_agentview_right": {
334
+ "pos": [
335
+ -0.5,
336
+ -0.35,
337
+ 1.05
338
+ ],
339
+ "quat": [
340
+ 0.6775091886520386,
341
+ 0.3767866790294647,
342
+ -0.2993525564670563,
343
+ -0.55623859167099
344
+ ],
345
+ "camera_attribs": {
346
+ "fovy": "60"
347
+ },
348
+ "parent_body": "mobilebase0_support"
349
+ },
350
+ "robot0_frontview": {
351
+ "pos": [
352
+ -0.5,
353
+ 0,
354
+ 0.95
355
+ ],
356
+ "quat": [
357
+ 0.6088936924934387,
358
+ 0.3814677894115448,
359
+ -0.3673907518386841,
360
+ -0.5905545353889465
361
+ ],
362
+ "camera_attribs": {
363
+ "fovy": "60"
364
+ },
365
+ "parent_body": "mobilebase0_support"
366
+ },
367
+ "robot0_eye_in_hand": {
368
+ "pos": [
369
+ 0.05,
370
+ 0,
371
+ 0
372
+ ],
373
+ "quat": [
374
+ 0,
375
+ 0.707107,
376
+ 0.707107,
377
+ 0
378
+ ],
379
+ "parent_body": "robot0_right_hand"
380
+ }
381
+ },
382
+ "init_robot_base_pos": [
383
+ 2.9113448561602993,
384
+ -2.508580681514054,
385
+ 0.0
386
+ ],
387
+ "init_robot_base_ori": [
388
+ 0.0,
389
+ 0.0,
390
+ 0.00030199704781619374
391
+ ]
392
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000001/ep_meta.json ADDED
@@ -0,0 +1,497 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 46,
3
+ "style_id": 40,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "counter_2_main_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.697036,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 0.0,
55
+ 0.0,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "hot_dog",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "hot_dog",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "counter_2_main_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "marshmallow",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "marshmallow",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 1.697036,
130
+ 0.65
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_right_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_right_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_main_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_main_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_right_3_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_right_3_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_right_2_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_right_2_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_main_2_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_main_2_backing_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "floor_1_room": {
173
+ "cls": "Floor"
174
+ },
175
+ "floor_1_backing_room": {
176
+ "cls": "Floor"
177
+ },
178
+ "floor_2_room": {
179
+ "cls": "Floor"
180
+ },
181
+ "floor_2_backing_room": {
182
+ "cls": "Floor"
183
+ },
184
+ "wallaccessory_06_room": {
185
+ "cls": "WallAccessory"
186
+ },
187
+ "lightswitch_01_room": {
188
+ "cls": "WallAccessory"
189
+ },
190
+ "wallaccessory_03_room": {
191
+ "cls": "WallAccessory"
192
+ },
193
+ "wallaccessory_04_room": {
194
+ "cls": "WallAccessory"
195
+ },
196
+ "stool_1_room": {
197
+ "cls": "Stool"
198
+ },
199
+ "stool_2_room": {
200
+ "cls": "Stool"
201
+ },
202
+ "stool_3_room": {
203
+ "cls": "Stool"
204
+ },
205
+ "stool_4_room": {
206
+ "cls": "Stool"
207
+ },
208
+ "stool_5_room": {
209
+ "cls": "Stool"
210
+ },
211
+ "stool_6_room": {
212
+ "cls": "Stool"
213
+ },
214
+ "dining_dining_area_group": {
215
+ "cls": "Counter"
216
+ },
217
+ "cube_1_dining_area_group": {
218
+ "cls": "Box"
219
+ },
220
+ "cube_2_dining_area_group": {
221
+ "cls": "Box"
222
+ },
223
+ "fridgefrenchdoor_main_group_1": {
224
+ "cls": "FridgeFrenchDoor"
225
+ },
226
+ "fridgefrenchdoor_housing_main_group_1": {
227
+ "cls": "HousingCabinet"
228
+ },
229
+ "bottom_main_group_1_base": {
230
+ "cls": "Box"
231
+ },
232
+ "bottom_main_group_1_1": {
233
+ "cls": "Drawer"
234
+ },
235
+ "microwave_main_group_1": {
236
+ "cls": "Microwave"
237
+ },
238
+ "hingecabinet_02_main_group_1": {
239
+ "cls": "HingeCabinet"
240
+ },
241
+ "oven_cabinet_main_group_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "microwave_housing_main_group_1": {
245
+ "cls": "HousingCabinet"
246
+ },
247
+ "top_main_group_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "hingecabinet_01_main_group_1": {
251
+ "cls": "HingeCabinet"
252
+ },
253
+ "singlecabinet_1_main_group_1": {
254
+ "cls": "SingleCabinet"
255
+ },
256
+ "singlecabinet_2_main_group_1": {
257
+ "cls": "SingleCabinet"
258
+ },
259
+ "counter_2_main_group_1": {
260
+ "cls": "Counter"
261
+ },
262
+ "counter_1_main_group_1": {
263
+ "cls": "Counter"
264
+ },
265
+ "stove_main_group_1": {
266
+ "cls": "Stove"
267
+ },
268
+ "stove_hood_main_group_1": {
269
+ "cls": "Hood"
270
+ },
271
+ "stack_01_main_group_1_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_01_main_group_1_1": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_01_main_group_1_2": {
278
+ "cls": "Drawer"
279
+ },
280
+ "stack_01_main_group_1_3": {
281
+ "cls": "Drawer"
282
+ },
283
+ "stack_02_main_group_1_base": {
284
+ "cls": "Box"
285
+ },
286
+ "stack_02_main_group_1_1": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_02_main_group_1_2": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_02_main_group_1_3": {
293
+ "cls": "Drawer"
294
+ },
295
+ "stack_03_main_group_1_base": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_03_main_group_1_1": {
299
+ "cls": "HingeCabinet"
300
+ },
301
+ "stack_03_main_group_1_2": {
302
+ "cls": "Drawer"
303
+ },
304
+ "coffee_machine_main_group_1": {
305
+ "cls": "CoffeeMachine"
306
+ },
307
+ "toaster_main_group_1": {
308
+ "cls": "Toaster"
309
+ },
310
+ "toaster_oven_main_group_1": {
311
+ "cls": "ToasterOven"
312
+ },
313
+ "sink_front_group_1": {
314
+ "cls": "Sink"
315
+ },
316
+ "counter_2_front_group_1": {
317
+ "cls": "Counter"
318
+ },
319
+ "stack_05_front_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_05_front_group_1_1": {
323
+ "cls": "HingeCabinet"
324
+ },
325
+ "stack_05_front_group_1_2": {
326
+ "cls": "PanelCabinet"
327
+ },
328
+ "stack_08_front_group_1_base": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_08_front_group_1_1": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "stack_08_front_group_1_2": {
335
+ "cls": "Drawer"
336
+ },
337
+ "stack_06_front_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_06_front_group_1_1": {
341
+ "cls": "SingleCabinet"
342
+ },
343
+ "stack_04_front_group_1_base": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_04_front_group_1_1": {
347
+ "cls": "HingeCabinet"
348
+ },
349
+ "stack_04_front_group_1_2": {
350
+ "cls": "Drawer"
351
+ },
352
+ "dishwasher_1_front_group_1": {
353
+ "cls": "Dishwasher"
354
+ },
355
+ "stack_12_front_group_1_base": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_12_front_group_1_1": {
359
+ "cls": "HingeCabinet"
360
+ },
361
+ "stack_12_front_group_1_2": {
362
+ "cls": "Drawer"
363
+ },
364
+ "plant_front_group_1": {
365
+ "cls": "Accessory"
366
+ },
367
+ "paper_towel_front_group_1": {
368
+ "cls": "Accessory"
369
+ },
370
+ "cube_1_front_group_2": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_11_front_group_2_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_11_front_group_2_1": {
377
+ "cls": "HingeCabinet"
378
+ },
379
+ "stack_10_front_group_2_base": {
380
+ "cls": "Box"
381
+ },
382
+ "stack_10_front_group_2_1": {
383
+ "cls": "HingeCabinet"
384
+ },
385
+ "stack_09_front_group_2_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_09_front_group_2_1": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "cube_2_front_group_2": {
392
+ "cls": "Box"
393
+ },
394
+ "stack_13_front_group_2_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_13_front_group_2_1": {
398
+ "cls": "SingleCabinet"
399
+ }
400
+ },
401
+ "gen_textures": {},
402
+ "lang": "Add the marshmallow to the tupperware that contains the hot dog.",
403
+ "fixture_refs": {
404
+ "counter": "counter_2_main_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
+ 5.4644363040272514,
489
+ -0.9095921747110761,
490
+ 0.0
491
+ ],
492
+ "init_robot_base_ori": [
493
+ 0.0,
494
+ 0.0,
495
+ 1.5706378976484208
496
+ ]
497
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000008/ep_meta.json ADDED
@@ -0,0 +1,530 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 56,
3
+ "style_id": 25,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "counter_3_main_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 2.215707,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 0.0,
55
+ 0.0,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "hot_dog",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "hot_dog",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "counter_3_main_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "cookie_dough_ball",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "cookie_dough_ball",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall004/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 2.215707,
130
+ 0.65
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_main_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_main_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_right_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_right_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "floor_1_room": {
155
+ "cls": "Floor"
156
+ },
157
+ "floor_1_backing_room": {
158
+ "cls": "Floor"
159
+ },
160
+ "wallaccessory_1_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "wallaccessory_2_room": {
164
+ "cls": "WallAccessory"
165
+ },
166
+ "wallaccessory_3_room": {
167
+ "cls": "WallAccessory"
168
+ },
169
+ "wallaccessory_4_room": {
170
+ "cls": "WallAccessory"
171
+ },
172
+ "lightswitch_02_room": {
173
+ "cls": "WallAccessory"
174
+ },
175
+ "lightswitch_03_room": {
176
+ "cls": "WallAccessory"
177
+ },
178
+ "stool_3_room": {
179
+ "cls": "Stool"
180
+ },
181
+ "stool_2_room": {
182
+ "cls": "Stool"
183
+ },
184
+ "stool_1_room": {
185
+ "cls": "Stool"
186
+ },
187
+ "stack_13_island_group_2_base": {
188
+ "cls": "Box"
189
+ },
190
+ "stack_13_island_group_2_1": {
191
+ "cls": "HingeCabinet"
192
+ },
193
+ "stack_04_island_group_2_base": {
194
+ "cls": "Box"
195
+ },
196
+ "stack_04_island_group_2_1": {
197
+ "cls": "HingeCabinet"
198
+ },
199
+ "stack_12_island_group_2_base": {
200
+ "cls": "Box"
201
+ },
202
+ "stack_12_island_group_2_1": {
203
+ "cls": "HingeCabinet"
204
+ },
205
+ "singlecabinet_2_main_group_1": {
206
+ "cls": "SingleCabinet"
207
+ },
208
+ "hingecabinet_5_main_group_1": {
209
+ "cls": "HingeCabinet"
210
+ },
211
+ "hingecabinet_4_main_group_1": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "opencabinet_2_main_group_1": {
215
+ "cls": "OpenCabinet"
216
+ },
217
+ "opencabinet_3_main_group_1": {
218
+ "cls": "OpenCabinet"
219
+ },
220
+ "counter_2_main_group_1": {
221
+ "cls": "Counter"
222
+ },
223
+ "counter_corner_1_main_group_1": {
224
+ "cls": "Counter"
225
+ },
226
+ "counter_3_main_group_1": {
227
+ "cls": "Counter"
228
+ },
229
+ "stove_main_group_1": {
230
+ "cls": "Stove"
231
+ },
232
+ "stove_hood_main_group_1": {
233
+ "cls": "Hood"
234
+ },
235
+ "cube_4_main_group_1": {
236
+ "cls": "Box"
237
+ },
238
+ "stack_11_main_group_1_base": {
239
+ "cls": "Box"
240
+ },
241
+ "stack_11_main_group_1_1": {
242
+ "cls": "SingleCabinet"
243
+ },
244
+ "stack_03_main_group_1_base": {
245
+ "cls": "Box"
246
+ },
247
+ "stack_03_main_group_1_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "stack_03_main_group_1_2": {
251
+ "cls": "Drawer"
252
+ },
253
+ "stack_02_main_group_1_base": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_02_main_group_1_1": {
257
+ "cls": "SingleCabinet"
258
+ },
259
+ "stack_04_main_group_1_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_04_main_group_1_1": {
263
+ "cls": "Drawer"
264
+ },
265
+ "stack_04_main_group_1_2": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_04_main_group_1_3": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_08_main_group_1_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_08_main_group_1_1": {
275
+ "cls": "HingeCabinet"
276
+ },
277
+ "stack_08_main_group_1_2": {
278
+ "cls": "Drawer"
279
+ },
280
+ "stack_06_main_group_1_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_06_main_group_1_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "stack_07_main_group_1_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_07_main_group_1_1": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_07_main_group_1_2": {
293
+ "cls": "Drawer"
294
+ },
295
+ "stack_07_main_group_1_3": {
296
+ "cls": "Drawer"
297
+ },
298
+ "cube_8_main_group_1": {
299
+ "cls": "Box"
300
+ },
301
+ "coffee_machine_main_group_1": {
302
+ "cls": "CoffeeMachine"
303
+ },
304
+ "papertowel_main_group_1": {
305
+ "cls": "Accessory"
306
+ },
307
+ "plant_main_group_1": {
308
+ "cls": "Accessory"
309
+ },
310
+ "toaster_oven_main_group_1": {
311
+ "cls": "ToasterOven"
312
+ },
313
+ "singlecabinet_1_right_group_1": {
314
+ "cls": "SingleCabinet"
315
+ },
316
+ "hingecabinet_1_right_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "hingecabinet_9_right_group_1": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "counter_1_right_group_1": {
323
+ "cls": "Counter"
324
+ },
325
+ "counter_8_right_group_1": {
326
+ "cls": "Counter"
327
+ },
328
+ "stack_6_right_group_1_base": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_6_right_group_1_1": {
332
+ "cls": "Drawer"
333
+ },
334
+ "stack_6_right_group_1_2": {
335
+ "cls": "HingeCabinet"
336
+ },
337
+ "stack_4_right_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_4_right_group_1_1": {
341
+ "cls": "SingleCabinet"
342
+ },
343
+ "cube_11_right_group_1": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_7_right_group_1_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_7_right_group_1_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_7_right_group_1_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "cube_12_right_group_1": {
356
+ "cls": "Box"
357
+ },
358
+ "fridgefrenchdoor_right_group_1": {
359
+ "cls": "FridgeFrenchDoor"
360
+ },
361
+ "fridgefrenchdoor_housing_right_group_1": {
362
+ "cls": "HousingCabinet"
363
+ },
364
+ "bottom_right_group_1_base": {
365
+ "cls": "Box"
366
+ },
367
+ "bottom_right_group_1_1": {
368
+ "cls": "Drawer"
369
+ },
370
+ "oven_cabinet_right_group_1": {
371
+ "cls": "HingeCabinet"
372
+ },
373
+ "microwave_right_group_1": {
374
+ "cls": "Microwave"
375
+ },
376
+ "microwave_housing_right_group_1": {
377
+ "cls": "HousingCabinet"
378
+ },
379
+ "top_right_group_1": {
380
+ "cls": "HingeCabinet"
381
+ },
382
+ "hingecabinet_2_right_group_1": {
383
+ "cls": "HingeCabinet"
384
+ },
385
+ "toaster_right_group_1": {
386
+ "cls": "Toaster"
387
+ },
388
+ "sink_island_group_1": {
389
+ "cls": "Sink"
390
+ },
391
+ "island_island_group_1": {
392
+ "cls": "Counter"
393
+ },
394
+ "stack_11_island_group_1_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_11_island_group_1_1": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "stack_11_island_group_1_2": {
401
+ "cls": "PanelCabinet"
402
+ },
403
+ "stack_09_island_group_1_base": {
404
+ "cls": "Box"
405
+ },
406
+ "stack_09_island_group_1_1": {
407
+ "cls": "Drawer"
408
+ },
409
+ "stack_09_island_group_1_2": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_09_island_group_1_3": {
413
+ "cls": "Drawer"
414
+ },
415
+ "stack_10_island_group_1_base": {
416
+ "cls": "Box"
417
+ },
418
+ "stack_10_island_group_1_1": {
419
+ "cls": "SingleCabinet"
420
+ },
421
+ "stack_10_island_group_1_2": {
422
+ "cls": "Drawer"
423
+ },
424
+ "dishwasher_1_island_group_1": {
425
+ "cls": "Dishwasher"
426
+ },
427
+ "cube_1_island_group_1": {
428
+ "cls": "Box"
429
+ },
430
+ "cube_2_island_group_1": {
431
+ "cls": "Box"
432
+ }
433
+ },
434
+ "gen_textures": {},
435
+ "lang": "Add the cookie dough ball to the tupperware that contains the hot dog.",
436
+ "fixture_refs": {
437
+ "counter": "counter_3_main_group_1"
438
+ },
439
+ "cam_configs": {
440
+ "robot0_agentview_center": {
441
+ "pos": [
442
+ -0.6,
443
+ 0.0,
444
+ 1.15
445
+ ],
446
+ "quat": [
447
+ 0.636945903301239,
448
+ 0.3325185477733612,
449
+ -0.3199238181114197,
450
+ -0.6175596117973328
451
+ ],
452
+ "parent_body": "mobilebase0_support"
453
+ },
454
+ "robot0_agentview_left": {
455
+ "pos": [
456
+ -0.5,
457
+ 0.35,
458
+ 1.05
459
+ ],
460
+ "quat": [
461
+ 0.55623853,
462
+ 0.29935253,
463
+ -0.37678665,
464
+ -0.6775092
465
+ ],
466
+ "camera_attribs": {
467
+ "fovy": "60"
468
+ },
469
+ "parent_body": "mobilebase0_support"
470
+ },
471
+ "robot0_agentview_right": {
472
+ "pos": [
473
+ -0.5,
474
+ -0.35,
475
+ 1.05
476
+ ],
477
+ "quat": [
478
+ 0.6775091886520386,
479
+ 0.3767866790294647,
480
+ -0.2993525564670563,
481
+ -0.55623859167099
482
+ ],
483
+ "camera_attribs": {
484
+ "fovy": "60"
485
+ },
486
+ "parent_body": "mobilebase0_support"
487
+ },
488
+ "robot0_frontview": {
489
+ "pos": [
490
+ -0.5,
491
+ 0,
492
+ 0.95
493
+ ],
494
+ "quat": [
495
+ 0.6088936924934387,
496
+ 0.3814677894115448,
497
+ -0.3673907518386841,
498
+ -0.5905545353889465
499
+ ],
500
+ "camera_attribs": {
501
+ "fovy": "60"
502
+ },
503
+ "parent_body": "mobilebase0_support"
504
+ },
505
+ "robot0_eye_in_hand": {
506
+ "pos": [
507
+ 0.05,
508
+ 0,
509
+ 0
510
+ ],
511
+ "quat": [
512
+ 0,
513
+ 0.707107,
514
+ 0.707107,
515
+ 0
516
+ ],
517
+ "parent_body": "robot0_right_hand"
518
+ }
519
+ },
520
+ "init_robot_base_pos": [
521
+ 1.5161616862075658,
522
+ -0.782277042386119,
523
+ 0.0
524
+ ],
525
+ "init_robot_base_ori": [
526
+ 0.0,
527
+ 0.0,
528
+ 1.57064844767067
529
+ ]
530
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000011/ep_meta.json ADDED
@@ -0,0 +1,575 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 29,
3
+ "style_id": 16,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 2.8,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 0.0,
55
+ 0.0,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "kebab_skewer",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "kebab_skewer",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer001/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "counter_1_main_group",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "marshmallow",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "marshmallow",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 2.8,
130
+ 0.65
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_main_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_main_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_left_4_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_left_4_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_right_1_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_right_1_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_left_1_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_left_1_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_left_3_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_left_3_backing_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_left_2_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_2_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_front_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_front_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
+ "floor_2_room": {
197
+ "cls": "Floor"
198
+ },
199
+ "floor_2_backing_room": {
200
+ "cls": "Floor"
201
+ },
202
+ "light_switch_1_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "wall_accessory_1_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "light_switch_2_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "wall_accessory_2_room": {
212
+ "cls": "WallAccessory"
213
+ },
214
+ "stool_1_room": {
215
+ "cls": "Stool"
216
+ },
217
+ "stool_2_room": {
218
+ "cls": "Stool"
219
+ },
220
+ "stool_3_room": {
221
+ "cls": "Stool"
222
+ },
223
+ "stool_4_room": {
224
+ "cls": "Stool"
225
+ },
226
+ "bottom_main_group_base": {
227
+ "cls": "Box"
228
+ },
229
+ "bottom_main_group_1": {
230
+ "cls": "Drawer"
231
+ },
232
+ "oven_main_group": {
233
+ "cls": "Oven"
234
+ },
235
+ "oven_housing_main_group": {
236
+ "cls": "HousingCabinet"
237
+ },
238
+ "microwave_main_group": {
239
+ "cls": "Microwave"
240
+ },
241
+ "microwave_housing_main_group": {
242
+ "cls": "HousingCabinet"
