Abhim03 commited on
Commit
4b2471d
·
verified ·
1 Parent(s): 35c087d

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000002/ep_meta.json +379 -0
  2. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000003/ep_meta.json +434 -0
  3. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000004/ep_meta.json +536 -0
  4. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000005/ep_meta.json +439 -0
  5. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000006/ep_meta.json +565 -0
  6. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000007/ep_meta.json +544 -0
  7. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000009/ep_meta.json +555 -0
  8. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000010/ep_meta.json +457 -0
  9. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000012/ep_meta.json +470 -0
  10. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000013/ep_meta.json +429 -0
  11. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000014/ep_meta.json +510 -0
  12. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000015/ep_meta.json +572 -0
  13. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000016/ep_meta.json +466 -0
  14. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000017/ep_meta.json +556 -0
  15. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000019/ep_meta.json +678 -0
  16. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000020/ep_meta.json +643 -0
  17. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000021/ep_meta.json +570 -0
  18. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000022/ep_meta.json +464 -0
  19. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000023/ep_meta.json +400 -0
  20. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000026/ep_meta.json +569 -0
  21. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000029/ep_meta.json +593 -0
  22. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000030/ep_meta.json +385 -0
  23. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000031/ep_meta.json +611 -0
  24. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000032/ep_meta.json +513 -0
  25. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000034/ep_meta.json +529 -0
  26. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000035/ep_meta.json +397 -0
  27. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000036/ep_meta.json +647 -0
  28. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000038/ep_meta.json +463 -0
  29. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000039/ep_meta.json +652 -0
  30. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000040/ep_meta.json +554 -0
  31. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000041/ep_meta.json +573 -0
  32. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000042/ep_meta.json +529 -0
  33. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000043/ep_meta.json +452 -0
  34. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000044/ep_meta.json +535 -0
  35. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000045/ep_meta.json +478 -0
  36. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000046/ep_meta.json +354 -0
  37. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000047/ep_meta.json +408 -0
  38. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000050/ep_meta.json +540 -0
  39. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000051/ep_meta.json +711 -0
  40. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000052/ep_meta.json +515 -0
  41. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000054/ep_meta.json +397 -0
  42. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000055/ep_meta.json +532 -0
  43. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000057/ep_meta.json +499 -0
  44. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000058/ep_meta.json +421 -0
  45. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000059/ep_meta.json +510 -0
  46. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000061/ep_meta.json +472 -0
  47. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000062/ep_meta.json +425 -0
  48. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000063/ep_meta.json +495 -0
  49. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000065/ep_meta.json +460 -0
  50. pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000066/ep_meta.json +438 -0
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000002/ep_meta.json ADDED
@@ -0,0 +1,379 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 55,
3
+ "style_id": 59,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_main_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.030919662499999997,
15
+ 0.030623749999999998,
16
+ 0.0290325
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "ice_cube",
37
+ "iced_item",
38
+ "in_container"
39
+ ],
40
+ "groups": [
41
+ "all"
42
+ ],
43
+ "cat": "ice_cube",
44
+ "split": "train",
45
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube003/model.xml"
46
+ },
47
+ "reset_region": {
48
+ "size": [
49
+ 1.269636157066536,
50
+ 0.65
51
+ ],
52
+ "offset": [
53
+ 0.4651819214667321,
54
+ -3.469446951953614e-17,
55
+ 0.46
56
+ ],
57
+ "name": "geom_0"
58
+ }
59
+ },
60
+ {
61
+ "name": "distr_sink",
62
+ "obj_groups": "all",
63
+ "washable": true,
64
+ "placement": {
65
+ "fixture": "sink_main_group_1",
66
+ "size": [
67
+ 0.3,
68
+ 0.4
69
+ ],
70
+ "pos": [
71
+ null,
72
+ -1.0
73
+ ]
74
+ },
75
+ "type": "object",
76
+ "info": {
77
+ "groups_containing_sampled_obj": [