243
+ },
244
+ "middle_main_group": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "top_main_group": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "fridge_main_group": {
251
+ "cls": "FridgeSideBySide"
252
+ },
253
+ "fridge_housing_main_group": {
254
+ "cls": "HousingCabinet"
255
+ },
256
+ "counter_1_main_group": {
257
+ "cls": "Counter"
258
+ },
259
+ "stack_1_main_group_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_1_main_group_1": {
263
+ "cls": "Drawer"
264
+ },
265
+ "stack_1_main_group_2": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_1_main_group_3": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_2_main_group_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_2_main_group_1": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_2_main_group_2": {
278
+ "cls": "Drawer"
279
+ },
280
+ "stack_2_main_group_3": {
281
+ "cls": "Drawer"
282
+ },
283
+ "stack_3_main_group_base": {
284
+ "cls": "Box"
285
+ },
286
+ "stack_3_main_group_1": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_3_main_group_2": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_3_main_group_3": {
293
+ "cls": "Drawer"
294
+ },
295
+ "dishwasher_main_group": {
296
+ "cls": "Dishwasher"
297
+ },
298
+ "panel_stack_main_group_base": {
299
+ "cls": "Box"
300
+ },
301
+ "panel_stack_main_group_1": {
302
+ "cls": "PanelCabinet"
303
+ },
304
+ "cab_1_main_group": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "cab_2_main_group": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "cab_3_main_group": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "cab_4_main_group": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "cab_5_main_group": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "cab_6_main_group": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "toaster_oven_main_group": {
323
+ "cls": "ToasterOven"
324
+ },
325
+ "paper_towel_main_group": {
326
+ "cls": "Accessory"
327
+ },
328
+ "stovetop_left_group": {
329
+ "cls": "Stovetop"
330
+ },
331
+ "counter_1_left_group": {
332
+ "cls": "Counter"
333
+ },
334
+ "stack_1_left_group_base": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_1_left_group_1": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_1_left_group_2": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_1_left_group_3": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_2_left_group_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_2_left_group_1": {
350
+ "cls": "Drawer"
351
+ },
352
+ "stack_2_left_group_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_2_left_group_3": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_3_left_group_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_3_left_group_1": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_3_left_group_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_3_left_group_3": {
368
+ "cls": "PanelCabinet"
369
+ },
370
+ "stack_4_left_group_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_4_left_group_1": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_4_left_group_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_4_left_group_3": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_5_left_group_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_5_left_group_1": {
386
+ "cls": "Drawer"
387
+ },
388
+ "stack_5_left_group_2": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_5_left_group_3": {
392
+ "cls": "Drawer"
393
+ },
394
+ "hood_left_group": {
395
+ "cls": "Hood"
396
+ },
397
+ "cab_1_left_group": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "cab_2_left_group": {
401
+ "cls": "HingeCabinet"
402
+ },
403
+ "cab_3_left_group": {
404
+ "cls": "HingeCabinet"
405
+ },
406
+ "cab_4_left_group": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "coffee_machine_left_group": {
410
+ "cls": "CoffeeMachine"
411
+ },
412
+ "toaster_left_group": {
413
+ "cls": "Toaster"
414
+ },
415
+ "sink_island_group": {
416
+ "cls": "Sink"
417
+ },
418
+ "island_island_group": {
419
+ "cls": "Counter"
420
+ },
421
+ "panel_box_1_island_group_base": {
422
+ "cls": "Box"
423
+ },
424
+ "panel_box_1_island_group_1": {
425
+ "cls": "PanelCabinet"
426
+ },
427
+ "stack_1_island_group_base": {
428
+ "cls": "Box"
429
+ },
430
+ "stack_1_island_group_1": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_1_island_group_2": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_1_island_group_3": {
437
+ "cls": "Drawer"
438
+ },
439
+ "stack_2_island_group_base": {
440
+ "cls": "Box"
441
+ },
442
+ "stack_2_island_group_1": {
443
+ "cls": "SingleCabinet"
444
+ },
445
+ "stack_3_island_group_base": {
446
+ "cls": "Box"
447
+ },
448
+ "stack_3_island_group_1": {
449
+ "cls": "HingeCabinet"
450
+ },
451
+ "stack_4_island_group_base": {
452
+ "cls": "Box"
453
+ },
454
+ "stack_4_island_group_1": {
455
+ "cls": "SingleCabinet"
456
+ },
457
+ "stack_5_island_group_base": {
458
+ "cls": "Box"
459
+ },
460
+ "stack_5_island_group_1": {
461
+ "cls": "Drawer"
462
+ },
463
+ "stack_5_island_group_2": {
464
+ "cls": "Drawer"
465
+ },
466
+ "stack_5_island_group_3": {
467
+ "cls": "Drawer"
468
+ },
469
+ "panel_cab_2_island_group_base": {
470
+ "cls": "Box"
471
+ },
472
+ "panel_cab_2_island_group_1": {
473
+ "cls": "PanelCabinet"
474
+ },
475
+ "box_island_group": {
476
+ "cls": "Box"
477
+ }
478
+ },
479
+ "gen_textures": {},
480
+ "lang": "Add the marshmallow to the tupperware that contains the kebab skewer.",
481
+ "fixture_refs": {
482
+ "counter": "counter_1_main_group"
483
+ },
484
+ "cam_configs": {
485
+ "robot0_agentview_center": {
486
+ "pos": [
487
+ -0.6,
488
+ 0.0,
489
+ 1.15
490
+ ],
491
+ "quat": [
492
+ 0.636945903301239,
493
+ 0.3325185477733612,
494
+ -0.3199238181114197,
495
+ -0.6175596117973328
496
+ ],
497
+ "parent_body": "mobilebase0_support"
498
+ },
499
+ "robot0_agentview_left": {
500
+ "pos": [
501
+ -0.5,
502
+ 0.35,
503
+ 1.05
504
+ ],
505
+ "quat": [
506
+ 0.55623853,
507
+ 0.29935253,
508
+ -0.37678665,
509
+ -0.6775092
510
+ ],
511
+ "camera_attribs": {
512
+ "fovy": "60"
513
+ },
514
+ "parent_body": "mobilebase0_support"
515
+ },
516
+ "robot0_agentview_right": {
517
+ "pos": [
518
+ -0.5,
519
+ -0.35,
520
+ 1.05
521
+ ],
522
+ "quat": [
523
+ 0.6775091886520386,
524
+ 0.3767866790294647,
525
+ -0.2993525564670563,
526
+ -0.55623859167099
527
+ ],
528
+ "camera_attribs": {
529
+ "fovy": "60"
530
+ },
531
+ "parent_body": "mobilebase0_support"
532
+ },
533
+ "robot0_frontview": {
534
+ "pos": [
535
+ -0.5,
536
+ 0,
537
+ 0.95
538
+ ],
539
+ "quat": [
540
+ 0.6088936924934387,
541
+ 0.3814677894115448,
542
+ -0.3673907518386841,
543
+ -0.5905545353889465
544
+ ],
545
+ "camera_attribs": {
546
+ "fovy": "60"
547
+ },
548
+ "parent_body": "mobilebase0_support"
549
+ },
550
+ "robot0_eye_in_hand": {
551
+ "pos": [
552
+ 0.05,
553
+ 0,
554
+ 0
555
+ ],
556
+ "quat": [
557
+ 0,
558
+ 0.707107,
559
+ 0.707107,
560
+ 0
561
+ ],
562
+ "parent_body": "robot0_right_hand"
563
+ }
564
+ },
565
+ "init_robot_base_pos": [
566
+ 2.9699224636342283,
567
+ -0.7955523971571873,
568
+ 0.0
569
+ ],
570
+ "init_robot_base_ori": [
571
+ 0.0,
572
+ 0.0,
573
+ 1.5707963267948966
574
+ ]
575
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000024/ep_meta.json ADDED
@@ -0,0 +1,575 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 29,
3
+ "style_id": 23,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 2.8,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 0.0,
55
+ 0.0,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "hot_dog",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "hot_dog",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "counter_1_main_group",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "marshmallow",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "marshmallow",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 2.8,
130
+ 0.65
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_main_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_main_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_left_4_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_left_4_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_right_1_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_right_1_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_left_1_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_left_1_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_left_3_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_left_3_backing_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_left_2_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_2_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_front_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_front_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
+ "floor_2_room": {
197
+ "cls": "Floor"
198
+ },
199
+ "floor_2_backing_room": {
200
+ "cls": "Floor"
201
+ },
202
+ "light_switch_1_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "wall_accessory_1_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "light_switch_2_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "wall_accessory_2_room": {
212
+ "cls": "WallAccessory"
213
+ },
214
+ "stool_1_room": {
215
+ "cls": "Stool"
216
+ },
217
+ "stool_2_room": {
218
+ "cls": "Stool"
219
+ },
220
+ "stool_3_room": {
221
+ "cls": "Stool"
222
+ },
223
+ "stool_4_room": {
224
+ "cls": "Stool"
225
+ },
226
+ "bottom_main_group_base": {
227
+ "cls": "Box"
228
+ },
229
+ "bottom_main_group_1": {
230
+ "cls": "Drawer"
231
+ },
232
+ "oven_main_group": {
233
+ "cls": "Oven"
234
+ },
235
+ "oven_housing_main_group": {
236
+ "cls": "HousingCabinet"
237
+ },
238
+ "microwave_main_group": {
239
+ "cls": "Microwave"
240
+ },
241
+ "microwave_housing_main_group": {
242
+ "cls": "HousingCabinet"
243
+ },
244
+ "middle_main_group": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "top_main_group": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "fridge_main_group": {
251
+ "cls": "FridgeSideBySide"
252
+ },
253
+ "fridge_housing_main_group": {
254
+ "cls": "HousingCabinet"
255
+ },
256
+ "counter_1_main_group": {
257
+ "cls": "Counter"
258
+ },
259
+ "stack_1_main_group_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_1_main_group_1": {
263
+ "cls": "Drawer"
264
+ },
265
+ "stack_1_main_group_2": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_1_main_group_3": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_2_main_group_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_2_main_group_1": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_2_main_group_2": {
278
+ "cls": "Drawer"
279
+ },
280
+ "stack_2_main_group_3": {
281
+ "cls": "Drawer"
282
+ },
283
+ "stack_3_main_group_base": {
284
+ "cls": "Box"
285
+ },
286
+ "stack_3_main_group_1": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_3_main_group_2": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_3_main_group_3": {
293
+ "cls": "Drawer"
294
+ },
295
+ "dishwasher_main_group": {
296
+ "cls": "Dishwasher"
297
+ },
298
+ "panel_stack_main_group_base": {
299
+ "cls": "Box"
300
+ },
301
+ "panel_stack_main_group_1": {
302
+ "cls": "PanelCabinet"
303
+ },
304
+ "cab_1_main_group": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "cab_2_main_group": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "cab_3_main_group": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "cab_4_main_group": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "cab_5_main_group": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "cab_6_main_group": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "toaster_oven_main_group": {
323
+ "cls": "ToasterOven"
324
+ },
325
+ "paper_towel_main_group": {
326
+ "cls": "Accessory"
327
+ },
328
+ "stovetop_left_group": {
329
+ "cls": "Stovetop"
330
+ },
331
+ "counter_1_left_group": {
332
+ "cls": "Counter"
333
+ },
334
+ "stack_1_left_group_base": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_1_left_group_1": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_1_left_group_2": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_1_left_group_3": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_2_left_group_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_2_left_group_1": {
350
+ "cls": "Drawer"
351
+ },
352
+ "stack_2_left_group_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_2_left_group_3": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_3_left_group_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_3_left_group_1": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_3_left_group_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_3_left_group_3": {
368
+ "cls": "PanelCabinet"
369
+ },
370
+ "stack_4_left_group_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_4_left_group_1": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_4_left_group_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_4_left_group_3": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_5_left_group_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_5_left_group_1": {
386
+ "cls": "Drawer"
387
+ },
388
+ "stack_5_left_group_2": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_5_left_group_3": {
392
+ "cls": "Drawer"
393
+ },
394
+ "hood_left_group": {
395
+ "cls": "Hood"
396
+ },
397
+ "cab_1_left_group": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "cab_2_left_group": {
401
+ "cls": "HingeCabinet"
402
+ },
403
+ "cab_3_left_group": {
404
+ "cls": "HingeCabinet"
405
+ },
406
+ "cab_4_left_group": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "coffee_machine_left_group": {
410
+ "cls": "CoffeeMachine"
411
+ },
412
+ "toaster_left_group": {
413
+ "cls": "Toaster"
414
+ },
415
+ "sink_island_group": {
416
+ "cls": "Sink"
417
+ },
418
+ "island_island_group": {
419
+ "cls": "Counter"
420
+ },
421
+ "panel_box_1_island_group_base": {
422
+ "cls": "Box"
423
+ },
424
+ "panel_box_1_island_group_1": {
425
+ "cls": "PanelCabinet"
426
+ },
427
+ "stack_1_island_group_base": {
428
+ "cls": "Box"
429
+ },
430
+ "stack_1_island_group_1": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_1_island_group_2": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_1_island_group_3": {
437
+ "cls": "Drawer"
438
+ },
439
+ "stack_2_island_group_base": {
440
+ "cls": "Box"
441
+ },
442
+ "stack_2_island_group_1": {
443
+ "cls": "SingleCabinet"
444
+ },
445
+ "stack_3_island_group_base": {
446
+ "cls": "Box"
447
+ },
448
+ "stack_3_island_group_1": {
449
+ "cls": "HingeCabinet"
450
+ },
451
+ "stack_4_island_group_base": {
452
+ "cls": "Box"
453
+ },
454
+ "stack_4_island_group_1": {
455
+ "cls": "SingleCabinet"
456
+ },
457
+ "stack_5_island_group_base": {
458
+ "cls": "Box"
459
+ },
460
+ "stack_5_island_group_1": {
461
+ "cls": "Drawer"
462
+ },
463
+ "stack_5_island_group_2": {
464
+ "cls": "Drawer"
465
+ },
466
+ "stack_5_island_group_3": {
467
+ "cls": "Drawer"
468
+ },
469
+ "panel_cab_2_island_group_base": {
470
+ "cls": "Box"
471
+ },
472
+ "panel_cab_2_island_group_1": {
473
+ "cls": "PanelCabinet"
474
+ },
475
+ "box_island_group": {
476
+ "cls": "Box"
477
+ }
478
+ },
479
+ "gen_textures": {},
480
+ "lang": "Add the marshmallow to the tupperware that contains the hot dog.",
481
+ "fixture_refs": {
482
+ "counter": "counter_1_main_group"
483
+ },
484
+ "cam_configs": {
485
+ "robot0_agentview_center": {
486
+ "pos": [
487
+ -0.6,
488
+ 0.0,
489
+ 1.15
490
+ ],
491
+ "quat": [
492
+ 0.636945903301239,
493
+ 0.3325185477733612,
494
+ -0.3199238181114197,
495
+ -0.6175596117973328
496
+ ],
497
+ "parent_body": "mobilebase0_support"
498
+ },
499
+ "robot0_agentview_left": {
500
+ "pos": [
501
+ -0.5,
502
+ 0.35,
503
+ 1.05
504
+ ],
505
+ "quat": [
506
+ 0.55623853,
507
+ 0.29935253,
508
+ -0.37678665,
509
+ -0.6775092
510
+ ],
511
+ "camera_attribs": {
512
+ "fovy": "60"
513
+ },
514
+ "parent_body": "mobilebase0_support"
515
+ },
516
+ "robot0_agentview_right": {
517
+ "pos": [
518
+ -0.5,
519
+ -0.35,
520
+ 1.05
521
+ ],
522
+ "quat": [
523
+ 0.6775091886520386,
524
+ 0.3767866790294647,
525
+ -0.2993525564670563,
526
+ -0.55623859167099
527
+ ],
528
+ "camera_attribs": {
529
+ "fovy": "60"
530
+ },
531
+ "parent_body": "mobilebase0_support"
532
+ },
533
+ "robot0_frontview": {
534
+ "pos": [
535
+ -0.5,
536
+ 0,
537
+ 0.95
538
+ ],
539
+ "quat": [
540
+ 0.6088936924934387,
541
+ 0.3814677894115448,
542
+ -0.3673907518386841,
543
+ -0.5905545353889465
544
+ ],
545
+ "camera_attribs": {
546
+ "fovy": "60"
547
+ },
548
+ "parent_body": "mobilebase0_support"
549
+ },
550
+ "robot0_eye_in_hand": {
551
+ "pos": [
552
+ 0.05,
553
+ 0,
554
+ 0
555
+ ],
556
+ "quat": [
557
+ 0,
558
+ 0.707107,
559
+ 0.707107,
560
+ 0
561
+ ],
562
+ "parent_body": "robot0_right_hand"
563
+ }
564
+ },
565
+ "init_robot_base_pos": [
566
+ 3.0443334961521793,
567
+ -0.8292676508848982,
568
+ 0.0
569
+ ],
570
+ "init_robot_base_ori": [
571
+ 0.0,
572
+ 0.0,
573
+ 1.5707963267948966
574
+ ]
575
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000025/ep_meta.json ADDED
@@ -0,0 +1,473 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 54,
3
+ "style_id": 23,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "island_island_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 3.290428,
51
+ 1.17
52
+ ],
53
+ "offset": [
54
+ 0.0,
55
+ 0.0,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "hot_dog",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "hot_dog",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "island_island_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "cookie_dough_ball",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "cookie_dough_ball",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall003/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 3.290428,
130
+ 1.17
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_right_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_right_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_main_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_main_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "floor_1_room": {
155
+ "cls": "Floor"
156
+ },
157
+ "floor_1_backing_room": {
158
+ "cls": "Floor"
159
+ },
160
+ "wallaccessory_2_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "wallaccessory_1_room": {
164
+ "cls": "WallAccessory"
165
+ },
166
+ "wallaccessory_3_room": {
167
+ "cls": "WallAccessory"
168
+ },
169
+ "wallaccessory_4_room": {
170
+ "cls": "WallAccessory"
171
+ },
172
+ "window_group_room": {
173
+ "cls": "Window"
174
+ },
175
+ "stool_1_room": {
176
+ "cls": "Stool"
177
+ },
178
+ "stool_2_room": {
179
+ "cls": "Stool"
180
+ },
181
+ "stool_3_room": {
182
+ "cls": "Stool"
183
+ },
184
+ "stool_4_room": {
185
+ "cls": "Stool"
186
+ },
187
+ "fridgefrenchdoor_main_group_1": {
188
+ "cls": "FridgeFrenchDoor"
189
+ },
190
+ "fridgefrenchdoor_housing_main_group_1": {
191
+ "cls": "HousingCabinet"
192
+ },
193
+ "bottom_main_group_1_base": {
194
+ "cls": "Box"
195
+ },
196
+ "bottom_main_group_1_1": {
197
+ "cls": "Drawer"
198
+ },
199
+ "microwave_main_group_1": {
200
+ "cls": "Microwave"
201
+ },
202
+ "oven_cabinet_main_group_1": {
203
+ "cls": "HingeCabinet"
204
+ },
205
+ "hingecabinet_4_main_group_1": {
206
+ "cls": "HingeCabinet"
207
+ },
208
+ "microwave_housing_main_group_1": {
209
+ "cls": "HousingCabinet"
210
+ },
211
+ "top_main_group_1": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "hingecabinet_1_main_group_1": {
215
+ "cls": "HingeCabinet"
216
+ },
217
+ "hingecabinet_3_main_group_1": {
218
+ "cls": "HingeCabinet"
219
+ },
220
+ "singlecabinet_2_main_group_1": {
221
+ "cls": "SingleCabinet"
222
+ },
223
+ "cube_1_main_group_1": {
224
+ "cls": "Box"
225
+ },
226
+ "counter_1_main_group_1": {
227
+ "cls": "Counter"
228
+ },
229
+ "counter_2_main_group_1": {
230
+ "cls": "Counter"
231
+ },
232
+ "counter_corner_1_main_group_1": {
233
+ "cls": "Counter"
234
+ },
235
+ "stove_main_group_1": {
236
+ "cls": "Stove"
237
+ },
238
+ "stove_hood_main_group_1": {
239
+ "cls": "Hood"
240
+ },
241
+ "stack_03_main_group_1_base": {
242
+ "cls": "Box"
243
+ },
244
+ "stack_03_main_group_1_1": {
245
+ "cls": "Drawer"
246
+ },
247
+ "stack_03_main_group_1_2": {
248
+ "cls": "Drawer"
249
+ },
250
+ "stack_03_main_group_1_3": {
251
+ "cls": "Drawer"
252
+ },
253
+ "stack_02_main_group_1_base": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_02_main_group_1_1": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "stack_02_main_group_1_2": {
260
+ "cls": "Drawer"
261
+ },
262
+ "stack_01_main_group_1_base": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_01_main_group_1_1": {
266
+ "cls": "SingleCabinet"
267
+ },
268
+ "papertowel_main_group_1": {
269
+ "cls": "Accessory"
270
+ },
271
+ "coffee_machine_main_group_1": {
272
+ "cls": "CoffeeMachine"
273
+ },
274
+ "toaster_oven_main_group_1": {
275
+ "cls": "ToasterOven"
276
+ },
277
+ "opencabinet_1_right_group_1": {
278
+ "cls": "OpenCabinet"
279
+ },
280
+ "cube_3_right_group_1": {
281
+ "cls": "Box"
282
+ },
283
+ "cube_4_right_group_1": {
284
+ "cls": "Box"
285
+ },
286
+ "hingecabinet_6_right_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "hingecabinet_5_right_group_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "sink_right_group_1": {
293
+ "cls": "Sink"
294
+ },
295
+ "counter_4_right_group_1": {
296
+ "cls": "Counter"
297
+ },
298
+ "stack_05_right_group_1_base": {
299
+ "cls": "Box"
300
+ },
301
+ "stack_05_right_group_1_1": {
302
+ "cls": "HingeCabinet"
303
+ },
304
+ "stack_05_right_group_1_2": {
305
+ "cls": "PanelCabinet"
306
+ },
307
+ "stack_04_right_group_1_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_04_right_group_1_1": {
311
+ "cls": "SingleCabinet"
312
+ },
313
+ "stack_06_right_group_1_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_06_right_group_1_1": {
317
+ "cls": "SingleCabinet"
318
+ },
319
+ "cube_2_right_group_1": {
320
+ "cls": "Box"
321
+ },
322
+ "cube_1_right_group_1": {
323
+ "cls": "Box"
324
+ },
325
+ "toaster_right_group_1": {
326
+ "cls": "Toaster"
327
+ },
328
+ "island_island_group_1": {
329
+ "cls": "Counter"
330
+ },
331
+ "stack_07_island_group_1_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_07_island_group_1_1": {
335
+ "cls": "SingleCabinet"
336
+ },
337
+ "stack_07_island_group_1_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_08_island_group_1_base": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_08_island_group_1_1": {
344
+ "cls": "HingeCabinet"
345
+ },
346
+ "stack_08_island_group_1_2": {
347
+ "cls": "Drawer"
348
+ },
349
+ "cube_3_island_group_1": {
350
+ "cls": "Box"
351
+ },
352
+ "cube_4_island_group_1": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_06_island_group_1_base": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_06_island_group_1_1": {
359
+ "cls": "SingleCabinet"
360
+ },
361
+ "stack_06_island_group_1_2": {
362
+ "cls": "Drawer"
363
+ },
364
+ "cube_1_island_group_1": {
365
+ "cls": "Box"
366
+ },
367
+ "cube_2_island_group_1": {
368
+ "cls": "Box"
369
+ },
370
+ "dishwasher_1_island_group_1": {
371
+ "cls": "Dishwasher"
372
+ },
373
+ "plant_island_group_1": {
374
+ "cls": "Accessory"
375
+ }
376
+ },
377
+ "gen_textures": {},
378
+ "lang": "Add the cookie dough ball to the tupperware that contains the hot dog.",
379
+ "fixture_refs": {
380
+ "counter": "island_island_group_1"
381
+ },
382
+ "cam_configs": {
383
+ "robot0_agentview_center": {
384
+ "pos": [
385
+ -0.6,
386
+ 0.0,
387
+ 1.15
388
+ ],
389
+ "quat": [
390
+ 0.636945903301239,
391
+ 0.3325185477733612,
392
+ -0.3199238181114197,
393
+ -0.6175596117973328
394
+ ],
395
+ "parent_body": "mobilebase0_support"
396
+ },
397
+ "robot0_agentview_left": {
398
+ "pos": [
399
+ -0.5,
400
+ 0.35,
401
+ 1.05
402
+ ],
403
+ "quat": [
404
+ 0.55623853,
405
+ 0.29935253,
406
+ -0.37678665,
407
+ -0.6775092
408
+ ],
409
+ "camera_attribs": {
410
+ "fovy": "60"
411
+ },
412
+ "parent_body": "mobilebase0_support"
413
+ },
414
+ "robot0_agentview_right": {
415
+ "pos": [
416
+ -0.5,
417
+ -0.35,
418
+ 1.05
419
+ ],
420
+ "quat": [
421
+ 0.6775091886520386,
422
+ 0.3767866790294647,
423
+ -0.2993525564670563,
424
+ -0.55623859167099
425
+ ],
426
+ "camera_attribs": {
427
+ "fovy": "60"
428
+ },
429
+ "parent_body": "mobilebase0_support"
430
+ },
431
+ "robot0_frontview": {
432
+ "pos": [
433
+ -0.5,
434
+ 0,
435
+ 0.95
436
+ ],
437
+ "quat": [
438
+ 0.6088936924934387,
439
+ 0.3814677894115448,
440
+ -0.3673907518386841,
441
+ -0.5905545353889465
442
+ ],
443
+ "camera_attribs": {
444
+ "fovy": "60"
445
+ },
446
+ "parent_body": "mobilebase0_support"
447
+ },
448
+ "robot0_eye_in_hand": {
449
+ "pos": [
450
+ 0.05,
451
+ 0,
452
+ 0
453
+ ],
454
+ "quat": [
455
+ 0,
456
+ 0.707107,
457
+ 0.707107,
458
+ 0
459
+ ],
460
+ "parent_body": "robot0_right_hand"
461
+ }
462
+ },
463
+ "init_robot_base_pos": [
464
+ 4.218720608075729,
465
+ -2.9470943173906217,
466
+ 0.0
467
+ ],
468
+ "init_robot_base_ori": [
469
+ 0.0,
470
+ 0.0,
471
+ 4.712223637101589
472
+ ]
473
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000027/ep_meta.json ADDED
@@ -0,0 +1,452 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 14,
3
+ "style_id": 13,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "counter_1_left_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.76,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 0.0,
55
+ 0.0,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "hot_dog",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "hot_dog",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "counter_1_left_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "cake",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "cake",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 1.76,
130
+ 0.65
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_left_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_left_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_main_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_main_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_right_1_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_right_1_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "window_group_room": {
161
+ "cls": "Window"
162
+ },
163
+ "floor_1_room": {
164
+ "cls": "Floor"
165
+ },
166
+ "floor_1_backing_room": {
167
+ "cls": "Floor"
168
+ },
169
+ "wall_accessory_1_room": {
170
+ "cls": "WallAccessory"
171
+ },
172
+ "wall_accessory_2_room": {
173
+ "cls": "WallAccessory"
174
+ },
175
+ "wall_accessory_3_room": {
176
+ "cls": "WallAccessory"
177
+ },
178
+ "light_switch_room": {
179
+ "cls": "WallAccessory"
180
+ },
181
+ "wall_accessory_4_room": {
182
+ "cls": "WallAccessory"
183
+ },
184
+ "stool_1_room": {
185
+ "cls": "Stool"
186
+ },
187
+ "stool_2_room": {
188
+ "cls": "Stool"
189
+ },
190
+ "stool_3_room": {
191
+ "cls": "Stool"
192
+ },
193
+ "counter_1_main_group_1": {
194
+ "cls": "Counter"
195
+ },
196
+ "stove_main_group_1": {
197
+ "cls": "Stove"
198
+ },
199
+ "counter_2_main_group_1": {
200
+ "cls": "Counter"
201
+ },
202
+ "stack_1_main_group_1_base": {
203
+ "cls": "Box"
204
+ },
205
+ "stack_1_main_group_1_1": {
206
+ "cls": "HingeCabinet"
207
+ },
208
+ "stack_1_main_group_1_2": {
209
+ "cls": "Drawer"
210
+ },
211
+ "stack_1_main_group_1_3": {
212
+ "cls": "Drawer"
213
+ },
214
+ "stack_2_main_group_1_base": {
215
+ "cls": "Box"
216
+ },
217
+ "stack_2_main_group_1_1": {
218
+ "cls": "SingleCabinet"
219
+ },
220
+ "stack_2_main_group_1_2": {
221
+ "cls": "Drawer"
222
+ },
223
+ "stack_3_main_group_1_base": {
224
+ "cls": "Box"
225
+ },
226
+ "stack_3_main_group_1_1": {
227
+ "cls": "SingleCabinet"
228
+ },
229
+ "box_1_main_group_1": {
230
+ "cls": "Box"
231
+ },
232
+ "stack_4_main_group_1_base": {
233
+ "cls": "Box"
234
+ },
235
+ "stack_4_main_group_1_1": {
236
+ "cls": "HingeCabinet"
237
+ },
238
+ "stack_4_main_group_1_2": {
239
+ "cls": "Drawer"
240
+ },
241
+ "stack_4_main_group_1_3": {
242
+ "cls": "Drawer"
243
+ },
244
+ "cab_1_main_group_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "microwave_main_group_1": {
248
+ "cls": "Microwave"
249
+ },
250
+ "micro_cab_main_group_1": {
251
+ "cls": "HingeCabinet"
252
+ },
253
+ "toaster_main_group_1": {
254
+ "cls": "Toaster"
255
+ },
256
+ "coffee_machine_main_group_1": {
257
+ "cls": "CoffeeMachine"
258
+ },
259
+ "paper_towel_main_group_1": {
260
+ "cls": "Accessory"
261
+ },
262
+ "counter_1_left_group_1": {
263
+ "cls": "Counter"
264
+ },
265
+ "counter_corner_left_group_1": {
266
+ "cls": "Counter"
267
+ },
268
+ "fridge_left_group_1": {
269
+ "cls": "FridgeBottomFreezer"
270
+ },
271
+ "fridge_housing_left_group_1": {
272
+ "cls": "HousingCabinet"
273
+ },
274
+ "hingecabinet_1.002_left_group_1": {
275
+ "cls": "HingeCabinet"
276
+ },
277
+ "stack_1_left_group_1_base": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_1_left_group_1_1": {
281
+ "cls": "HingeCabinet"
282
+ },
283
+ "stack_1_left_group_1_2": {
284
+ "cls": "Drawer"
285
+ },
286
+ "stack_2_left_group_1_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_2_left_group_1_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "stack_2_left_group_1_2": {
293
+ "cls": "Drawer"
294
+ },
295
+ "stack_3_left_group_1_base": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_3_left_group_1_1": {
299
+ "cls": "SingleCabinet"
300
+ },
301
+ "box_1_left_group_1": {
302
+ "cls": "Box"
303
+ },
304
+ "cab_1_left_group_1": {
305
+ "cls": "SingleCabinet"
306
+ },
307
+ "cab_2_left_group_1": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "cab_3_left_group_1": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "toaster_oven_left_group_1": {
314
+ "cls": "ToasterOven"
315
+ },
316
+ "knife_block_left_group_1": {
317
+ "cls": "Accessory"
318
+ },
319
+ "sink_1_island_group_1": {
320
+ "cls": "Sink"
321
+ },
322
+ "counter_1_island_group_1": {
323
+ "cls": "Counter"
324
+ },
325
+ "island_island_group_1": {
326
+ "cls": "Counter"
327
+ },
328
+ "box_island_group_1": {
329
+ "cls": "Box"
330
+ },
331
+ "panel_stack_1_island_group_1_base": {
332
+ "cls": "Box"
333
+ },
334
+ "panel_stack_1_island_group_1_1": {
335
+ "cls": "PanelCabinet"
336
+ },
337
+ "stack_1_island_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_1_island_group_1_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "stack_1_island_group_1_2": {
344
+ "cls": "PanelCabinet"
345
+ },
346
+ "dishwasher_island_group_1": {
347
+ "cls": "Dishwasher"
348
+ },
349
+ "panel_stack_2_island_group_1_base": {
350
+ "cls": "Box"
351
+ },
352
+ "panel_stack_2_island_group_1_1": {
353
+ "cls": "PanelCabinet"
354
+ }
355
+ },
356
+ "gen_textures": {},
357
+ "lang": "Add the cake to the tupperware that contains the hot dog.",
358
+ "fixture_refs": {
359
+ "counter": "counter_1_left_group_1"
360
+ },
361
+ "cam_configs": {
362
+ "robot0_agentview_center": {
363
+ "pos": [
364
+ -0.6,
365
+ 0.0,
366
+ 1.15
367
+ ],
368
+ "quat": [
369
+ 0.636945903301239,
370
+ 0.3325185477733612,
371
+ -0.3199238181114197,
372
+ -0.6175596117973328
373
+ ],
374
+ "parent_body": "mobilebase0_support"
375
+ },
376
+ "robot0_agentview_left": {
377
+ "pos": [
378
+ -0.5,
379
+ 0.35,
380
+ 1.05
381
+ ],
382
+ "quat": [
383
+ 0.55623853,
384
+ 0.29935253,
385
+ -0.37678665,
386
+ -0.6775092
387
+ ],
388
+ "camera_attribs": {
389
+ "fovy": "60"
390
+ },
391
+ "parent_body": "mobilebase0_support"
392
+ },
393
+ "robot0_agentview_right": {
394
+ "pos": [
395
+ -0.5,
396
+ -0.35,
397
+ 1.05
398
+ ],
399
+ "quat": [
400
+ 0.6775091886520386,
401
+ 0.3767866790294647,
402
+ -0.2993525564670563,
403
+ -0.55623859167099
404
+ ],
405
+ "camera_attribs": {
406
+ "fovy": "60"
407
+ },
408
+ "parent_body": "mobilebase0_support"
409
+ },
410
+ "robot0_frontview": {
411
+ "pos": [
412
+ -0.5,
413
+ 0,
414
+ 0.95
415
+ ],
416
+ "quat": [
417
+ 0.6088936924934387,
418
+ 0.3814677894115448,
419
+ -0.3673907518386841,
420
+ -0.5905545353889465
421
+ ],
422
+ "camera_attribs": {
423
+ "fovy": "60"
424
+ },
425
+ "parent_body": "mobilebase0_support"
426
+ },
427
+ "robot0_eye_in_hand": {
428
+ "pos": [
429
+ 0.05,
430
+ 0,
431
+ 0
432
+ ],
433
+ "quat": [
434
+ 0,
435
+ 0.707107,
436
+ 0.707107,
437
+ 0
438
+ ],
439
+ "parent_body": "robot0_right_hand"
440
+ }
441
+ },
442
+ "init_robot_base_pos": [
443
+ 0.795573799855386,
444
+ -1.4227593001441263,
445
+ 0.0
446
+ ],
447
+ "init_robot_base_ori": [
448
+ 0.0,
449
+ 0.0,
450
+ 3.1415926193612504
451
+ ]
452
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000028/ep_meta.json ADDED
@@ -0,0 +1,479 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 19,
3
+ "style_id": 25,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "counter_1_left_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 0.765,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ -0.8674999999999999,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "hot_dog",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "hot_dog",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "counter_1_left_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "cookie_dough_ball",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "cookie_dough_ball",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall006/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 0.765,
130
+ 0.65
131
+ ],
132
+ "offset": [
133
+ -0.8674999999999999,
134
+ -3.469446951953614e-17,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_left_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_left_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_main_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_main_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_main_3_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_main_3_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_main_2_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_main_2_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_right_1_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_right_1_backing_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "floor_1_room": {
173
+ "cls": "Floor"
174
+ },
175
+ "floor_1_backing_room": {
176
+ "cls": "Floor"
177
+ },
178
+ "wall_accessory_1_room": {
179
+ "cls": "WallAccessory"
180
+ },
181
+ "wall_accessory_2_room": {
182
+ "cls": "WallAccessory"
183
+ },
184
+ "wall_accessory_3_room": {
185
+ "cls": "WallAccessory"
186
+ },
187
+ "light_switch_1_room": {
188
+ "cls": "WallAccessory"
189
+ },
190
+ "window_group_room": {
191
+ "cls": "Window"
192
+ },
193
+ "stool_1_room": {
194
+ "cls": "Stool"
195
+ },
196
+ "stool_2_room": {
197
+ "cls": "Stool"
198
+ },
199
+ "sink_left_group_1": {
200
+ "cls": "Sink"
201
+ },
202
+ "counter_1_left_group_1": {
203
+ "cls": "Counter"
204
+ },
205
+ "stack_1_left_group_1_base": {
206
+ "cls": "Box"
207
+ },
208
+ "stack_1_left_group_1_1": {
209
+ "cls": "HingeCabinet"
210
+ },
211
+ "stack_1_left_group_1_2": {
212
+ "cls": "Drawer"
213
+ },
214
+ "stack_1_left_group_1_3": {
215
+ "cls": "Drawer"
216
+ },
217
+ "stack_2_left_group_1_base": {
218
+ "cls": "Box"
219
+ },
220
+ "stack_2_left_group_1_1": {
221
+ "cls": "HingeCabinet"
222
+ },
223
+ "stack_2_left_group_1_2": {
224
+ "cls": "PanelCabinet"
225
+ },
226
+ "stack_3_left_group_1_base": {
227
+ "cls": "Box"
228
+ },
229
+ "stack_3_left_group_1_1": {
230
+ "cls": "HingeCabinet"
231
+ },
232
+ "stack_3_left_group_1_2": {
233
+ "cls": "Drawer"
234
+ },
235
+ "stack_3_left_group_1_3": {
236
+ "cls": "Drawer"
237
+ },
238
+ "cab_1_left_group_1": {
239
+ "cls": "HingeCabinet"
240
+ },
241
+ "cab_2_left_group_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "cab_3_left_group_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "bottom_left_group_1_base": {
248
+ "cls": "Box"
249
+ },
250
+ "bottom_left_group_1_1": {
251
+ "cls": "Drawer"
252
+ },
253
+ "middle_1_left_group_1": {
254
+ "cls": "HingeCabinet"
255
+ },
256
+ "middle_2_left_group_1": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "top_1_left_group_1": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "toaster_oven_left_group_1": {
263
+ "cls": "ToasterOven"
264
+ },
265
+ "counter_1_right_group_1": {
266
+ "cls": "Counter"
267
+ },
268
+ "counter_corner_right_group_1": {
269
+ "cls": "Counter"
270
+ },
271
+ "box_1_right_group_1": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_1_right_group_1_base": {
275
+ "cls": "Box"
276
+ },
277
+ "stack_1_right_group_1_1": {
278
+ "cls": "SingleCabinet"
279
+ },
280
+ "stack_1_right_group_1_2": {
281
+ "cls": "Drawer"
282
+ },
283
+ "dishwasher_1_right_group_1": {
284
+ "cls": "Dishwasher"
285
+ },
286
+ "stack_2_right_group_1_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_2_right_group_1_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "stack_2_right_group_1_2": {
293
+ "cls": "Drawer"
294
+ },
295
+ "box_2_right_group_1": {
296
+ "cls": "Box"
297
+ },
298
+ "cab_1_right_group_1": {
299
+ "cls": "HingeCabinet"
300
+ },
301
+ "coffee_machine_right_group_1": {
302
+ "cls": "CoffeeMachine"
303
+ },
304
+ "toaster_right_group_1": {
305
+ "cls": "Toaster"
306
+ },
307
+ "paper_towel_right_group_1": {
308
+ "cls": "Accessory"
309
+ },
310
+ "counter_corner_1_main_group_3": {
311
+ "cls": "Counter"
312
+ },
313
+ "stove_main_group_3": {
314
+ "cls": "Stove"
315
+ },
316
+ "fridge_1_main_group_3": {
317
+ "cls": "FridgeBottomFreezer"
318
+ },
319
+ "fridge_1_housing_main_group_3": {
320
+ "cls": "HousingCabinet"
321
+ },
322
+ "top_1_main_group_3": {
323
+ "cls": "HingeCabinet"
324
+ },
325
+ "cab_1_main_group_3": {
326
+ "cls": "OpenCabinet"
327
+ },
328
+ "microwave_main_group_3": {
329
+ "cls": "Microwave"
330
+ },
331
+ "cab_micro_main_group_3": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "cab_corner_main_group_3": {
335
+ "cls": "Box"
336
+ },
337
+ "dining_dining_area_group": {
338
+ "cls": "Counter"
339
+ },
340
+ "box_dining_area_group": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_1_dining_area_group_base": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_1_dining_area_group_1": {
347
+ "cls": "SingleCabinet"
348
+ },
349
+ "stack_1_dining_area_group_2": {
350
+ "cls": "Drawer"
351
+ },
352
+ "stack_2_dining_area_group_base": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_2_dining_area_group_1": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_2_dining_area_group_2": {
359
+ "cls": "Drawer"
360
+ },
361
+ "stack_2_dining_area_group_3": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_2_dining_area_group_4": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_3_dining_area_group_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_3_dining_area_group_1": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_3_dining_area_group_2": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_3_dining_area_group_3": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_3_dining_area_group_4": {
380
+ "cls": "Drawer"
381
+ }
382
+ },
383
+ "gen_textures": {},
384
+ "lang": "Add the cookie dough ball to the tupperware that contains the hot dog.",
385
+ "fixture_refs": {
386
+ "counter": "counter_1_left_group_1"
387
+ },
388
+ "cam_configs": {
389
+ "robot0_agentview_center": {
390
+ "pos": [
391
+ -0.6,
392
+ 0.0,
393
+ 1.15
394
+ ],
395
+ "quat": [
396
+ 0.636945903301239,
397
+ 0.3325185477733612,
398
+ -0.3199238181114197,
399
+ -0.6175596117973328
400
+ ],
401
+ "parent_body": "mobilebase0_support"
402
+ },
403
+ "robot0_agentview_left": {
404
+ "pos": [
405
+ -0.5,
406
+ 0.35,
407
+ 1.05
408
+ ],
409
+ "quat": [
410
+ 0.55623853,
411
+ 0.29935253,
412
+ -0.37678665,
413
+ -0.6775092
414
+ ],
415
+ "camera_attribs": {
416
+ "fovy": "60"
417
+ },
418
+ "parent_body": "mobilebase0_support"
419
+ },
420
+ "robot0_agentview_right": {
421
+ "pos": [
422
+ -0.5,
423
+ -0.35,
424
+ 1.05
425
+ ],
426
+ "quat": [
427
+ 0.6775091886520386,
428
+ 0.3767866790294647,
429
+ -0.2993525564670563,
430
+ -0.55623859167099
431
+ ],
432
+ "camera_attribs": {
433
+ "fovy": "60"
434
+ },
435
+ "parent_body": "mobilebase0_support"
436
+ },
437
+ "robot0_frontview": {
438
+ "pos": [
439
+ -0.5,
440
+ 0,
441
+ 0.95
442
+ ],
443
+ "quat": [
444
+ 0.6088936924934387,
445
+ 0.3814677894115448,
446
+ -0.3673907518386841,
447
+ -0.5905545353889465
448
+ ],
449
+ "camera_attribs": {
450
+ "fovy": "60"
451
+ },
452
+ "parent_body": "mobilebase0_support"
453
+ },
454
+ "robot0_eye_in_hand": {
455
+ "pos": [
456
+ 0.05,
457
+ 0,
458
+ 0
459
+ ],
460
+ "quat": [
461
+ 0,
462
+ 0.707107,
463
+ 0.707107,
464
+ 0
465
+ ],
466
+ "parent_body": "robot0_right_hand"
467
+ }
468
+ },
469
+ "init_robot_base_pos": [
470
+ 0.7514087642161648,
471
+ -2.776169611453125,
472
+ 0.0
473
+ ],
474
+ "init_robot_base_ori": [
475
+ 0.0,
476
+ 0.0,
477
+ 3.1415926193612504
478
+ ]
479
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000033/ep_meta.json ADDED
@@ -0,0 +1,530 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 56,
3
+ "style_id": 49,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "island_island_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware033/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 0.9274666600000002,
51
+ 1.604605
52
+ ],
53
+ "offset": [
54
+ -0.8441061699999999,
55
+ 2.0816681711721685e-17,
56
+ 0.4600015
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "kebab_skewer",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "kebab_skewer",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer001/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "island_island_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "cake",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "cake",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 0.9274666600000002,
130
+ 1.604605
131
+ ],
132
+ "offset": [
133
+ -0.8441061699999999,
134
+ 2.0816681711721685e-17,
135
+ 0.4600015
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_main_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_main_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_right_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_right_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "floor_1_room": {
155
+ "cls": "Floor"
156
+ },
157
+ "floor_1_backing_room": {
158
+ "cls": "Floor"
159
+ },
160
+ "wallaccessory_1_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "wallaccessory_2_room": {
164
+ "cls": "WallAccessory"
165
+ },
166
+ "wallaccessory_3_room": {
167
+ "cls": "WallAccessory"
168
+ },
169
+ "wallaccessory_4_room": {
170
+ "cls": "WallAccessory"
171
+ },
172
+ "lightswitch_02_room": {
173
+ "cls": "WallAccessory"
174
+ },
175
+ "lightswitch_03_room": {
176
+ "cls": "WallAccessory"
177
+ },
178
+ "stool_3_room": {
179
+ "cls": "Stool"
180
+ },
181
+ "stool_2_room": {
182
+ "cls": "Stool"
183
+ },
184
+ "stool_1_room": {
185
+ "cls": "Stool"
186
+ },
187
+ "stack_13_island_group_2_base": {
188
+ "cls": "Box"
189
+ },
190
+ "stack_13_island_group_2_1": {
191
+ "cls": "HingeCabinet"
192
+ },
193
+ "stack_04_island_group_2_base": {
194
+ "cls": "Box"
195
+ },
196
+ "stack_04_island_group_2_1": {
197
+ "cls": "HingeCabinet"
198
+ },
199
+ "stack_12_island_group_2_base": {
200
+ "cls": "Box"
201
+ },
202
+ "stack_12_island_group_2_1": {
203
+ "cls": "HingeCabinet"
204
+ },
205
+ "singlecabinet_2_main_group_1": {
206
+ "cls": "SingleCabinet"
207
+ },
208
+ "hingecabinet_5_main_group_1": {
209
+ "cls": "HingeCabinet"
210
+ },
211
+ "hingecabinet_4_main_group_1": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "opencabinet_2_main_group_1": {
215
+ "cls": "OpenCabinet"
216
+ },
217
+ "opencabinet_3_main_group_1": {
218
+ "cls": "OpenCabinet"
219
+ },
220
+ "counter_2_main_group_1": {
221
+ "cls": "Counter"
222
+ },
223
+ "counter_corner_1_main_group_1": {
224
+ "cls": "Counter"
225
+ },
226
+ "counter_3_main_group_1": {
227
+ "cls": "Counter"
228
+ },
229
+ "stove_main_group_1": {
230
+ "cls": "Stove"
231
+ },
232
+ "stove_hood_main_group_1": {
233
+ "cls": "Hood"
234
+ },
235
+ "cube_4_main_group_1": {
236
+ "cls": "Box"
237
+ },
238
+ "stack_11_main_group_1_base": {
239
+ "cls": "Box"
240
+ },
241
+ "stack_11_main_group_1_1": {
242
+ "cls": "SingleCabinet"
243
+ },
244
+ "stack_03_main_group_1_base": {
245
+ "cls": "Box"
246
+ },
247
+ "stack_03_main_group_1_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "stack_03_main_group_1_2": {
251
+ "cls": "Drawer"
252
+ },
253
+ "stack_02_main_group_1_base": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_02_main_group_1_1": {
257
+ "cls": "SingleCabinet"
258
+ },
259
+ "stack_04_main_group_1_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_04_main_group_1_1": {
263
+ "cls": "Drawer"
264
+ },
265
+ "stack_04_main_group_1_2": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_04_main_group_1_3": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_08_main_group_1_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_08_main_group_1_1": {
275
+ "cls": "HingeCabinet"
276
+ },
277
+ "stack_08_main_group_1_2": {
278
+ "cls": "Drawer"
279
+ },
280
+ "stack_06_main_group_1_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_06_main_group_1_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "stack_07_main_group_1_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_07_main_group_1_1": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_07_main_group_1_2": {
293
+ "cls": "Drawer"
294
+ },
295
+ "stack_07_main_group_1_3": {
296
+ "cls": "Drawer"
297
+ },
298
+ "cube_8_main_group_1": {
299
+ "cls": "Box"
300
+ },
301
+ "coffee_machine_main_group_1": {
302
+ "cls": "CoffeeMachine"
303
+ },
304
+ "papertowel_main_group_1": {
305
+ "cls": "Accessory"
306
+ },
307
+ "plant_main_group_1": {
308
+ "cls": "Accessory"
309
+ },
310
+ "toaster_oven_main_group_1": {
311
+ "cls": "ToasterOven"
312
+ },
313
+ "singlecabinet_1_right_group_1": {
314
+ "cls": "SingleCabinet"
315
+ },
316
+ "hingecabinet_1_right_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "hingecabinet_9_right_group_1": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "counter_1_right_group_1": {
323
+ "cls": "Counter"
324
+ },
325
+ "counter_8_right_group_1": {
326
+ "cls": "Counter"
327
+ },
328
+ "stack_6_right_group_1_base": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_6_right_group_1_1": {
332
+ "cls": "Drawer"
333
+ },
334
+ "stack_6_right_group_1_2": {
335
+ "cls": "HingeCabinet"
336
+ },
337
+ "stack_4_right_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_4_right_group_1_1": {
341
+ "cls": "SingleCabinet"
342
+ },
343
+ "cube_11_right_group_1": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_7_right_group_1_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_7_right_group_1_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_7_right_group_1_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "cube_12_right_group_1": {
356
+ "cls": "Box"
357
+ },
358
+ "fridgefrenchdoor_right_group_1": {
359
+ "cls": "FridgeFrenchDoor"
360
+ },
361
+ "fridgefrenchdoor_housing_right_group_1": {
362
+ "cls": "HousingCabinet"
363
+ },
364
+ "bottom_right_group_1_base": {
365
+ "cls": "Box"
366
+ },
367
+ "bottom_right_group_1_1": {
368
+ "cls": "Drawer"
369
+ },
370
+ "oven_cabinet_right_group_1": {
371
+ "cls": "HingeCabinet"
372
+ },
373
+ "microwave_right_group_1": {
374
+ "cls": "Microwave"
375
+ },
376
+ "microwave_housing_right_group_1": {
377
+ "cls": "HousingCabinet"
378
+ },
379
+ "top_right_group_1": {
380
+ "cls": "HingeCabinet"
381
+ },
382
+ "hingecabinet_2_right_group_1": {
383
+ "cls": "HingeCabinet"
384
+ },
385
+ "toaster_right_group_1": {
386
+ "cls": "Toaster"
387
+ },
388
+ "sink_island_group_1": {
389
+ "cls": "Sink"
390
+ },
391
+ "island_island_group_1": {
392
+ "cls": "Counter"
393
+ },
394
+ "stack_11_island_group_1_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_11_island_group_1_1": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "stack_11_island_group_1_2": {
401
+ "cls": "PanelCabinet"
402
+ },
403
+ "stack_09_island_group_1_base": {
404
+ "cls": "Box"
405
+ },
406
+ "stack_09_island_group_1_1": {
407
+ "cls": "Drawer"
408
+ },
409
+ "stack_09_island_group_1_2": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_09_island_group_1_3": {
413
+ "cls": "Drawer"
414
+ },
415
+ "stack_10_island_group_1_base": {
416
+ "cls": "Box"
417
+ },
418
+ "stack_10_island_group_1_1": {
419
+ "cls": "SingleCabinet"
420
+ },
421
+ "stack_10_island_group_1_2": {
422
+ "cls": "Drawer"
423
+ },
424
+ "dishwasher_1_island_group_1": {
425
+ "cls": "Dishwasher"
426
+ },
427
+ "cube_1_island_group_1": {
428
+ "cls": "Box"
429
+ },
430
+ "cube_2_island_group_1": {
431
+ "cls": "Box"
432
+ }
433
+ },
434
+ "gen_textures": {},
435
+ "lang": "Add the cake to the tupperware that contains the kebab skewer.",
436
+ "fixture_refs": {
437
+ "counter": "island_island_group_1"
438
+ },
439
+ "cam_configs": {
440
+ "robot0_agentview_center": {
441
+ "pos": [
442
+ -0.6,
443
+ 0.0,
444
+ 1.15
445
+ ],
446
+ "quat": [
447
+ 0.636945903301239,
448
+ 0.3325185477733612,
449
+ -0.3199238181114197,
450
+ -0.6175596117973328
451
+ ],
452
+ "parent_body": "mobilebase0_support"
453
+ },
454
+ "robot0_agentview_left": {
455
+ "pos": [
456
+ -0.5,
457
+ 0.35,
458
+ 1.05
459
+ ],
460
+ "quat": [
461
+ 0.55623853,
462
+ 0.29935253,
463
+ -0.37678665,
464
+ -0.6775092
465
+ ],
466
+ "camera_attribs": {
467
+ "fovy": "60"
468
+ },
469
+ "parent_body": "mobilebase0_support"
470
+ },
471
+ "robot0_agentview_right": {
472
+ "pos": [
473
+ -0.5,
474
+ -0.35,
475
+ 1.05
476
+ ],
477
+ "quat": [
478
+ 0.6775091886520386,
479
+ 0.3767866790294647,
480
+ -0.2993525564670563,
481
+ -0.55623859167099
482
+ ],
483
+ "camera_attribs": {
484
+ "fovy": "60"
485
+ },
486
+ "parent_body": "mobilebase0_support"
487
+ },
488
+ "robot0_frontview": {
489
+ "pos": [
490
+ -0.5,
491
+ 0,
492
+ 0.95
493
+ ],
494
+ "quat": [
495
+ 0.6088936924934387,
496
+ 0.3814677894115448,
497
+ -0.3673907518386841,
498
+ -0.5905545353889465
499
+ ],
500
+ "camera_attribs": {
501
+ "fovy": "60"
502
+ },
503
+ "parent_body": "mobilebase0_support"
504
+ },
505
+ "robot0_eye_in_hand": {
506
+ "pos": [
507
+ 0.05,
508
+ 0,
509
+ 0
510
+ ],
511
+ "quat": [
512
+ 0,
513
+ 0.707107,
514
+ 0.707107,
515
+ 0
516
+ ],
517
+ "parent_body": "robot0_right_hand"
518
+ }
519
+ },
520
+ "init_robot_base_pos": [
521
+ 3.872215209096571,
522
+ -2.209643027697514,
523
+ 0.0
524
+ ],
525
+ "init_robot_base_ori": [
526
+ 0.0,
527
+ 0.0,
528
+ 4.7122340957374185
529
+ ]
530
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000048/ep_meta.json ADDED
@@ -0,0 +1,443 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 58,
3
+ "style_id": 28,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "island_2_island_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 0.911556,
51
+ 0.911783
52
+ ],
53
+ "offset": [
54
+ 0.0,
55
+ 0.0,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "kebab_skewer",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "kebab_skewer",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer002/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "island_2_island_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "cupcake",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "cupcake",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_14/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 0.911556,
130
+ 0.911783
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_main_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_main_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_left_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_left_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "floor_1_room": {
155
+ "cls": "Floor"
156
+ },
157
+ "floor_1_backing_room": {
158
+ "cls": "Floor"
159
+ },
160
+ "wallaccessory_1_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "wallaccessory_2_room": {
164
+ "cls": "WallAccessory"
165
+ },
166
+ "wallaccessory_7_room": {
167
+ "cls": "WallAccessory"
168
+ },
169
+ "lightswitch_03_room": {
170
+ "cls": "WallAccessory"
171
+ },
172
+ "wallaccessory_3_room": {
173
+ "cls": "WallAccessory"
174
+ },
175
+ "lightswitch_01_room": {
176
+ "cls": "WallAccessory"
177
+ },
178
+ "lightswitch_02_room": {
179
+ "cls": "WallAccessory"
180
+ },
181
+ "window_group_1_room": {
182
+ "cls": "Window"
183
+ },
184
+ "window_group_2_room": {
185
+ "cls": "Window"
186
+ },
187
+ "window_group_3_room": {
188
+ "cls": "Window"
189
+ },
190
+ "stool_3_room": {
191
+ "cls": "Stool"
192
+ },
193
+ "stool_2_room": {
194
+ "cls": "Stool"
195
+ },
196
+ "stool_1_room": {
197
+ "cls": "Stool"
198
+ },
199
+ "sink_main_group_1": {
200
+ "cls": "Sink"
201
+ },
202
+ "counter_1_main_group_1": {
203
+ "cls": "Counter"
204
+ },
205
+ "hingecabinet_1_main_group_1": {
206
+ "cls": "HingeCabinet"
207
+ },
208
+ "singlecabinet_1_main_group_1": {
209
+ "cls": "SingleCabinet"
210
+ },
211
+ "singlecabinet_2_main_group_1": {
212
+ "cls": "SingleCabinet"
213
+ },
214
+ "hingecabinet_2_main_group_1": {
215
+ "cls": "HingeCabinet"
216
+ },
217
+ "cube_14_main_group_1": {
218
+ "cls": "Box"
219
+ },
220
+ "stack_04_main_group_1_base": {
221
+ "cls": "Box"
222
+ },
223
+ "stack_04_main_group_1_1": {
224
+ "cls": "HingeCabinet"
225
+ },
226
+ "stack_04_main_group_1_2": {
227
+ "cls": "Drawer"
228
+ },
229
+ "stack_03_main_group_1_base": {
230
+ "cls": "Box"
231
+ },
232
+ "stack_03_main_group_1_1": {
233
+ "cls": "SingleCabinet"
234
+ },
235
+ "stack_03_main_group_1_2": {
236
+ "cls": "Drawer"
237
+ },
238
+ "stack_02_main_group_1_base": {
239
+ "cls": "Box"
240
+ },
241
+ "stack_02_main_group_1_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "stack_02_main_group_1_2": {
245
+ "cls": "PanelCabinet"
246
+ },
247
+ "dishwasher_1_main_group_1": {
248
+ "cls": "Dishwasher"
249
+ },
250
+ "stack_01_main_group_1_base": {
251
+ "cls": "Box"
252
+ },
253
+ "stack_01_main_group_1_1": {
254
+ "cls": "HingeCabinet"
255
+ },
256
+ "cube_15_main_group_1": {
257
+ "cls": "Box"
258
+ },
259
+ "coffee_machine_main_group_1": {
260
+ "cls": "CoffeeMachine"
261
+ },
262
+ "paper_towel_main_group_1": {
263
+ "cls": "Accessory"
264
+ },
265
+ "toaster_main_group_1": {
266
+ "cls": "Toaster"
267
+ },
268
+ "bottom_left_group_1_base": {
269
+ "cls": "Box"
270
+ },
271
+ "bottom_left_group_1_1": {
272
+ "cls": "Drawer"
273
+ },
274
+ "microwave_left_group_1": {
275
+ "cls": "Microwave"
276
+ },
277
+ "fridgefrenchdoor_left_group_1": {
278
+ "cls": "FridgeFrenchDoor"
279
+ },
280
+ "fridgefrenchdoor_housing_left_group_1": {
281
+ "cls": "HousingCabinet"
282
+ },
283
+ "oven_cabinet_left_group_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "hingecabinet_3_left_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "microwave_housing_left_group_1": {
290
+ "cls": "HousingCabinet"
291
+ },
292
+ "top_left_group_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "island_1_island_group_1": {
296
+ "cls": "Counter"
297
+ },
298
+ "island_2_island_group_1": {
299
+ "cls": "Counter"
300
+ },
301
+ "island_3_island_group_1": {
302
+ "cls": "Counter"
303
+ },
304
+ "stove_island_group_1": {
305
+ "cls": "Stove"
306
+ },
307
+ "stove_hood_island_group_1": {
308
+ "cls": "Hood"
309
+ },
310
+ "stack_06_island_group_1_base": {
311
+ "cls": "Box"
312
+ },
313
+ "stack_06_island_group_1_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "stack_06_island_group_1_2": {
317
+ "cls": "Drawer"
318
+ },
319
+ "stack_07_island_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_07_island_group_1_1": {
323
+ "cls": "Drawer"
324
+ },
325
+ "stack_07_island_group_1_2": {
326
+ "cls": "Drawer"
327
+ },
328
+ "stack_07_island_group_1_3": {
329
+ "cls": "Drawer"
330
+ },
331
+ "cube_1_island_group_1": {
332
+ "cls": "Box"
333
+ },
334
+ "cube_2_island_group_1": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_08_island_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_08_island_group_1_1": {
341
+ "cls": "SingleCabinet"
342
+ },
343
+ "cube_16_island_group_1": {
344
+ "cls": "Box"
345
+ }
346
+ },
347
+ "gen_textures": {},
348
+ "lang": "Add the cupcake to the tupperware that contains the kebab skewer.",
349
+ "fixture_refs": {
350
+ "counter": "island_2_island_group_1"
351
+ },
352
+ "cam_configs": {
353
+ "robot0_agentview_center": {
354
+ "pos": [
355
+ -0.6,
356
+ 0.0,
357
+ 1.15
358
+ ],
359
+ "quat": [
360
+ 0.636945903301239,
361
+ 0.3325185477733612,
362
+ -0.3199238181114197,
363
+ -0.6175596117973328
364
+ ],
365
+ "parent_body": "mobilebase0_support"
366
+ },
367
+ "robot0_agentview_left": {
368
+ "pos": [
369
+ -0.5,
370
+ 0.35,
371
+ 1.05
372
+ ],
373
+ "quat": [
374
+ 0.55623853,
375
+ 0.29935253,
376
+ -0.37678665,
377
+ -0.6775092
378
+ ],
379
+ "camera_attribs": {
380
+ "fovy": "60"
381
+ },
382
+ "parent_body": "mobilebase0_support"
383
+ },
384
+ "robot0_agentview_right": {
385
+ "pos": [
386
+ -0.5,
387
+ -0.35,
388
+ 1.05
389
+ ],
390
+ "quat": [
391
+ 0.6775091886520386,
392
+ 0.3767866790294647,
393
+ -0.2993525564670563,
394
+ -0.55623859167099
395
+ ],
396
+ "camera_attribs": {
397
+ "fovy": "60"
398
+ },
399
+ "parent_body": "mobilebase0_support"
400
+ },
401
+ "robot0_frontview": {
402
+ "pos": [
403
+ -0.5,
404
+ 0,
405
+ 0.95
406
+ ],
407
+ "quat": [
408
+ 0.6088936924934387,
409
+ 0.3814677894115448,
410
+ -0.3673907518386841,
411
+ -0.5905545353889465
412
+ ],
413
+ "camera_attribs": {
414
+ "fovy": "60"
415
+ },
416
+ "parent_body": "mobilebase0_support"
417
+ },
418
+ "robot0_eye_in_hand": {
419
+ "pos": [
420
+ 0.05,
421
+ 0,
422
+ 0
423
+ ],
424
+ "quat": [
425
+ 0,
426
+ 0.707107,
427
+ 0.707107,
428
+ 0
429
+ ],
430
+ "parent_body": "robot0_right_hand"
431
+ }
432
+ },
433
+ "init_robot_base_pos": [
434
+ 2.686767289945316,
435
+ -2.1662594400106854,
436
+ 0.0
437
+ ],
438
+ "init_robot_base_ori": [
439
+ 0.0,
440
+ 0.0,
441
+ 4.7122376720160215
442
+ ]
443
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000053/ep_meta.json ADDED
@@ -0,0 +1,533 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 35,
3
+ "style_id": 28,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "counter_1_right_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 0.7162871665009941,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 0.988406416749503,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_1"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "hot_dog",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "hot_dog",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "counter_1_right_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "cupcake",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "cupcake",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_17/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 0.7162871665009941,
130
+ 0.65
131
+ ],
132
+ "offset": [
133
+ 0.988406416749503,
134
+ -3.469446951953614e-17,
135
+ 0.46
136
+ ],
137
+ "name": "geom_1"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_left_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_left_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_main_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_main_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_right_1_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_right_1_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_main_2_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_main_2_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_right_2_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_right_2_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
+ "floor_1_room": {
179
+ "cls": "Floor"
180
+ },
181
+ "floor_1_backing_room": {
182
+ "cls": "Floor"
183
+ },
184
+ "wallaccessory_room": {
185
+ "cls": "WallAccessory"
186
+ },
187
+ "wallaccessory.002_room": {
188
+ "cls": "WallAccessory"
189
+ },
190
+ "wallaccessory.003_room": {
191
+ "cls": "WallAccessory"
192
+ },
193
+ "stool_3_room": {
194
+ "cls": "Stool"
195
+ },
196
+ "stool_2_room": {
197
+ "cls": "Stool"
198
+ },
199
+ "stool_1_room": {
200
+ "cls": "Stool"
201
+ },
202
+ "counter_1_main_group_1": {
203
+ "cls": "Counter"
204
+ },
205
+ "counter_corner_1_main_group_1": {
206
+ "cls": "Counter"
207
+ },
208
+ "hingecabinet_1_main_group_1": {
209
+ "cls": "HingeCabinet"
210
+ },
211
+ "box_1_main_group_1": {
212
+ "cls": "Box"
213
+ },
214
+ "hingecabinet_2_main_group_1": {
215
+ "cls": "HingeCabinet"
216
+ },
217
+ "stack_1_main_group_1_base": {
218
+ "cls": "Box"
219
+ },
220
+ "stack_1_main_group_1_1": {
221
+ "cls": "Drawer"
222
+ },
223
+ "stack_1_main_group_1_2": {
224
+ "cls": "Drawer"
225
+ },
226
+ "stack_1_main_group_1_3": {
227
+ "cls": "Drawer"
228
+ },
229
+ "stack_2_main_group_1_base": {
230
+ "cls": "Box"
231
+ },
232
+ "stack_2_main_group_1_1": {
233
+ "cls": "SingleCabinet"
234
+ },
235
+ "fridgefrenchdoor_main_group_1": {
236
+ "cls": "FridgeFrenchDoor"
237
+ },
238
+ "fridgefrenchdoor_housing_main_group_1": {
239
+ "cls": "HousingCabinet"
240
+ },
241
+ "knifeblock_main_group_1": {
242
+ "cls": "Accessory"
243
+ },
244
+ "paper_towel_main_group_1": {
245
+ "cls": "Accessory"
246
+ },
247
+ "toaster_main_group_1": {
248
+ "cls": "Toaster"
249
+ },
250
+ "sink_right_group_1": {
251
+ "cls": "Sink"
252
+ },
253
+ "counter_1_right_group_1": {
254
+ "cls": "Counter"
255
+ },
256
+ "counter_2_right_group_1": {
257
+ "cls": "Counter"
258
+ },
259
+ "singlecabinet_1_right_group_1": {
260
+ "cls": "SingleCabinet"
261
+ },
262
+ "cube_2_right_group_1": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_3_right_group_1_base": {
266
+ "cls": "Box"
267
+ },
268
+ "stack_3_right_group_1_1": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_3_right_group_1_2": {
272
+ "cls": "Drawer"
273
+ },
274
+ "stack_3_right_group_1_3": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_1_right_group_1_base": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_1_right_group_1_1": {
281
+ "cls": "SingleCabinet"
282
+ },
283
+ "cube_1_right_group_1": {
284
+ "cls": "Box"
285
+ },
286
+ "stack_2_right_group_1_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_2_right_group_1_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "stack_2_right_group_1_2": {
293
+ "cls": "PanelCabinet"
294
+ },
295
+ "dishwasher_1_right_group_1": {
296
+ "cls": "Dishwasher"
297
+ },
298
+ "cube_3_right_group_1": {
299
+ "cls": "Box"
300
+ },
301
+ "stovetop_left_group_1": {
302
+ "cls": "Stovetop"
303
+ },
304
+ "counter_1_left_group_1": {
305
+ "cls": "Counter"
306
+ },
307
+ "hingecabinet_3_left_group_1": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "hingecabinet_2_left_group_1": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "hingecabinet_1_left_group_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "bottom_left_group_1_base": {
317
+ "cls": "Box"
318
+ },
319
+ "bottom_left_group_1_1": {
320
+ "cls": "Drawer"
321
+ },
322
+ "oven_left_group_1": {
323
+ "cls": "Oven"
324
+ },
325
+ "oven_housing_left_group_1": {
326
+ "cls": "HousingCabinet"
327
+ },
328
+ "microwave_left_group_1": {
329
+ "cls": "Microwave"
330
+ },
331
+ "microwave_housing_left_group_1": {
332
+ "cls": "HousingCabinet"
333
+ },
334
+ "top_left_group_1": {
335
+ "cls": "HingeCabinet"
336
+ },
337
+ "stack_1_left_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_1_left_group_1_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "stack_1_left_group_1_2": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_2_left_group_1_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_2_left_group_1_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_2_left_group_1_2": {
353
+ "cls": "PanelCabinet"
354
+ },
355
+ "stack_3_left_group_1_base": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_3_left_group_1_1": {
359
+ "cls": "HingeCabinet"
360
+ },
361
+ "stack_3_left_group_1_2": {
362
+ "cls": "Drawer"
363
+ },
364
+ "coffeemachine_left_group_1": {
365
+ "cls": "CoffeeMachine"
366
+ },
367
+ "toaster_oven_left_group_1": {
368
+ "cls": "ToasterOven"
369
+ },
370
+ "counter_1_island_group": {
371
+ "cls": "Counter"
372
+ },
373
+ "stack_2_island_group_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_2_island_group_1": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_2_island_group_2": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_1_island_group_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_1_island_group_1": {
386
+ "cls": "SingleCabinet"
387
+ },
388
+ "stack_3_island_group_base": {
389
+ "cls": "Box"
390
+ },
391
+ "stack_3_island_group_1": {
392
+ "cls": "SingleCabinet"
393
+ },
394
+ "plant_island_group": {
395
+ "cls": "Accessory"
396
+ },
397
+ "stack_2_dining_area_group_base": {
398
+ "cls": "Box"
399
+ },
400
+ "stack_2_dining_area_group_1": {
401
+ "cls": "HingeCabinet"
402
+ },
403
+ "stack_2_dining_area_group_2": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_4_dining_area_group_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_4_dining_area_group_1": {
410
+ "cls": "SingleCabinet"
411
+ },
412
+ "stack_1_dining_area_group_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_1_dining_area_group_1": {
416
+ "cls": "SingleCabinet"
417
+ },
418
+ "stack_3_dining_area_group_base": {
419
+ "cls": "Box"
420
+ },
421
+ "stack_3_dining_area_group_1": {
422
+ "cls": "HingeCabinet"
423
+ },
424
+ "stack_3_dining_area_group_2": {
425
+ "cls": "Drawer"
426
+ },
427
+ "stool_3_stool_group_1": {
428
+ "cls": "Stool"
429
+ },
430
+ "stool_2_stool_group_1": {
431
+ "cls": "Stool"
432
+ },
433
+ "stool_1_stool_group_1": {
434
+ "cls": "Stool"
435
+ }
436
+ },
437
+ "gen_textures": {},
438
+ "lang": "Add the cupcake to the tupperware that contains the hot dog.",
439
+ "fixture_refs": {
440
+ "counter": "counter_1_right_group_1"
441
+ },
442
+ "cam_configs": {
443
+ "robot0_agentview_center": {
444
+ "pos": [
445
+ -0.6,
446
+ 0.0,
447
+ 1.15
448
+ ],
449
+ "quat": [
450
+ 0.636945903301239,
451
+ 0.3325185477733612,
452
+ -0.3199238181114197,
453
+ -0.6175596117973328
454
+ ],
455
+ "parent_body": "mobilebase0_support"
456
+ },
457
+ "robot0_agentview_left": {
458
+ "pos": [
459
+ -0.5,
460
+ 0.35,
461
+ 1.05
462
+ ],
463
+ "quat": [
464
+ 0.55623853,
465
+ 0.29935253,
466
+ -0.37678665,
467
+ -0.6775092
468
+ ],
469
+ "camera_attribs": {
470
+ "fovy": "60"
471
+ },
472
+ "parent_body": "mobilebase0_support"
473
+ },
474
+ "robot0_agentview_right": {
475
+ "pos": [
476
+ -0.5,
477
+ -0.35,
478
+ 1.05
479
+ ],
480
+ "quat": [
481
+ 0.6775091886520386,
482
+ 0.3767866790294647,
483
+ -0.2993525564670563,
484
+ -0.55623859167099
485
+ ],
486
+ "camera_attribs": {
487
+ "fovy": "60"
488
+ },
489
+ "parent_body": "mobilebase0_support"
490
+ },
491
+ "robot0_frontview": {
492
+ "pos": [
493
+ -0.5,
494
+ 0,
495
+ 0.95
496
+ ],
497
+ "quat": [
498
+ 0.6088936924934387,
499
+ 0.3814677894115448,
500
+ -0.3673907518386841,
501
+ -0.5905545353889465
502
+ ],
503
+ "camera_attribs": {
504
+ "fovy": "60"
505
+ },
506
+ "parent_body": "mobilebase0_support"
507
+ },
508
+ "robot0_eye_in_hand": {
509
+ "pos": [
510
+ 0.05,
511
+ 0,
512
+ 0
513
+ ],
514
+ "quat": [
515
+ 0,
516
+ 0.707107,
517
+ 0.707107,
518
+ 0
519
+ ],
520
+ "parent_body": "robot0_right_hand"
521
+ }
522
+ },
523
+ "init_robot_base_pos": [
524
+ 4.505711254436453,
525
+ -3.005080538186685,
526
+ 0.0
527
+ ],
528
+ "init_robot_base_ori": [
529
+ 0.0,
530
+ 0.0,
531
+ 0.00030199704781619374
532
+ ]
533
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000060/ep_meta.json ADDED
@@ -0,0 +1,422 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 52,
3
+ "style_id": 55,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "counter_4_right_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.4106243019160478,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 0.42218784904197637,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "kebab_skewer",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "kebab_skewer",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer002/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "counter_4_right_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "cupcake",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "cupcake",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_14/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 1.4106243019160478,
130
+ 0.65
131
+ ],
132
+ "offset": [
133
+ 0.42218784904197637,
134
+ -3.469446951953614e-17,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_main_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_main_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_right_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_right_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_left_1_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_left_1_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_front_1.001_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_front_1.001_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_front_2.002_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_front_2.002_backing_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_front_3.003_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_front_3.003_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "floor_1_room": {
179
+ "cls": "Floor"
180
+ },
181
+ "floor_1_backing_room": {
182
+ "cls": "Floor"
183
+ },
184
+ "wallaccessory_4_room": {
185
+ "cls": "WallAccessory"
186
+ },
187
+ "wallaccessory_3_room": {
188
+ "cls": "WallAccessory"
189
+ },
190
+ "wallaccessory_2_room": {
191
+ "cls": "WallAccessory"
192
+ },
193
+ "cube_4_main_group_1": {
194
+ "cls": "Box"
195
+ },
196
+ "cube_5_main_group_1": {
197
+ "cls": "Box"
198
+ },
199
+ "hingecabinet_2_main_group_1": {
200
+ "cls": "HingeCabinet"
201
+ },
202
+ "singlecabinet_2_main_group_1": {
203
+ "cls": "SingleCabinet"
204
+ },
205
+ "hingecabinet_1_main_group_1": {
206
+ "cls": "HingeCabinet"
207
+ },
208
+ "counter_corner_1_main_group_1": {
209
+ "cls": "Counter"
210
+ },
211
+ "counter_corner_2_main_group_1": {
212
+ "cls": "Counter"
213
+ },
214
+ "counter_2_main_group_1": {
215
+ "cls": "Counter"
216
+ },
217
+ "counter_3_main_group_1": {
218
+ "cls": "Counter"
219
+ },
220
+ "stove_main_group_1": {
221
+ "cls": "Stove"
222
+ },
223
+ "stack_04_main_group_1_base": {
224
+ "cls": "Box"
225
+ },
226
+ "stack_04_main_group_1_1": {
227
+ "cls": "SingleCabinet"
228
+ },
229
+ "stack_03_main_group_1_base": {
230
+ "cls": "Box"
231
+ },
232
+ "stack_03_main_group_1_1": {
233
+ "cls": "SingleCabinet"
234
+ },
235
+ "coffee_machine_main_group_1": {
236
+ "cls": "CoffeeMachine"
237
+ },
238
+ "papertowel_main_group_1": {
239
+ "cls": "Accessory"
240
+ },
241
+ "hingecabinet_3_right_group_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "hingecabinet_4_right_group_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "hingecabinet_5_right_group_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "sink_right_group_1": {
251
+ "cls": "Sink"
252
+ },
253
+ "counter_4_right_group_1": {
254
+ "cls": "Counter"
255
+ },
256
+ "cube_1_right_group_1": {
257
+ "cls": "Box"
258
+ },
259
+ "stack_2_right_group_1_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_2_right_group_1_1": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "stack_2_right_group_1_2": {
266
+ "cls": "PanelCabinet"
267
+ },
268
+ "dishwasher_1_right_group_1": {
269
+ "cls": "Dishwasher"
270
+ },
271
+ "cube_2_right_group_1": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_01_right_group_1_base": {
275
+ "cls": "Box"
276
+ },
277
+ "stack_01_right_group_1_1": {
278
+ "cls": "Drawer"
279
+ },
280
+ "stack_01_right_group_1_2": {
281
+ "cls": "Drawer"
282
+ },
283
+ "stack_01_right_group_1_3": {
284
+ "cls": "Drawer"
285
+ },
286
+ "toaster_right_group_1": {
287
+ "cls": "Toaster"
288
+ },
289
+ "counter_1_left_group_1": {
290
+ "cls": "Counter"
291
+ },
292
+ "stack_05_left_group_1_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_05_left_group_1_1": {
296
+ "cls": "Drawer"
297
+ },
298
+ "stack_05_left_group_1_2": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_05_left_group_1_3": {
302
+ "cls": "Drawer"
303
+ },
304
+ "cube_1_left_group_1": {
305
+ "cls": "Box"
306
+ },
307
+ "fridgebottomfreezer_left_group_1": {
308
+ "cls": "FridgeBottomFreezer"
309
+ },
310
+ "fridgebottomfreezer_housing_left_group_1": {
311
+ "cls": "HousingCabinet"
312
+ },
313
+ "hingecabinet_5_left_group_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "singlecabinet_1_left_group_1": {
317
+ "cls": "SingleCabinet"
318
+ },
319
+ "microwave_left_group_1": {
320
+ "cls": "Microwave"
321
+ },
322
+ "cab_micro_left_group_1": {
323
+ "cls": "HingeCabinet"
324
+ }
325
+ },
326
+ "gen_textures": {},
327
+ "lang": "Add the cupcake to the tupperware that contains the kebab skewer.",
328
+ "fixture_refs": {
329
+ "counter": "counter_4_right_group_1"
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
+ 2.524108822439547,
414
+ -2.229095904416267,
415
+ 0.0
416
+ ],
417
+ "init_robot_base_ori": [
418
+ 0.0,
419
+ 0.0,
420
+ -1.8344647019441496e-05
421
+ ]
422
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000072/ep_meta.json ADDED
@@ -0,0 +1,506 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 16,
3
+ "style_id": 53,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "island_island_group",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 2.83,
51
+ 0.976
52
+ ],
53
+ "offset": [
54
+ 0.0,
55
+ 0.0,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "hot_dog",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "hot_dog",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "island_island_group",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "cupcake",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "cupcake",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_17/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 2.83,
130
+ 0.976
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_left_3_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_left_3_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_main_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_main_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_right_1_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_right_1_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_left_2_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_left_2_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_left_1_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_left_1_backing_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_left_4_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_4_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_left_5_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_left_5_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_3_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_3_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_2_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_right_2_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_right_4_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_right_4_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "floor_1_room": {
203
+ "cls": "Floor"
204
+ },
205
+ "floor_1_backing_room": {
206
+ "cls": "Floor"
207
+ },
208
+ "floor_2_room": {
209
+ "cls": "Floor"
210
+ },
211
+ "floor_2_backing_room": {
212
+ "cls": "Floor"
213
+ },
214
+ "wall_accessory_1_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "wall_accessory_2_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "wall_accessory_3_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "light_switch_1_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "light_switch_2_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "stool_1_room": {
230
+ "cls": "Stool"
231
+ },
232
+ "stool_2_room": {
233
+ "cls": "Stool"
234
+ },
235
+ "stool_3_room": {
236
+ "cls": "Stool"
237
+ },
238
+ "counter_1_main_group_1": {
239
+ "cls": "Counter"
240
+ },
241
+ "stove_main_group_1": {
242
+ "cls": "Stove"
243
+ },
244
+ "counter_corner_main_group_1": {
245
+ "cls": "Counter"
246
+ },
247
+ "stack_1_main_group_1_base": {
248
+ "cls": "Box"
249
+ },
250
+ "stack_1_main_group_1_1": {
251
+ "cls": "SingleCabinet"
252
+ },
253
+ "fridge_1_main_group_1": {
254
+ "cls": "FridgeFrenchDoor"
255
+ },
256
+ "fridge_1_housing_main_group_1": {
257
+ "cls": "HousingCabinet"
258
+ },
259
+ "fridge_top_main_group_1": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "cab_1_main_group_1": {
263
+ "cls": "SingleCabinet"
264
+ },
265
+ "cab_corner_main_group_1": {
266
+ "cls": "Box"
267
+ },
268
+ "microwave_main_group_1": {
269
+ "cls": "Microwave"
270
+ },
271
+ "cab_2_main_group_1": {
272
+ "cls": "HingeCabinet"
273
+ },
274
+ "cab_3_main_group_1": {
275
+ "cls": "SingleCabinet"
276
+ },
277
+ "paper_towel_main_group_1": {
278
+ "cls": "Accessory"
279
+ },
280
+ "sink_1_right_group_1": {
281
+ "cls": "Sink"
282
+ },
283
+ "counter_1_right_group_1": {
284
+ "cls": "Counter"
285
+ },
286
+ "box_1_right_group_1": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_1_right_group_1_base": {
290
+ "cls": "Box"
291
+ },
292
+ "stack_1_right_group_1_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "stack_1_right_group_1_2": {
296
+ "cls": "Drawer"
297
+ },
298
+ "stack_1_right_group_1_3": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_2_right_group_1_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_2_right_group_1_1": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "stack_2_right_group_1_2": {
308
+ "cls": "Drawer"
309
+ },
310
+ "stack_2_right_group_1_3": {
311
+ "cls": "Drawer"
312
+ },
313
+ "stack_3_right_group_1_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_3_right_group_1_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "stack_3_right_group_1_2": {
320
+ "cls": "PanelCabinet"
321
+ },
322
+ "stack_4_right_group_1_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_4_right_group_1_1": {
326
+ "cls": "HingeCabinet"
327
+ },
328
+ "stack_4_right_group_1_2": {
329
+ "cls": "Drawer"
330
+ },
331
+ "stack_4_right_group_1_3": {
332
+ "cls": "Drawer"
333
+ },
334
+ "stack_5_right_group_1_base": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_5_right_group_1_1": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "stack_5_right_group_1_2": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_5_right_group_1_3": {
344
+ "cls": "Drawer"
345
+ },
346
+ "dishwasher_right_group_1": {
347
+ "cls": "Dishwasher"
348
+ },
349
+ "panel_stack_right_group_1_base": {
350
+ "cls": "Box"
351
+ },
352
+ "panel_stack_right_group_1_1": {
353
+ "cls": "PanelCabinet"
354
+ },
355
+ "cab_1_right_group_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "cab_2_right_group_1": {
359
+ "cls": "HingeCabinet"
360
+ },
361
+ "coffee_machine_right_group_1": {
362
+ "cls": "CoffeeMachine"
363
+ },
364
+ "toaster_oven_right_group_1": {
365
+ "cls": "ToasterOven"
366
+ },
367
+ "toaster_right_group_1": {
368
+ "cls": "Toaster"
369
+ },
370
+ "island_island_group": {
371
+ "cls": "Counter"
372
+ },
373
+ "stack_1_island_group_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_1_island_group_1": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_1_island_group_2": {
380
+ "cls": "Drawer"
381
+ },
382
+ "box_1_island_group": {
383
+ "cls": "Box"
384
+ },
385
+ "box_2_island_group": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_2_island_group_base": {
389
+ "cls": "Box"
390
+ },
391
+ "stack_2_island_group_1": {
392
+ "cls": "Drawer"
393
+ },
394
+ "stack_2_island_group_2": {
395
+ "cls": "Drawer"
396
+ },
397
+ "stack_2_island_group_3": {
398
+ "cls": "Drawer"
399
+ },
400
+ "stack_3_island_group_base": {
401
+ "cls": "Box"
402
+ },
403
+ "stack_3_island_group_1": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_3_island_group_2": {
407
+ "cls": "Drawer"
408
+ }
409
+ },
410
+ "gen_textures": {},
411
+ "lang": "Add the cupcake to the tupperware that contains the hot dog.",
412
+ "fixture_refs": {
413
+ "counter": "island_island_group"
414
+ },
415
+ "cam_configs": {
416
+ "robot0_agentview_center": {
417
+ "pos": [
418
+ -0.6,
419
+ 0.0,
420
+ 1.15
421
+ ],
422
+ "quat": [
423
+ 0.636945903301239,
424
+ 0.3325185477733612,
425
+ -0.3199238181114197,
426
+ -0.6175596117973328
427
+ ],
428
+ "parent_body": "mobilebase0_support"
429
+ },
430
+ "robot0_agentview_left": {
431
+ "pos": [
432
+ -0.5,
433
+ 0.35,
434
+ 1.05
435
+ ],
436
+ "quat": [
437
+ 0.55623853,
438
+ 0.29935253,
439
+ -0.37678665,
440
+ -0.6775092
441
+ ],
442
+ "camera_attribs": {
443
+ "fovy": "60"
444
+ },
445
+ "parent_body": "mobilebase0_support"
446
+ },
447
+ "robot0_agentview_right": {
448
+ "pos": [
449
+ -0.5,
450
+ -0.35,
451
+ 1.05
452
+ ],
453
+ "quat": [
454
+ 0.6775091886520386,
455
+ 0.3767866790294647,
456
+ -0.2993525564670563,
457
+ -0.55623859167099
458
+ ],
459
+ "camera_attribs": {
460
+ "fovy": "60"
461
+ },
462
+ "parent_body": "mobilebase0_support"
463
+ },
464
+ "robot0_frontview": {
465
+ "pos": [
466
+ -0.5,
467
+ 0,
468
+ 0.95
469
+ ],
470
+ "quat": [
471
+ 0.6088936924934387,
472
+ 0.3814677894115448,
473
+ -0.3673907518386841,
474
+ -0.5905545353889465
475
+ ],
476
+ "camera_attribs": {
477
+ "fovy": "60"
478
+ },
479
+ "parent_body": "mobilebase0_support"
480
+ },
481
+ "robot0_eye_in_hand": {
482
+ "pos": [
483
+ 0.05,
484
+ 0,
485
+ 0
486
+ ],
487
+ "quat": [
488
+ 0,
489
+ 0.707107,
490
+ 0.707107,
491
+ 0
492
+ ],
493
+ "parent_body": "robot0_right_hand"
494
+ }
495
+ },
496
+ "init_robot_base_pos": [
497
+ 0.7904268687523585,
498
+ -3.7467826189483717,
499
+ 0.0
500
+ ],
501
+ "init_robot_base_ori": [
502
+ 0.0,
503
+ 0.0,
504
+ 3.14159245077386
505
+ ]
506
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000073/ep_meta.json ADDED
@@ -0,0 +1,533 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 35,
3
+ "style_id": 48,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "counter_1_island_group",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.8,
51
+ 1.3
52
+ ],
53
+ "offset": [
54
+ 0.0,
55
+ 0.0,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "kebab_skewer",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "kebab_skewer",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer001/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "counter_1_island_group",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "cupcake",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "cupcake",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_15/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 1.8,
130
+ 1.3
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_left_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_left_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_main_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_main_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_right_1_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_right_1_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_main_2_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_main_2_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_right_2_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_right_2_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
+ "floor_1_room": {
179
+ "cls": "Floor"
180
+ },
181
+ "floor_1_backing_room": {
182
+ "cls": "Floor"
183
+ },
184
+ "wallaccessory_room": {
185
+ "cls": "WallAccessory"
186
+ },
187
+ "wallaccessory.002_room": {
188
+ "cls": "WallAccessory"
189
+ },
190
+ "wallaccessory.003_room": {
191
+ "cls": "WallAccessory"
192
+ },
193
+ "stool_3_room": {
194
+ "cls": "Stool"
195
+ },
196
+ "stool_2_room": {
197
+ "cls": "Stool"
198
+ },
199
+ "stool_1_room": {
200
+ "cls": "Stool"
201
+ },
202
+ "counter_1_main_group_1": {
203
+ "cls": "Counter"
204
+ },
205
+ "counter_corner_1_main_group_1": {
206
+ "cls": "Counter"
207
+ },
208
+ "hingecabinet_1_main_group_1": {
209
+ "cls": "HingeCabinet"
210
+ },
211
+ "box_1_main_group_1": {
212
+ "cls": "Box"
213
+ },
214
+ "hingecabinet_2_main_group_1": {
215
+ "cls": "HingeCabinet"
216
+ },
217
+ "stack_1_main_group_1_base": {
218
+ "cls": "Box"
219
+ },
220
+ "stack_1_main_group_1_1": {
221
+ "cls": "Drawer"
222
+ },
223
+ "stack_1_main_group_1_2": {
224
+ "cls": "Drawer"
225
+ },
226
+ "stack_1_main_group_1_3": {
227
+ "cls": "Drawer"
228
+ },
229
+ "stack_2_main_group_1_base": {
230
+ "cls": "Box"
231
+ },
232
+ "stack_2_main_group_1_1": {
233
+ "cls": "SingleCabinet"
234
+ },
235
+ "fridgefrenchdoor_main_group_1": {
236
+ "cls": "FridgeFrenchDoor"
237
+ },
238
+ "fridgefrenchdoor_housing_main_group_1": {
239
+ "cls": "HousingCabinet"
240
+ },
241
+ "knifeblock_main_group_1": {
242
+ "cls": "Accessory"
243
+ },
244
+ "paper_towel_main_group_1": {
245
+ "cls": "Accessory"
246
+ },
247
+ "toaster_main_group_1": {
248
+ "cls": "Toaster"
249
+ },
250
+ "sink_right_group_1": {
251
+ "cls": "Sink"
252
+ },
253
+ "counter_1_right_group_1": {
254
+ "cls": "Counter"
255
+ },
256
+ "counter_2_right_group_1": {
257
+ "cls": "Counter"
258
+ },
259
+ "singlecabinet_1_right_group_1": {
260
+ "cls": "SingleCabinet"
261
+ },
262
+ "cube_2_right_group_1": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_3_right_group_1_base": {
266
+ "cls": "Box"
267
+ },
268
+ "stack_3_right_group_1_1": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_3_right_group_1_2": {
272
+ "cls": "Drawer"
273
+ },
274
+ "stack_3_right_group_1_3": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_1_right_group_1_base": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_1_right_group_1_1": {
281
+ "cls": "SingleCabinet"
282
+ },
283
+ "cube_1_right_group_1": {
284
+ "cls": "Box"
285
+ },
286
+ "stack_2_right_group_1_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_2_right_group_1_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "stack_2_right_group_1_2": {
293
+ "cls": "PanelCabinet"
294
+ },
295
+ "dishwasher_1_right_group_1": {
296
+ "cls": "Dishwasher"
297
+ },
298
+ "cube_3_right_group_1": {
299
+ "cls": "Box"
300
+ },
301
+ "stovetop_left_group_1": {
302
+ "cls": "Stovetop"
303
+ },
304
+ "counter_1_left_group_1": {
305
+ "cls": "Counter"
306
+ },
307
+ "hingecabinet_3_left_group_1": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "hingecabinet_2_left_group_1": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "hingecabinet_1_left_group_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "bottom_left_group_1_base": {
317
+ "cls": "Box"
318
+ },
319
+ "bottom_left_group_1_1": {
320
+ "cls": "Drawer"
321
+ },
322
+ "oven_left_group_1": {
323
+ "cls": "Oven"
324
+ },
325
+ "oven_housing_left_group_1": {
326
+ "cls": "HousingCabinet"
327
+ },
328
+ "microwave_left_group_1": {
329
+ "cls": "Microwave"
330
+ },
331
+ "microwave_housing_left_group_1": {
332
+ "cls": "HousingCabinet"
333
+ },
334
+ "top_left_group_1": {
335
+ "cls": "HingeCabinet"
336
+ },
337
+ "stack_1_left_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_1_left_group_1_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "stack_1_left_group_1_2": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_2_left_group_1_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_2_left_group_1_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_2_left_group_1_2": {
353
+ "cls": "PanelCabinet"
354
+ },
355
+ "stack_3_left_group_1_base": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_3_left_group_1_1": {
359
+ "cls": "HingeCabinet"
360
+ },
361
+ "stack_3_left_group_1_2": {
362
+ "cls": "Drawer"
363
+ },
364
+ "coffeemachine_left_group_1": {
365
+ "cls": "CoffeeMachine"
366
+ },
367
+ "toaster_oven_left_group_1": {
368
+ "cls": "ToasterOven"
369
+ },
370
+ "counter_1_island_group": {
371
+ "cls": "Counter"
372
+ },
373
+ "stack_2_island_group_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_2_island_group_1": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_2_island_group_2": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_1_island_group_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_1_island_group_1": {
386
+ "cls": "SingleCabinet"
387
+ },
388
+ "stack_3_island_group_base": {
389
+ "cls": "Box"
390
+ },
391
+ "stack_3_island_group_1": {
392
+ "cls": "SingleCabinet"
393
+ },
394
+ "plant_island_group": {
395
+ "cls": "Accessory"
396
+ },
397
+ "stack_2_dining_area_group_base": {
398
+ "cls": "Box"
399
+ },
400
+ "stack_2_dining_area_group_1": {
401
+ "cls": "HingeCabinet"
402
+ },
403
+ "stack_2_dining_area_group_2": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_4_dining_area_group_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_4_dining_area_group_1": {
410
+ "cls": "SingleCabinet"
411
+ },
412
+ "stack_1_dining_area_group_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_1_dining_area_group_1": {
416
+ "cls": "SingleCabinet"
417
+ },
418
+ "stack_3_dining_area_group_base": {
419
+ "cls": "Box"
420
+ },
421
+ "stack_3_dining_area_group_1": {
422
+ "cls": "HingeCabinet"
423
+ },
424
+ "stack_3_dining_area_group_2": {
425
+ "cls": "Drawer"
426
+ },
427
+ "stool_3_stool_group_1": {
428
+ "cls": "Stool"
429
+ },
430
+ "stool_2_stool_group_1": {
431
+ "cls": "Stool"
432
+ },
433
+ "stool_1_stool_group_1": {
434
+ "cls": "Stool"
435
+ }
436
+ },
437
+ "gen_textures": {},
438
+ "lang": "Add the cupcake to the tupperware that contains the kebab skewer.",
439
+ "fixture_refs": {
440
+ "counter": "counter_1_island_group"
441
+ },
442
+ "cam_configs": {
443
+ "robot0_agentview_center": {
444
+ "pos": [
445
+ -0.6,
446
+ 0.0,
447
+ 1.15
448
+ ],
449
+ "quat": [
450
+ 0.636945903301239,
451
+ 0.3325185477733612,
452
+ -0.3199238181114197,
453
+ -0.6175596117973328
454
+ ],
455
+ "parent_body": "mobilebase0_support"
456
+ },
457
+ "robot0_agentview_left": {
458
+ "pos": [
459
+ -0.5,
460
+ 0.35,
461
+ 1.05
462
+ ],
463
+ "quat": [
464
+ 0.55623853,
465
+ 0.29935253,
466
+ -0.37678665,
467
+ -0.6775092
468
+ ],
469
+ "camera_attribs": {
470
+ "fovy": "60"
471
+ },
472
+ "parent_body": "mobilebase0_support"
473
+ },
474
+ "robot0_agentview_right": {
475
+ "pos": [
476
+ -0.5,
477
+ -0.35,
478
+ 1.05
479
+ ],
480
+ "quat": [
481
+ 0.6775091886520386,
482
+ 0.3767866790294647,
483
+ -0.2993525564670563,
484
+ -0.55623859167099
485
+ ],
486
+ "camera_attribs": {
487
+ "fovy": "60"
488
+ },
489
+ "parent_body": "mobilebase0_support"
490
+ },
491
+ "robot0_frontview": {
492
+ "pos": [
493
+ -0.5,
494
+ 0,
495
+ 0.95
496
+ ],
497
+ "quat": [
498
+ 0.6088936924934387,
499
+ 0.3814677894115448,
500
+ -0.3673907518386841,
501
+ -0.5905545353889465
502
+ ],
503
+ "camera_attribs": {
504
+ "fovy": "60"
505
+ },
506
+ "parent_body": "mobilebase0_support"
507
+ },
508
+ "robot0_eye_in_hand": {
509
+ "pos": [
510
+ 0.05,
511
+ 0,
512
+ 0
513
+ ],
514
+ "quat": [
515
+ 0,
516
+ 0.707107,
517
+ 0.707107,
518
+ 0
519
+ ],
520
+ "parent_body": "robot0_right_hand"
521
+ }
522
+ },
523
+ "init_robot_base_pos": [
524
+ 1.8303798025007123,
525
+ -3.118950242210026,
526
+ 0.0
527
+ ],
528
+ "init_robot_base_ori": [
529
+ 0.0,
530
+ 0.0,
531
+ -4.7153339388650295e-07
532
+ ]
533
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000074/ep_meta.json ADDED
@@ -0,0 +1,548 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 15,
3
+ "style_id": 19,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "counter_1_left_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 0.8054613596487915,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ -0.8972693201756043,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "kebab_skewer",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "kebab_skewer",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer001/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "counter_1_left_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "marshmallow",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "marshmallow",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 0.8054613596487915,
130
+ 0.65
131
+ ],
132
+ "offset": [
133
+ -0.8972693201756043,
134
+ -3.469446951953614e-17,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_main_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_main_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_left_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_left_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_left_2_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_left_2_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_left_3_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_left_3_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_front_1_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_front_1_backing_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_right_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_right_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_right_2_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_right_2_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_front_2_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_front_2_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_main_2_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_main_2_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_left_4_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_left_4_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_left_5_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_left_5_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "floor_1_room": {
209
+ "cls": "Floor"
210
+ },
211
+ "floor_1_backing_room": {
212
+ "cls": "Floor"
213
+ },
214
+ "floor_2_room": {
215
+ "cls": "Floor"
216
+ },
217
+ "floor_2_backing_room": {
218
+ "cls": "Floor"
219
+ },
220
+ "floor_3_room": {
221
+ "cls": "Floor"
222
+ },
223
+ "floor_3_backing_room": {
224
+ "cls": "Floor"
225
+ },
226
+ "wall_accessory_1_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "wall_accessory_2_room": {
230
+ "cls": "WallAccessory"
231
+ },
232
+ "wall_accessory_3_room": {
233
+ "cls": "WallAccessory"
234
+ },
235
+ "light_switch_room": {
236
+ "cls": "WallAccessory"
237
+ },
238
+ "wall_accessory_4_room": {
239
+ "cls": "WallAccessory"
240
+ },
241
+ "wall_accessory_5_room": {
242
+ "cls": "WallAccessory"
243
+ },
244
+ "wall_accessory_6_room": {
245
+ "cls": "WallAccessory"
246
+ },
247
+ "stool_1_room": {
248
+ "cls": "Stool"
249
+ },
250
+ "stool_2_room": {
251
+ "cls": "Stool"
252
+ },
253
+ "stool_3_room": {
254
+ "cls": "Stool"
255
+ },
256
+ "fridge_1_main_group_1": {
257
+ "cls": "FridgeFrenchDoor"
258
+ },
259
+ "fridge_1_housing_main_group_1": {
260
+ "cls": "HousingCabinet"
261
+ },
262
+ "fridge_top_main_group_1": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "bottom_main_group_1_base": {
266
+ "cls": "Box"
267
+ },
268
+ "bottom_main_group_1_1": {
269
+ "cls": "Drawer"
270
+ },
271
+ "oven_main_group_1": {
272
+ "cls": "Oven"
273
+ },
274
+ "oven_housing_main_group_1": {
275
+ "cls": "HousingCabinet"
276
+ },
277
+ "microwave_main_group_1": {
278
+ "cls": "Microwave"
279
+ },
280
+ "microwave_housing_main_group_1": {
281
+ "cls": "HousingCabinet"
282
+ },
283
+ "top_main_group_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "counter_1_main_group_1": {
287
+ "cls": "Counter"
288
+ },
289
+ "stack_1_main_group_1_base": {
290
+ "cls": "Box"
291
+ },
292
+ "stack_1_main_group_1_1": {
293
+ "cls": "Drawer"
294
+ },
295
+ "stack_1_main_group_1_2": {
296
+ "cls": "Drawer"
297
+ },
298
+ "stack_1_main_group_1_3": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_2_main_group_1_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_2_main_group_1_1": {
305
+ "cls": "SingleCabinet"
306
+ },
307
+ "stack_2_main_group_1_2": {
308
+ "cls": "Drawer"
309
+ },
310
+ "cab_1_main_group_1": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "toaster_main_group_1": {
314
+ "cls": "Toaster"
315
+ },
316
+ "stovetop_1_left_group_1": {
317
+ "cls": "Stovetop"
318
+ },
319
+ "counter_1_left_group_1": {
320
+ "cls": "Counter"
321
+ },
322
+ "stack_1_left_group_1_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_1_left_group_1_1": {
326
+ "cls": "HingeCabinet"
327
+ },
328
+ "stack_1_left_group_1_2": {
329
+ "cls": "PanelCabinet"
330
+ },
331
+ "stack_2_left_group_1_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_2_left_group_1_1": {
335
+ "cls": "HingeCabinet"
336
+ },
337
+ "stack_2_left_group_1_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_3_left_group_1_base": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_3_left_group_1_1": {
344
+ "cls": "HingeCabinet"
345
+ },
346
+ "stack_3_left_group_1_2": {
347
+ "cls": "Drawer"
348
+ },
349
+ "hood_left_group_1": {
350
+ "cls": "Hood"
351
+ },
352
+ "cab_1_left_group_1": {
353
+ "cls": "HingeCabinet"
354
+ },
355
+ "cab_2_left_group_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "coffee_machine_left_group_1": {
359
+ "cls": "CoffeeMachine"
360
+ },
361
+ "counter_1_front_group_1": {
362
+ "cls": "Counter"
363
+ },
364
+ "stack_1_front_group_1_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_1_front_group_1_1": {
368
+ "cls": "HingeCabinet"
369
+ },
370
+ "stack_1_front_group_1_2": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_2_front_group_1_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_2_front_group_1_1": {
377
+ "cls": "HingeCabinet"
378
+ },
379
+ "stack_2_front_group_1_2": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_3_front_group_1_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_3_front_group_1_1": {
386
+ "cls": "HingeCabinet"
387
+ },
388
+ "stack_3_front_group_1_2": {
389
+ "cls": "Drawer"
390
+ },
391
+ "cab_1_front_group_1": {
392
+ "cls": "HingeCabinet"
393
+ },
394
+ "cab_2_front_group_1": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "cab_3_front_group_1": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "toaster_oven_front_group_1": {
401
+ "cls": "ToasterOven"
402
+ },
403
+ "sink_island_group": {
404
+ "cls": "Sink"
405
+ },
406
+ "island_island_group": {
407
+ "cls": "Counter"
408
+ },
409
+ "panel_stack_island_group_base": {
410
+ "cls": "Box"
411
+ },
412
+ "panel_stack_island_group_1": {
413
+ "cls": "PanelCabinet"
414
+ },
415
+ "dishwasher_island_group": {
416
+ "cls": "Dishwasher"
417
+ },
418
+ "box_island_group": {
419
+ "cls": "Box"
420
+ },
421
+ "stack_1_island_group_base": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_1_island_group_1": {
425
+ "cls": "HingeCabinet"
426
+ },
427
+ "stack_1_island_group_2": {
428
+ "cls": "PanelCabinet"
429
+ },
430
+ "stack_2_island_group_base": {
431
+ "cls": "Box"
432
+ },
433
+ "stack_2_island_group_1": {
434
+ "cls": "HingeCabinet"
435
+ },
436
+ "stack_2_island_group_2": {
437
+ "cls": "Drawer"
438
+ },
439
+ "stack_2_island_group_3": {
440
+ "cls": "Drawer"
441
+ },
442
+ "stack_3_island_group_base": {
443
+ "cls": "Box"
444
+ },
445
+ "stack_3_island_group_1": {
446
+ "cls": "PanelCabinet"
447
+ },
448
+ "paper_towel_island_group": {
449
+ "cls": "Accessory"
450
+ }
451
+ },
452
+ "gen_textures": {},
453
+ "lang": "Add the marshmallow to the tupperware that contains the kebab skewer.",
454
+ "fixture_refs": {
455
+ "counter": "counter_1_left_group_1"
456
+ },
457
+ "cam_configs": {
458
+ "robot0_agentview_center": {
459
+ "pos": [
460
+ -0.6,
461
+ 0.0,
462
+ 1.15
463
+ ],
464
+ "quat": [
465
+ 0.636945903301239,
466
+ 0.3325185477733612,
467
+ -0.3199238181114197,
468
+ -0.6175596117973328
469
+ ],
470
+ "parent_body": "mobilebase0_support"
471
+ },
472
+ "robot0_agentview_left": {
473
+ "pos": [
474
+ -0.5,
475
+ 0.35,
476
+ 1.05
477
+ ],
478
+ "quat": [
479
+ 0.55623853,
480
+ 0.29935253,
481
+ -0.37678665,
482
+ -0.6775092
483
+ ],
484
+ "camera_attribs": {
485
+ "fovy": "60"
486
+ },
487
+ "parent_body": "mobilebase0_support"
488
+ },
489
+ "robot0_agentview_right": {
490
+ "pos": [
491
+ -0.5,
492
+ -0.35,
493
+ 1.05
494
+ ],
495
+ "quat": [
496
+ 0.6775091886520386,
497
+ 0.3767866790294647,
498
+ -0.2993525564670563,
499
+ -0.55623859167099
500
+ ],
501
+ "camera_attribs": {
502
+ "fovy": "60"
503
+ },
504
+ "parent_body": "mobilebase0_support"
505
+ },
506
+ "robot0_frontview": {
507
+ "pos": [
508
+ -0.5,
509
+ 0,
510
+ 0.95
511
+ ],
512
+ "quat": [
513
+ 0.6088936924934387,
514
+ 0.3814677894115448,
515
+ -0.3673907518386841,
516
+ -0.5905545353889465
517
+ ],
518
+ "camera_attribs": {
519
+ "fovy": "60"
520
+ },
521
+ "parent_body": "mobilebase0_support"
522
+ },
523
+ "robot0_eye_in_hand": {
524
+ "pos": [
525
+ 0.05,
526
+ 0,
527
+ 0
528
+ ],
529
+ "quat": [
530
+ 0,
531
+ 0.707107,
532
+ 0.707107,
533
+ 0
534
+ ],
535
+ "parent_body": "robot0_right_hand"
536
+ }
537
+ },
538
+ "init_robot_base_pos": [
539
+ 0.8058837813824056,
540
+ -3.95017329759755,
541
+ 0.0
542
+ ],
543
+ "init_robot_base_ori": [
544
+ 0.0,
545
+ 0.0,
546
+ 3.1415926193612504
547
+ ]
548
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000076/ep_meta.json ADDED
@@ -0,0 +1,500 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 50,
3
+ "style_id": 30,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.4529292460768133,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ -0.7910178769615934,
55
+ -3.469446951953614e-17,
56
+ 0.4600005
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "hot_dog",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "hot_dog",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "counter_1_main_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "cake",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "cake",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_0/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 1.4529292460768133,
130
+ 0.65
131
+ ],
132
+ "offset": [
133
+ -0.7910178769615934,
134
+ -3.469446951953614e-17,
135
+ 0.4600005
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_main_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_main_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_right_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_right_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_left_1_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_left_1_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_main_2_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_main_2_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_left_2_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_left_2_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_3.001_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_3.001_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "floor_1_room": {
185
+ "cls": "Floor"
186
+ },
187
+ "floor_1_backing_room": {
188
+ "cls": "Floor"
189
+ },
190
+ "floor_2_room": {
191
+ "cls": "Floor"
192
+ },
193
+ "floor_2_backing_room": {
194
+ "cls": "Floor"
195
+ },
196
+ "window_group_1_room": {
197
+ "cls": "Window"
198
+ },
199
+ "window_group_2_room": {
200
+ "cls": "Window"
201
+ },
202
+ "window_group_3_room": {
203
+ "cls": "Window"
204
+ },
205
+ "sink_main_group_1": {
206
+ "cls": "Sink"
207
+ },
208
+ "counter_1_main_group_1": {
209
+ "cls": "Counter"
210
+ },
211
+ "counter_corner_1_main_group_1": {
212
+ "cls": "Counter"
213
+ },
214
+ "stack_02_main_group_1_base": {
215
+ "cls": "Box"
216
+ },
217
+ "stack_02_main_group_1_1": {
218
+ "cls": "HingeCabinet"
219
+ },
220
+ "stack_02_main_group_1_2": {
221
+ "cls": "PanelCabinet"
222
+ },
223
+ "stack_01_main_group_1_base": {
224
+ "cls": "Box"
225
+ },
226
+ "stack_01_main_group_1_1": {
227
+ "cls": "SingleCabinet"
228
+ },
229
+ "stack_01_main_group_1_2": {
230
+ "cls": "Drawer"
231
+ },
232
+ "stack_03_main_group_1_base": {
233
+ "cls": "Box"
234
+ },
235
+ "stack_03_main_group_1_1": {
236
+ "cls": "SingleCabinet"
237
+ },
238
+ "stack_03_main_group_1_2": {
239
+ "cls": "Drawer"
240
+ },
241
+ "cube_09_main_group_1": {
242
+ "cls": "Box"
243
+ },
244
+ "dishwasher_1_main_group_1": {
245
+ "cls": "Dishwasher"
246
+ },
247
+ "papertowel_main_group_1": {
248
+ "cls": "Accessory"
249
+ },
250
+ "island_island_group_1": {
251
+ "cls": "Counter"
252
+ },
253
+ "cube_01_island_group_1": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_10_island_group_1_base": {
257
+ "cls": "Box"
258
+ },
259
+ "stack_10_island_group_1_1": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "stack_10_island_group_1_2": {
263
+ "cls": "Drawer"
264
+ },
265
+ "cube_07_island_group_1": {
266
+ "cls": "Box"
267
+ },
268
+ "cube_08_island_group_1": {
269
+ "cls": "Box"
270
+ },
271
+ "plant_island_group_1": {
272
+ "cls": "Accessory"
273
+ },
274
+ "hingecabinet_5_left_group_1": {
275
+ "cls": "HingeCabinet"
276
+ },
277
+ "counter_2_left_group_1": {
278
+ "cls": "Counter"
279
+ },
280
+ "stack_13_left_group_1_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_13_left_group_1_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "stack_13_left_group_1_2": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_12_left_group_1_base": {
290
+ "cls": "Box"
291
+ },
292
+ "stack_12_left_group_1_1": {
293
+ "cls": "SingleCabinet"
294
+ },
295
+ "stack_12_left_group_1_2": {
296
+ "cls": "Drawer"
297
+ },
298
+ "fridgefrenchdoor_left_group_1": {
299
+ "cls": "FridgeFrenchDoor"
300
+ },
301
+ "fridgefrenchdoor_housing_left_group_1": {
302
+ "cls": "HousingCabinet"
303
+ },
304
+ "bottom_left_group_1_base": {
305
+ "cls": "Box"
306
+ },
307
+ "bottom_left_group_1_1": {
308
+ "cls": "Drawer"
309
+ },
310
+ "microwave_left_group_1": {
311
+ "cls": "Microwave"
312
+ },
313
+ "oven_cabinet_left_group_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "hingecabinet_4_left_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "microwave_housing_left_group_1": {
320
+ "cls": "HousingCabinet"
321
+ },
322
+ "top_left_group_1": {
323
+ "cls": "HingeCabinet"
324
+ },
325
+ "toaster_oven_left_group_1": {
326
+ "cls": "ToasterOven"
327
+ },
328
+ "hingecabinet_2_right_group_1": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "hingecabinet_1_right_group_1": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "hingecabinet_3_right_group_1": {
335
+ "cls": "HingeCabinet"
336
+ },
337
+ "singlecabinet_1_right_group_1": {
338
+ "cls": "SingleCabinet"
339
+ },
340
+ "counter_4_right_group_1": {
341
+ "cls": "Counter"
342
+ },
343
+ "counter_3_right_group_1": {
344
+ "cls": "Counter"
345
+ },
346
+ "stove_right_group_1": {
347
+ "cls": "Stove"
348
+ },
349
+ "stove_hood_right_group_1": {
350
+ "cls": "Hood"
351
+ },
352
+ "stack_06_right_group_1_base": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_06_right_group_1_1": {
356
+ "cls": "SingleCabinet"
357
+ },
358
+ "stack_06_right_group_1_2": {
359
+ "cls": "Drawer"
360
+ },
361
+ "stack_04_right_group_1_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_04_right_group_1_1": {
365
+ "cls": "SingleCabinet"
366
+ },
367
+ "stack_04_right_group_1_2": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_05_right_group_1_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_05_right_group_1_1": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_05_right_group_1_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_05_right_group_1_3": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_07_right_group_1_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_07_right_group_1_1": {
386
+ "cls": "HingeCabinet"
387
+ },
388
+ "stack_07_right_group_1_2": {
389
+ "cls": "Drawer"
390
+ },
391
+ "cube_02_right_group_1": {
392
+ "cls": "Box"
393
+ },
394
+ "cube_11_right_group_1": {
395
+ "cls": "Box"
396
+ },
397
+ "coffee_machine_right_group_1": {
398
+ "cls": "CoffeeMachine"
399
+ },
400
+ "toaster_right_group_1": {
401
+ "cls": "Toaster"
402
+ }
403
+ },
404
+ "gen_textures": {},
405
+ "lang": "Add the cake to the tupperware that contains the hot dog.",
406
+ "fixture_refs": {
407
+ "counter": "counter_1_main_group_1"
408
+ },
409
+ "cam_configs": {
410
+ "robot0_agentview_center": {
411
+ "pos": [
412
+ -0.6,
413
+ 0.0,
414
+ 1.15
415
+ ],
416
+ "quat": [
417
+ 0.636945903301239,
418
+ 0.3325185477733612,
419
+ -0.3199238181114197,
420
+ -0.6175596117973328
421
+ ],
422
+ "parent_body": "mobilebase0_support"
423
+ },
424
+ "robot0_agentview_left": {
425
+ "pos": [
426
+ -0.5,
427
+ 0.35,
428
+ 1.05
429
+ ],
430
+ "quat": [
431
+ 0.55623853,
432
+ 0.29935253,
433
+ -0.37678665,
434
+ -0.6775092
435
+ ],
436
+ "camera_attribs": {
437
+ "fovy": "60"
438
+ },
439
+ "parent_body": "mobilebase0_support"
440
+ },
441
+ "robot0_agentview_right": {
442
+ "pos": [
443
+ -0.5,
444
+ -0.35,
445
+ 1.05
446
+ ],
447
+ "quat": [
448
+ 0.6775091886520386,
449
+ 0.3767866790294647,
450
+ -0.2993525564670563,
451
+ -0.55623859167099
452
+ ],
453
+ "camera_attribs": {
454
+ "fovy": "60"
455
+ },
456
+ "parent_body": "mobilebase0_support"
457
+ },
458
+ "robot0_frontview": {
459
+ "pos": [
460
+ -0.5,
461
+ 0,
462
+ 0.95
463
+ ],
464
+ "quat": [
465
+ 0.6088936924934387,
466
+ 0.3814677894115448,
467
+ -0.3673907518386841,
468
+ -0.5905545353889465
469
+ ],
470
+ "camera_attribs": {
471
+ "fovy": "60"
472
+ },
473
+ "parent_body": "mobilebase0_support"
474
+ },
475
+ "robot0_eye_in_hand": {
476
+ "pos": [
477
+ 0.05,
478
+ 0,
479
+ 0
480
+ ],
481
+ "quat": [
482
+ 0,
483
+ 0.707107,
484
+ 0.707107,
485
+ 0
486
+ ],
487
+ "parent_body": "robot0_right_hand"
488
+ }
489
+ },
490
+ "init_robot_base_pos": [
491
+ 3.220319668898217,
492
+ -0.7826903171086286,
493
+ 0.0
494
+ ],
495
+ "init_robot_base_ori": [
496
+ 0.0,
497
+ 0.0,
498
+ 1.5707959135307359
499
+ ]
500
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000084/ep_meta.json ADDED
@@ -0,0 +1,506 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 16,
3
+ "style_id": 32,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "island_island_group",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 2.83,
51
+ 0.976
52
+ ],
53
+ "offset": [
54
+ 0.0,
55
+ 0.0,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "kebab_skewer",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "kebab_skewer",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer003/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "island_island_group",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "marshmallow",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "marshmallow",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 2.83,
130
+ 0.976
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_left_3_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_left_3_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_main_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_main_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_right_1_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_right_1_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_left_2_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_left_2_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_left_1_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_left_1_backing_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_left_4_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_4_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_left_5_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_left_5_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_3_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_3_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_2_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_right_2_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_right_4_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_right_4_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "floor_1_room": {
203
+ "cls": "Floor"
204
+ },
205
+ "floor_1_backing_room": {
206
+ "cls": "Floor"
207
+ },
208
+ "floor_2_room": {
209
+ "cls": "Floor"
210
+ },
211
+ "floor_2_backing_room": {
212
+ "cls": "Floor"
213
+ },
214
+ "wall_accessory_1_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "wall_accessory_2_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "wall_accessory_3_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "light_switch_1_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "light_switch_2_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "stool_1_room": {
230
+ "cls": "Stool"
231
+ },
232
+ "stool_2_room": {
233
+ "cls": "Stool"
234
+ },
235
+ "stool_3_room": {
236
+ "cls": "Stool"
237
+ },
238
+ "counter_1_main_group_1": {
239
+ "cls": "Counter"
240
+ },
241
+ "stove_main_group_1": {
242
+ "cls": "Stove"
243
+ },
244
+ "counter_corner_main_group_1": {
245
+ "cls": "Counter"
246
+ },
247
+ "stack_1_main_group_1_base": {
248
+ "cls": "Box"
249
+ },
250
+ "stack_1_main_group_1_1": {
251
+ "cls": "SingleCabinet"
252
+ },
253
+ "fridge_1_main_group_1": {
254
+ "cls": "FridgeFrenchDoor"
255
+ },
256
+ "fridge_1_housing_main_group_1": {
257
+ "cls": "HousingCabinet"
258
+ },
259
+ "fridge_top_main_group_1": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "cab_1_main_group_1": {
263
+ "cls": "SingleCabinet"
264
+ },
265
+ "cab_corner_main_group_1": {
266
+ "cls": "Box"
267
+ },
268
+ "microwave_main_group_1": {
269
+ "cls": "Microwave"
270
+ },
271
+ "cab_2_main_group_1": {
272
+ "cls": "HingeCabinet"
273
+ },
274
+ "cab_3_main_group_1": {
275
+ "cls": "SingleCabinet"
276
+ },
277
+ "paper_towel_main_group_1": {
278
+ "cls": "Accessory"
279
+ },
280
+ "sink_1_right_group_1": {
281
+ "cls": "Sink"
282
+ },
283
+ "counter_1_right_group_1": {
284
+ "cls": "Counter"
285
+ },
286
+ "box_1_right_group_1": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_1_right_group_1_base": {
290
+ "cls": "Box"
291
+ },
292
+ "stack_1_right_group_1_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "stack_1_right_group_1_2": {
296
+ "cls": "Drawer"
297
+ },
298
+ "stack_1_right_group_1_3": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_2_right_group_1_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_2_right_group_1_1": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "stack_2_right_group_1_2": {
308
+ "cls": "Drawer"
309
+ },
310
+ "stack_2_right_group_1_3": {
311
+ "cls": "Drawer"
312
+ },
313
+ "stack_3_right_group_1_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_3_right_group_1_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "stack_3_right_group_1_2": {
320
+ "cls": "PanelCabinet"
321
+ },
322
+ "stack_4_right_group_1_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_4_right_group_1_1": {
326
+ "cls": "HingeCabinet"
327
+ },
328
+ "stack_4_right_group_1_2": {
329
+ "cls": "Drawer"
330
+ },
331
+ "stack_4_right_group_1_3": {
332
+ "cls": "Drawer"
333
+ },
334
+ "stack_5_right_group_1_base": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_5_right_group_1_1": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "stack_5_right_group_1_2": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_5_right_group_1_3": {
344
+ "cls": "Drawer"
345
+ },
346
+ "dishwasher_right_group_1": {
347
+ "cls": "Dishwasher"
348
+ },
349
+ "panel_stack_right_group_1_base": {
350
+ "cls": "Box"
351
+ },
352
+ "panel_stack_right_group_1_1": {
353
+ "cls": "PanelCabinet"
354
+ },
355
+ "cab_1_right_group_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "cab_2_right_group_1": {
359
+ "cls": "HingeCabinet"
360
+ },
361
+ "coffee_machine_right_group_1": {
362
+ "cls": "CoffeeMachine"
363
+ },
364
+ "toaster_oven_right_group_1": {
365
+ "cls": "ToasterOven"
366
+ },
367
+ "toaster_right_group_1": {
368
+ "cls": "Toaster"
369
+ },
370
+ "island_island_group": {
371
+ "cls": "Counter"
372
+ },
373
+ "stack_1_island_group_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_1_island_group_1": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_1_island_group_2": {
380
+ "cls": "Drawer"
381
+ },
382
+ "box_1_island_group": {
383
+ "cls": "Box"
384
+ },
385
+ "box_2_island_group": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_2_island_group_base": {
389
+ "cls": "Box"
390
+ },
391
+ "stack_2_island_group_1": {
392
+ "cls": "Drawer"
393
+ },
394
+ "stack_2_island_group_2": {
395
+ "cls": "Drawer"
396
+ },
397
+ "stack_2_island_group_3": {
398
+ "cls": "Drawer"
399
+ },
400
+ "stack_3_island_group_base": {
401
+ "cls": "Box"
402
+ },
403
+ "stack_3_island_group_1": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_3_island_group_2": {
407
+ "cls": "Drawer"
408
+ }
409
+ },
410
+ "gen_textures": {},
411
+ "lang": "Add the marshmallow to the tupperware that contains the kebab skewer.",
412
+ "fixture_refs": {
413
+ "counter": "island_island_group"
414
+ },
415
+ "cam_configs": {
416
+ "robot0_agentview_center": {
417
+ "pos": [
418
+ -0.6,
419
+ 0.0,
420
+ 1.15
421
+ ],
422
+ "quat": [
423
+ 0.636945903301239,
424
+ 0.3325185477733612,
425
+ -0.3199238181114197,
426
+ -0.6175596117973328
427
+ ],
428
+ "parent_body": "mobilebase0_support"
429
+ },
430
+ "robot0_agentview_left": {
431
+ "pos": [
432
+ -0.5,
433
+ 0.35,
434
+ 1.05
435
+ ],
436
+ "quat": [
437
+ 0.55623853,
438
+ 0.29935253,
439
+ -0.37678665,
440
+ -0.6775092
441
+ ],
442
+ "camera_attribs": {
443
+ "fovy": "60"
444
+ },
445
+ "parent_body": "mobilebase0_support"
446
+ },
447
+ "robot0_agentview_right": {
448
+ "pos": [
449
+ -0.5,
450
+ -0.35,
451
+ 1.05
452
+ ],
453
+ "quat": [
454
+ 0.6775091886520386,
455
+ 0.3767866790294647,
456
+ -0.2993525564670563,
457
+ -0.55623859167099
458
+ ],
459
+ "camera_attribs": {
460
+ "fovy": "60"
461
+ },
462
+ "parent_body": "mobilebase0_support"
463
+ },
464
+ "robot0_frontview": {
465
+ "pos": [
466
+ -0.5,
467
+ 0,
468
+ 0.95
469
+ ],
470
+ "quat": [
471
+ 0.6088936924934387,
472
+ 0.3814677894115448,
473
+ -0.3673907518386841,
474
+ -0.5905545353889465
475
+ ],
476
+ "camera_attribs": {
477
+ "fovy": "60"
478
+ },
479
+ "parent_body": "mobilebase0_support"
480
+ },
481
+ "robot0_eye_in_hand": {
482
+ "pos": [
483
+ 0.05,
484
+ 0,
485
+ 0
486
+ ],
487
+ "quat": [
488
+ 0,
489
+ 0.707107,
490
+ 0.707107,
491
+ 0
492
+ ],
493
+ "parent_body": "robot0_right_hand"
494
+ }
495
+ },
496
+ "init_robot_base_pos": [
497
+ 0.7943433494878759,
498
+ -3.6082491719574667,
499
+ 0.0
500
+ ],
501
+ "init_robot_base_ori": [
502
+ 0.0,
503
+ 0.0,
504
+ 3.14159245077386
505
+ ]
506
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000092/ep_meta.json ADDED
@@ -0,0 +1,443 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 58,
3
+ "style_id": 16,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "island_1_island_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware029/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 0.911602,
51
+ 0.911783
52
+ ],
53
+ "offset": [
54
+ 0.0,
55
+ 0.0,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "hot_dog",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "hot_dog",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "island_1_island_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "cake",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "cake",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_0/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 0.911602,
130
+ 0.911783
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_main_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_main_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_left_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_left_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "floor_1_room": {
155
+ "cls": "Floor"
156
+ },
157
+ "floor_1_backing_room": {
158
+ "cls": "Floor"
159
+ },
160
+ "wallaccessory_1_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "wallaccessory_2_room": {
164
+ "cls": "WallAccessory"
165
+ },
166
+ "wallaccessory_7_room": {
167
+ "cls": "WallAccessory"
168
+ },
169
+ "lightswitch_03_room": {
170
+ "cls": "WallAccessory"
171
+ },
172
+ "wallaccessory_3_room": {
173
+ "cls": "WallAccessory"
174
+ },
175
+ "lightswitch_01_room": {
176
+ "cls": "WallAccessory"
177
+ },
178
+ "lightswitch_02_room": {
179
+ "cls": "WallAccessory"
180
+ },
181
+ "window_group_1_room": {
182
+ "cls": "Window"
183
+ },
184
+ "window_group_2_room": {
185
+ "cls": "Window"
186
+ },
187
+ "window_group_3_room": {
188
+ "cls": "Window"
189
+ },
190
+ "stool_3_room": {
191
+ "cls": "Stool"
192
+ },
193
+ "stool_2_room": {
194
+ "cls": "Stool"
195
+ },
196
+ "stool_1_room": {
197
+ "cls": "Stool"
198
+ },
199
+ "sink_main_group_1": {
200
+ "cls": "Sink"
201
+ },
202
+ "counter_1_main_group_1": {
203
+ "cls": "Counter"
204
+ },
205
+ "hingecabinet_1_main_group_1": {
206
+ "cls": "HingeCabinet"
207
+ },
208
+ "singlecabinet_1_main_group_1": {
209
+ "cls": "SingleCabinet"
210
+ },
211
+ "singlecabinet_2_main_group_1": {
212
+ "cls": "SingleCabinet"
213
+ },
214
+ "hingecabinet_2_main_group_1": {
215
+ "cls": "HingeCabinet"
216
+ },
217
+ "cube_14_main_group_1": {
218
+ "cls": "Box"
219
+ },
220
+ "stack_04_main_group_1_base": {
221
+ "cls": "Box"
222
+ },
223
+ "stack_04_main_group_1_1": {
224
+ "cls": "HingeCabinet"
225
+ },
226
+ "stack_04_main_group_1_2": {
227
+ "cls": "Drawer"
228
+ },
229
+ "stack_03_main_group_1_base": {
230
+ "cls": "Box"
231
+ },
232
+ "stack_03_main_group_1_1": {
233
+ "cls": "SingleCabinet"
234
+ },
235
+ "stack_03_main_group_1_2": {
236
+ "cls": "Drawer"
237
+ },
238
+ "stack_02_main_group_1_base": {
239
+ "cls": "Box"
240
+ },
241
+ "stack_02_main_group_1_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "stack_02_main_group_1_2": {
245
+ "cls": "PanelCabinet"
246
+ },
247
+ "dishwasher_1_main_group_1": {
248
+ "cls": "Dishwasher"
249
+ },
250
+ "stack_01_main_group_1_base": {
251
+ "cls": "Box"
252
+ },
253
+ "stack_01_main_group_1_1": {
254
+ "cls": "HingeCabinet"
255
+ },
256
+ "cube_15_main_group_1": {
257
+ "cls": "Box"
258
+ },
259
+ "coffee_machine_main_group_1": {
260
+ "cls": "CoffeeMachine"
261
+ },
262
+ "paper_towel_main_group_1": {
263
+ "cls": "Accessory"
264
+ },
265
+ "toaster_main_group_1": {
266
+ "cls": "Toaster"
267
+ },
268
+ "bottom_left_group_1_base": {
269
+ "cls": "Box"
270
+ },
271
+ "bottom_left_group_1_1": {
272
+ "cls": "Drawer"
273
+ },
274
+ "microwave_left_group_1": {
275
+ "cls": "Microwave"
276
+ },
277
+ "fridgefrenchdoor_left_group_1": {
278
+ "cls": "FridgeFrenchDoor"
279
+ },
280
+ "fridgefrenchdoor_housing_left_group_1": {
281
+ "cls": "HousingCabinet"
282
+ },
283
+ "oven_cabinet_left_group_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "hingecabinet_3_left_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "microwave_housing_left_group_1": {
290
+ "cls": "HousingCabinet"
291
+ },
292
+ "top_left_group_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "island_1_island_group_1": {
296
+ "cls": "Counter"
297
+ },
298
+ "island_2_island_group_1": {
299
+ "cls": "Counter"
300
+ },
301
+ "island_3_island_group_1": {
302
+ "cls": "Counter"
303
+ },
304
+ "stove_island_group_1": {
305
+ "cls": "Stove"
306
+ },
307
+ "stove_hood_island_group_1": {
308
+ "cls": "Hood"
309
+ },
310
+ "stack_06_island_group_1_base": {
311
+ "cls": "Box"
312
+ },
313
+ "stack_06_island_group_1_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "stack_06_island_group_1_2": {
317
+ "cls": "Drawer"
318
+ },
319
+ "stack_07_island_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_07_island_group_1_1": {
323
+ "cls": "Drawer"
324
+ },
325
+ "stack_07_island_group_1_2": {
326
+ "cls": "Drawer"
327
+ },
328
+ "stack_07_island_group_1_3": {
329
+ "cls": "Drawer"
330
+ },
331
+ "cube_1_island_group_1": {
332
+ "cls": "Box"
333
+ },
334
+ "cube_2_island_group_1": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_08_island_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_08_island_group_1_1": {
341
+ "cls": "SingleCabinet"
342
+ },
343
+ "cube_16_island_group_1": {
344
+ "cls": "Box"
345
+ }
346
+ },
347
+ "gen_textures": {},
348
+ "lang": "Add the cake to the tupperware that contains the hot dog.",
349
+ "fixture_refs": {
350
+ "counter": "island_1_island_group_1"
351
+ },
352
+ "cam_configs": {
353
+ "robot0_agentview_center": {
354
+ "pos": [
355
+ -0.6,
356
+ 0.0,
357
+ 1.15
358
+ ],
359
+ "quat": [
360
+ 0.636945903301239,
361
+ 0.3325185477733612,
362
+ -0.3199238181114197,
363
+ -0.6175596117973328
364
+ ],
365
+ "parent_body": "mobilebase0_support"
366
+ },
367
+ "robot0_agentview_left": {
368
+ "pos": [
369
+ -0.5,
370
+ 0.35,
371
+ 1.05
372
+ ],
373
+ "quat": [
374
+ 0.55623853,
375
+ 0.29935253,
376
+ -0.37678665,
377
+ -0.6775092
378
+ ],
379
+ "camera_attribs": {
380
+ "fovy": "60"
381
+ },
382
+ "parent_body": "mobilebase0_support"
383
+ },
384
+ "robot0_agentview_right": {
385
+ "pos": [
386
+ -0.5,
387
+ -0.35,
388
+ 1.05
389
+ ],
390
+ "quat": [
391
+ 0.6775091886520386,
392
+ 0.3767866790294647,
393
+ -0.2993525564670563,
394
+ -0.55623859167099
395
+ ],
396
+ "camera_attribs": {
397
+ "fovy": "60"
398
+ },
399
+ "parent_body": "mobilebase0_support"
400
+ },
401
+ "robot0_frontview": {
402
+ "pos": [
403
+ -0.5,
404
+ 0,
405
+ 0.95
406
+ ],
407
+ "quat": [
408
+ 0.6088936924934387,
409
+ 0.3814677894115448,
410
+ -0.3673907518386841,
411
+ -0.5905545353889465
412
+ ],
413
+ "camera_attribs": {
414
+ "fovy": "60"
415
+ },
416
+ "parent_body": "mobilebase0_support"
417
+ },
418
+ "robot0_eye_in_hand": {
419
+ "pos": [
420
+ 0.05,
421
+ 0,
422
+ 0
423
+ ],
424
+ "quat": [
425
+ 0,
426
+ 0.707107,
427
+ 0.707107,
428
+ 0
429
+ ],
430
+ "parent_body": "robot0_right_hand"
431
+ }
432
+ },
433
+ "init_robot_base_pos": [
434
+ 4.310786385661936,
435
+ -2.1396487674656135,
436
+ 0.0
437
+ ],
438
+ "init_robot_base_ori": [
439
+ 0.0,
440
+ 0.0,
441
+ 4.7122376720160215
442
+ ]
443
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000100/ep_meta.json ADDED
@@ -0,0 +1,473 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 54,
3
+ "style_id": 37,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "island_island_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 3.290428,
51
+ 1.17
52
+ ],
53
+ "offset": [
54
+ 0.0,
55
+ 0.0,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "hot_dog",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "hot_dog",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "island_island_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "marshmallow",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "marshmallow",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 3.290428,
130
+ 1.17
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_right_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_right_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_main_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_main_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "floor_1_room": {
155
+ "cls": "Floor"
156
+ },
157
+ "floor_1_backing_room": {
158
+ "cls": "Floor"
159
+ },
160
+ "wallaccessory_2_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "wallaccessory_1_room": {
164
+ "cls": "WallAccessory"
165
+ },
166
+ "wallaccessory_3_room": {
167
+ "cls": "WallAccessory"
168
+ },
169
+ "wallaccessory_4_room": {
170
+ "cls": "WallAccessory"
171
+ },
172
+ "window_group_room": {
173
+ "cls": "Window"
174
+ },
175
+ "stool_1_room": {
176
+ "cls": "Stool"
177
+ },
178
+ "stool_2_room": {
179
+ "cls": "Stool"
180
+ },
181
+ "stool_3_room": {
182
+ "cls": "Stool"
183
+ },
184
+ "stool_4_room": {
185
+ "cls": "Stool"
186
+ },
187
+ "fridgefrenchdoor_main_group_1": {
188
+ "cls": "FridgeFrenchDoor"
189
+ },
190
+ "fridgefrenchdoor_housing_main_group_1": {
191
+ "cls": "HousingCabinet"
192
+ },
193
+ "bottom_main_group_1_base": {
194
+ "cls": "Box"
195
+ },
196
+ "bottom_main_group_1_1": {
197
+ "cls": "Drawer"
198
+ },
199
+ "microwave_main_group_1": {
200
+ "cls": "Microwave"
201
+ },
202
+ "oven_cabinet_main_group_1": {
203
+ "cls": "HingeCabinet"
204
+ },
205
+ "hingecabinet_4_main_group_1": {
206
+ "cls": "HingeCabinet"
207
+ },
208
+ "microwave_housing_main_group_1": {
209
+ "cls": "HousingCabinet"
210
+ },
211
+ "top_main_group_1": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "hingecabinet_1_main_group_1": {
215
+ "cls": "HingeCabinet"
216
+ },
217
+ "hingecabinet_3_main_group_1": {
218
+ "cls": "HingeCabinet"
219
+ },
220
+ "singlecabinet_2_main_group_1": {
221
+ "cls": "SingleCabinet"
222
+ },
223
+ "cube_1_main_group_1": {
224
+ "cls": "Box"
225
+ },
226
+ "counter_1_main_group_1": {
227
+ "cls": "Counter"
228
+ },
229
+ "counter_2_main_group_1": {
230
+ "cls": "Counter"
231
+ },
232
+ "counter_corner_1_main_group_1": {
233
+ "cls": "Counter"
234
+ },
235
+ "stove_main_group_1": {
236
+ "cls": "Stove"
237
+ },
238
+ "stove_hood_main_group_1": {
239
+ "cls": "Hood"
240
+ },
241
+ "stack_03_main_group_1_base": {
242
+ "cls": "Box"
243
+ },
244
+ "stack_03_main_group_1_1": {
245
+ "cls": "Drawer"
246
+ },
247
+ "stack_03_main_group_1_2": {
248
+ "cls": "Drawer"
249
+ },
250
+ "stack_03_main_group_1_3": {
251
+ "cls": "Drawer"
252
+ },
253
+ "stack_02_main_group_1_base": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_02_main_group_1_1": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "stack_02_main_group_1_2": {
260
+ "cls": "Drawer"
261
+ },
262
+ "stack_01_main_group_1_base": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_01_main_group_1_1": {
266
+ "cls": "SingleCabinet"
267
+ },
268
+ "papertowel_main_group_1": {
269
+ "cls": "Accessory"
270
+ },
271
+ "coffee_machine_main_group_1": {
272
+ "cls": "CoffeeMachine"
273
+ },
274
+ "toaster_oven_main_group_1": {
275
+ "cls": "ToasterOven"
276
+ },
277
+ "opencabinet_1_right_group_1": {
278
+ "cls": "OpenCabinet"
279
+ },
280
+ "cube_3_right_group_1": {
281
+ "cls": "Box"
282
+ },
283
+ "cube_4_right_group_1": {
284
+ "cls": "Box"
285
+ },
286
+ "hingecabinet_6_right_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "hingecabinet_5_right_group_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "sink_right_group_1": {
293
+ "cls": "Sink"
294
+ },
295
+ "counter_4_right_group_1": {
296
+ "cls": "Counter"
297
+ },
298
+ "stack_05_right_group_1_base": {
299
+ "cls": "Box"
300
+ },
301
+ "stack_05_right_group_1_1": {
302
+ "cls": "HingeCabinet"
303
+ },
304
+ "stack_05_right_group_1_2": {
305
+ "cls": "PanelCabinet"
306
+ },
307
+ "stack_04_right_group_1_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_04_right_group_1_1": {
311
+ "cls": "SingleCabinet"
312
+ },
313
+ "stack_06_right_group_1_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_06_right_group_1_1": {
317
+ "cls": "SingleCabinet"
318
+ },
319
+ "cube_2_right_group_1": {
320
+ "cls": "Box"
321
+ },
322
+ "cube_1_right_group_1": {
323
+ "cls": "Box"
324
+ },
325
+ "toaster_right_group_1": {
326
+ "cls": "Toaster"
327
+ },
328
+ "island_island_group_1": {
329
+ "cls": "Counter"
330
+ },
331
+ "stack_07_island_group_1_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_07_island_group_1_1": {
335
+ "cls": "SingleCabinet"
336
+ },
337
+ "stack_07_island_group_1_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_08_island_group_1_base": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_08_island_group_1_1": {
344
+ "cls": "HingeCabinet"
345
+ },
346
+ "stack_08_island_group_1_2": {
347
+ "cls": "Drawer"
348
+ },
349
+ "cube_3_island_group_1": {
350
+ "cls": "Box"
351
+ },
352
+ "cube_4_island_group_1": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_06_island_group_1_base": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_06_island_group_1_1": {
359
+ "cls": "SingleCabinet"
360
+ },
361
+ "stack_06_island_group_1_2": {
362
+ "cls": "Drawer"
363
+ },
364
+ "cube_1_island_group_1": {
365
+ "cls": "Box"
366
+ },
367
+ "cube_2_island_group_1": {
368
+ "cls": "Box"
369
+ },
370
+ "dishwasher_1_island_group_1": {
371
+ "cls": "Dishwasher"
372
+ },
373
+ "plant_island_group_1": {
374
+ "cls": "Accessory"
375
+ }
376
+ },
377
+ "gen_textures": {},
378
+ "lang": "Add the marshmallow to the tupperware that contains the hot dog.",
379
+ "fixture_refs": {
380
+ "counter": "island_island_group_1"
381
+ },
382
+ "cam_configs": {
383
+ "robot0_agentview_center": {
384
+ "pos": [
385
+ -0.6,
386
+ 0.0,
387
+ 1.15
388
+ ],
389
+ "quat": [
390
+ 0.636945903301239,
391
+ 0.3325185477733612,
392
+ -0.3199238181114197,
393
+ -0.6175596117973328
394
+ ],
395
+ "parent_body": "mobilebase0_support"
396
+ },
397
+ "robot0_agentview_left": {
398
+ "pos": [
399
+ -0.5,
400
+ 0.35,
401
+ 1.05
402
+ ],
403
+ "quat": [
404
+ 0.55623853,
405
+ 0.29935253,
406
+ -0.37678665,
407
+ -0.6775092
408
+ ],
409
+ "camera_attribs": {
410
+ "fovy": "60"
411
+ },
412
+ "parent_body": "mobilebase0_support"
413
+ },
414
+ "robot0_agentview_right": {
415
+ "pos": [
416
+ -0.5,
417
+ -0.35,
418
+ 1.05
419
+ ],
420
+ "quat": [
421
+ 0.6775091886520386,
422
+ 0.3767866790294647,
423
+ -0.2993525564670563,
424
+ -0.55623859167099
425
+ ],
426
+ "camera_attribs": {
427
+ "fovy": "60"
428
+ },
429
+ "parent_body": "mobilebase0_support"
430
+ },
431
+ "robot0_frontview": {
432
+ "pos": [
433
+ -0.5,
434
+ 0,
435
+ 0.95
436
+ ],
437
+ "quat": [
438
+ 0.6088936924934387,
439
+ 0.3814677894115448,
440
+ -0.3673907518386841,
441
+ -0.5905545353889465
442
+ ],
443
+ "camera_attribs": {
444
+ "fovy": "60"
445
+ },
446
+ "parent_body": "mobilebase0_support"
447
+ },
448
+ "robot0_eye_in_hand": {
449
+ "pos": [
450
+ 0.05,
451
+ 0,
452
+ 0
453
+ ],
454
+ "quat": [
455
+ 0,
456
+ 0.707107,
457
+ 0.707107,
458
+ 0
459
+ ],
460
+ "parent_body": "robot0_right_hand"
461
+ }
462
+ },
463
+ "init_robot_base_pos": [
464
+ 4.1133944679228325,
465
+ -3.0344203026750365,
466
+ 0.0
467
+ ],
468
+ "init_robot_base_ori": [
469
+ 0.0,
470
+ 0.0,
471
+ 4.712223637101589
472
+ ]
473
+ }
pretrain/atomic/PackDessert/20250806/lerobot/extras/episode_000107/ep_meta.json ADDED
@@ -0,0 +1,419 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 55,
3
+ "style_id": 44,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "cooked_food_container",
7
+ "obj_groups": "tupperware",
8
+ "placement": {
9
+ "fixture": "island_island_group_1",
10
+ "size": [
11
+ 0.5,
12
+ 0.5
13
+ ],
14
+ "pos": [
15
+ 0,
16
+ -1.0
17
+ ],
18
+ "try_to_place_in": "tupperware",
19
+ "try_to_place_in_kwargs": {
20
+ "object_scale": [
21
+ 2.5,
22
+ 2.5,
23
+ 1.25
24
+ ]
25
+ },
26
+ "rotation": 0
27
+ },
28
+ "type": "object",
29
+ "init_robot_here": true,
30
+ "object_scale": [
31
+ 2.5,
32
+ 2.5,
33
+ 1.25
34
+ ],
35
+ "info": {
36
+ "groups_containing_sampled_obj": [
37
+ "all",
38
+ "tupperware",
39
+ "receptacle"
40
+ ],
41
+ "groups": [
42
+ "tupperware"
43
+ ],
44
+ "cat": "tupperware",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware028/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 2.191411,
51
+ 1.16985
52
+ ],
53
+ "offset": [
54
+ 0.0,
55
+ 0.0,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "cooked_food",
63
+ "obj_groups": "cooked_food",
64
+ "init_robot_here": false,
65
+ "graspable": true,
66
+ "placement": {
67
+ "size": [
68
+ 0.01,
69
+ 0.01
70
+ ],
71
+ "ensure_object_boundary_in_range": false,
72
+ "sample_args": {
73
+ "reference": "cooked_food_container",
74
+ "on_top": true
75
+ }
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "kebab_skewer",
82
+ "cooked_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "cooked_food"
88
+ ],
89
+ "cat": "kebab_skewer",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer003/model.xml"
92
+ }
93
+ },
94
+ {
95
+ "name": "dessert",
96
+ "obj_groups": "sweets",
97
+ "exclude_obj_groups": "sugar_cube",
98
+ "graspable": true,
99
+ "placement": {
100
+ "fixture": "island_island_group_1",
101
+ "reuse_region_from": "cooked_food_container",
102
+ "size": [
103
+ 0.5,
104
+ 0.2
105
+ ],
106
+ "pos": [
107
+ 0,
108
+ -1.0
109
+ ]
110
+ },
111
+ "type": "object",
112
+ "info": {
113
+ "groups_containing_sampled_obj": [
114
+ "all",
115
+ "marshmallow",
116
+ "sweets",
117
+ "food",
118
+ "in_container"
119
+ ],
120
+ "groups": [
121
+ "sweets"
122
+ ],
123
+ "cat": "marshmallow",
124
+ "split": "train",
125
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml"
126
+ },
127
+ "reset_region": {
128
+ "size": [
129
+ 2.191411,
130
+ 1.16985
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.0,
135
+ 0.46
136
+ ],
137
+ "name": "geom_0"
138
+ }
139
+ }
140
+ ],
141
+ "fixtures": {
142
+ "wall_right_1_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_right_1_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_main_1_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_main_1_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "floor_1_room": {
155
+ "cls": "Floor"
156
+ },
157
+ "floor_1_backing_room": {
158
+ "cls": "Floor"
159
+ },
160
+ "wallaccessory_2_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "wallaccessory_1_room": {
164
+ "cls": "WallAccessory"
165
+ },
166
+ "lightswitch_01_room": {
167
+ "cls": "WallAccessory"
168
+ },
169
+ "lightswitch_02_room": {
170
+ "cls": "WallAccessory"
171
+ },
172
+ "wallaccessory_4_room": {
173
+ "cls": "WallAccessory"
174
+ },
175
+ "wallaccessory_3_room": {
176
+ "cls": "WallAccessory"
177
+ },
178
+ "window_group_1_room": {
179
+ "cls": "Window"
180
+ },
181
+ "stool_1_room": {
182
+ "cls": "Stool"
183
+ },
184
+ "stool_2_room": {
185
+ "cls": "Stool"
186
+ },
187
+ "stool_3_room": {
188
+ "cls": "Stool"
189
+ },
190
+ "fridgebottomfreezer_main_group_1": {
191
+ "cls": "FridgeBottomFreezer"
192
+ },
193
+ "fridgebottomfreezer_housing_main_group_1": {
194
+ "cls": "HousingCabinet"
195
+ },
196
+ "singlecabinet_1_main_group_1": {
197
+ "cls": "SingleCabinet"
198
+ },
199
+ "hingecabinet_1_main_group_1": {
200
+ "cls": "HingeCabinet"
201
+ },
202
+ "hingecabinet_2_main_group_1": {
203
+ "cls": "HingeCabinet"
204
+ },
205
+ "hingecabinet_3_main_group_1": {
206
+ "cls": "HingeCabinet"
207
+ },
208
+ "hingecabinet_4_main_group_1": {
209
+ "cls": "HingeCabinet"
210
+ },
211
+ "singlecabinet_2_main_group_1": {
212
+ "cls": "SingleCabinet"
213
+ },
214
+ "sink_main_group_1": {
215
+ "cls": "Sink"
216
+ },
217
+ "counter_1_main_group_1": {
218
+ "cls": "Counter"
219
+ },
220
+ "counter_2_main_group_1": {
221
+ "cls": "Counter"
222
+ },
223
+ "stove_main_group_1": {
224
+ "cls": "Stove"
225
+ },
226
+ "microwave_main_group_1": {
227
+ "cls": "Microwave"
228
+ },
229
+ "micro_cab_main_group_1": {
230
+ "cls": "HingeCabinet"
231
+ },
232
+ "stack_04_main_group_1_base": {
233
+ "cls": "Box"
234
+ },
235
+ "stack_04_main_group_1_1": {
236
+ "cls": "SingleCabinet"
237
+ },
238
+ "stack_04_main_group_1_2": {
239
+ "cls": "Drawer"
240
+ },
241
+ "stack_02_main_group_1_base": {
242
+ "cls": "Box"
243
+ },
244
+ "stack_02_main_group_1_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "stack_02_main_group_1_2": {
248
+ "cls": "PanelCabinet"
249
+ },
250
+ "dishwasher_1_main_group_1": {
251
+ "cls": "Dishwasher"
252
+ },
253
+ "stack_05_main_group_1_base": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_05_main_group_1_1": {
257
+ "cls": "SingleCabinet"
258
+ },
259
+ "stack_05_main_group_1_2": {
260
+ "cls": "Drawer"
261
+ },
262
+ "stack_01_main_group_1_base": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_01_main_group_1_1": {
266
+ "cls": "SingleCabinet"
267
+ },
268
+ "stack_01_main_group_1_2": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_03_main_group_1_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_03_main_group_1_1": {
275
+ "cls": "SingleCabinet"
276
+ },
277
+ "cube_14_main_group_1": {
278
+ "cls": "Box"
279
+ },
280
+ "cube_13_main_group_1": {
281
+ "cls": "Box"
282
+ },
283
+ "coffee_machine_main_group_1": {
284
+ "cls": "CoffeeMachine"
285
+ },
286
+ "toaster_main_group_1": {
287
+ "cls": "Toaster"
288
+ },
289
+ "island_island_group_1": {
290
+ "cls": "Counter"
291
+ },
292
+ "stack_06_island_group_1_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_06_island_group_1_1": {
296
+ "cls": "HingeCabinet"
297
+ },
298
+ "stack_06_island_group_1_2": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_07_island_group_1_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_07_island_group_1_1": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "stack_07_island_group_1_2": {
308
+ "cls": "Drawer"
309
+ },
310
+ "cube_1_island_group_1": {
311
+ "cls": "Box"
312
+ },
313
+ "cube_7_island_group_1": {
314
+ "cls": "Box"
315
+ },
316
+ "cube_8_island_group_1": {
317
+ "cls": "Box"
318
+ },
319
+ "paper_towel_island_group_1": {
320
+ "cls": "Accessory"
321
+ }
322
+ },
323
+ "gen_textures": {},
324
+ "lang": "Add the marshmallow to the tupperware that contains the kebab skewer.",
325
+ "fixture_refs": {
326
+ "counter": "island_island_group_1"
327
+ },
328
+ "cam_configs": {
329
+ "robot0_agentview_center": {
330
+ "pos": [
331
+ -0.6,
332
+ 0.0,
333
+ 1.15
334
+ ],
335
+ "quat": [
336
+ 0.636945903301239,
337
+ 0.3325185477733612,
338
+ -0.3199238181114197,
339
+ -0.6175596117973328
340
+ ],
341
+ "parent_body": "mobilebase0_support"
342
+ },
343
+ "robot0_agentview_left": {
344
+ "pos": [
345
+ -0.5,
346
+ 0.35,
347
+ 1.05
348
+ ],
349
+ "quat": [
350
+ 0.55623853,
351
+ 0.29935253,
352
+ -0.37678665,
353
+ -0.6775092
354
+ ],
355
+ "camera_attribs": {
356
+ "fovy": "60"
357
+ },
358
+ "parent_body": "mobilebase0_support"
359
+ },
360
+ "robot0_agentview_right": {
361
+ "pos": [
362
+ -0.5,
363
+ -0.35,
364
+ 1.05
365
+ ],
366
+ "quat": [
367
+ 0.6775091886520386,
368
+ 0.3767866790294647,
369
+ -0.2993525564670563,
370
+ -0.55623859167099
371
+ ],
372
+ "camera_attribs": {
373
+ "fovy": "60"
374
+ },
375
+ "parent_body": "mobilebase0_support"
376
+ },
377
+ "robot0_frontview": {
378
+ "pos": [
379
+ -0.5,
380
+ 0,
381
+ 0.95
382
+ ],
383
+ "quat": [
384
+ 0.6088936924934387,
385
+ 0.3814677894115448,
386
+ -0.3673907518386841,
387
+ -0.5905545353889465
388
+ ],
389
+ "camera_attribs": {
390
+ "fovy": "60"
391
+ },
392
+ "parent_body": "mobilebase0_support"
393
+ },
394
+ "robot0_eye_in_hand": {
395
+ "pos": [
396
+ 0.05,
397
+ 0,
398
+ 0
399
+ ],
400
+ "quat": [
401
+ 0,
402
+ 0.707107,
403
+ 0.707107,
404
+ 0
405
+ ],
406
+ "parent_body": "robot0_right_hand"
407
+ }
408
+ },
409
+ "init_robot_base_pos": [
410
+ 3.2306772890435194,
411
+ -2.281269752326968,
412
+ 0.0
413
+ ],
414
+ "init_robot_base_ori": [
415
+ 0.0,
416
+ 0.0,
417
+ 4.712223637101589
418
+ ]
419
+ }