78
+ "all",
79
+ "straw"
80
+ ],
81
+ "groups": [
82
+ "all"
83
+ ],
84
+ "cat": "straw",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw006/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "offset": [
90
+ 0.14958429767764436,
91
+ -0.03917140895965139,
92
+ -0.32494772197049476
93
+ ],
94
+ "size": [
95
+ 0.5236041967522179,
96
+ 0.4069583403710215
97
+ ],
98
+ "height": 0.2501962700343294,
99
+ "name": "basin"
100
+ }
101
+ }
102
+ ],
103
+ "fixtures": {
104
+ "wall_right_1_room": {
105
+ "cls": "Wall"
106
+ },
107
+ "wall_right_1_backing_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_main_1_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_main_1_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "floor_1_room": {
117
+ "cls": "Floor"
118
+ },
119
+ "floor_1_backing_room": {
120
+ "cls": "Floor"
121
+ },
122
+ "wallaccessory_2_room": {
123
+ "cls": "WallAccessory"
124
+ },
125
+ "wallaccessory_1_room": {
126
+ "cls": "WallAccessory"
127
+ },
128
+ "lightswitch_01_room": {
129
+ "cls": "WallAccessory"
130
+ },
131
+ "lightswitch_02_room": {
132
+ "cls": "WallAccessory"
133
+ },
134
+ "wallaccessory_4_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "wallaccessory_3_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "window_group_1_room": {
141
+ "cls": "Window"
142
+ },
143
+ "stool_1_room": {
144
+ "cls": "Stool"
145
+ },
146
+ "stool_2_room": {
147
+ "cls": "Stool"
148
+ },
149
+ "stool_3_room": {
150
+ "cls": "Stool"
151
+ },
152
+ "fridgebottomfreezer_main_group_1": {
153
+ "cls": "FridgeBottomFreezer"
154
+ },
155
+ "fridgebottomfreezer_housing_main_group_1": {
156
+ "cls": "HousingCabinet"
157
+ },
158
+ "singlecabinet_1_main_group_1": {
159
+ "cls": "SingleCabinet"
160
+ },
161
+ "hingecabinet_1_main_group_1": {
162
+ "cls": "HingeCabinet"
163
+ },
164
+ "hingecabinet_2_main_group_1": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "hingecabinet_3_main_group_1": {
168
+ "cls": "HingeCabinet"
169
+ },
170
+ "hingecabinet_4_main_group_1": {
171
+ "cls": "HingeCabinet"
172
+ },
173
+ "singlecabinet_2_main_group_1": {
174
+ "cls": "SingleCabinet"
175
+ },
176
+ "sink_main_group_1": {
177
+ "cls": "Sink"
178
+ },
179
+ "counter_1_main_group_1": {
180
+ "cls": "Counter"
181
+ },
182
+ "counter_2_main_group_1": {
183
+ "cls": "Counter"
184
+ },
185
+ "stove_main_group_1": {
186
+ "cls": "Stove"
187
+ },
188
+ "microwave_main_group_1": {
189
+ "cls": "Microwave"
190
+ },
191
+ "micro_cab_main_group_1": {
192
+ "cls": "HingeCabinet"
193
+ },
194
+ "stack_04_main_group_1_base": {
195
+ "cls": "Box"
196
+ },
197
+ "stack_04_main_group_1_1": {
198
+ "cls": "SingleCabinet"
199
+ },
200
+ "stack_04_main_group_1_2": {
201
+ "cls": "Drawer"
202
+ },
203
+ "stack_02_main_group_1_base": {
204
+ "cls": "Box"
205
+ },
206
+ "stack_02_main_group_1_1": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "stack_02_main_group_1_2": {
210
+ "cls": "PanelCabinet"
211
+ },
212
+ "dishwasher_1_main_group_1": {
213
+ "cls": "Dishwasher"
214
+ },
215
+ "stack_05_main_group_1_base": {
216
+ "cls": "Box"
217
+ },
218
+ "stack_05_main_group_1_1": {
219
+ "cls": "SingleCabinet"
220
+ },
221
+ "stack_05_main_group_1_2": {
222
+ "cls": "Drawer"
223
+ },
224
+ "stack_01_main_group_1_base": {
225
+ "cls": "Box"
226
+ },
227
+ "stack_01_main_group_1_1": {
228
+ "cls": "SingleCabinet"
229
+ },
230
+ "stack_01_main_group_1_2": {
231
+ "cls": "Drawer"
232
+ },
233
+ "stack_03_main_group_1_base": {
234
+ "cls": "Box"
235
+ },
236
+ "stack_03_main_group_1_1": {
237
+ "cls": "SingleCabinet"
238
+ },
239
+ "cube_14_main_group_1": {
240
+ "cls": "Box"
241
+ },
242
+ "cube_13_main_group_1": {
243
+ "cls": "Box"
244
+ },
245
+ "coffee_machine_main_group_1": {
246
+ "cls": "CoffeeMachine"
247
+ },
248
+ "toaster_main_group_1": {
249
+ "cls": "Toaster"
250
+ },
251
+ "island_island_group_1": {
252
+ "cls": "Counter"
253
+ },
254
+ "stack_06_island_group_1_base": {
255
+ "cls": "Box"
256
+ },
257
+ "stack_06_island_group_1_1": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "stack_06_island_group_1_2": {
261
+ "cls": "Drawer"
262
+ },
263
+ "stack_07_island_group_1_base": {
264
+ "cls": "Box"
265
+ },
266
+ "stack_07_island_group_1_1": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "stack_07_island_group_1_2": {
270
+ "cls": "Drawer"
271
+ },
272
+ "cube_1_island_group_1": {
273
+ "cls": "Box"
274
+ },
275
+ "cube_7_island_group_1": {
276
+ "cls": "Box"
277
+ },
278
+ "cube_8_island_group_1": {
279
+ "cls": "Box"
280
+ },
281
+ "paper_towel_island_group_1": {
282
+ "cls": "Accessory"
283
+ }
284
+ },
285
+ "gen_textures": {},
286
+ "lang": "Turn on the sink faucet.",
287
+ "fixture_refs": {},
288
+ "cam_configs": {
289
+ "robot0_agentview_center": {
290
+ "pos": [
291
+ -0.6,
292
+ 0.0,
293
+ 1.15
294
+ ],
295
+ "quat": [
296
+ 0.636945903301239,
297
+ 0.3325185477733612,
298
+ -0.3199238181114197,
299
+ -0.6175596117973328
300
+ ],
301
+ "parent_body": "mobilebase0_support"
302
+ },
303
+ "robot0_agentview_left": {
304
+ "pos": [
305
+ -0.5,
306
+ 0.35,
307
+ 1.05
308
+ ],
309
+ "quat": [
310
+ 0.55623853,
311
+ 0.29935253,
312
+ -0.37678665,
313
+ -0.6775092
314
+ ],
315
+ "camera_attribs": {
316
+ "fovy": "60"
317
+ },
318
+ "parent_body": "mobilebase0_support"
319
+ },
320
+ "robot0_agentview_right": {
321
+ "pos": [
322
+ -0.5,
323
+ -0.35,
324
+ 1.05
325
+ ],
326
+ "quat": [
327
+ 0.6775091886520386,
328
+ 0.3767866790294647,
329
+ -0.2993525564670563,
330
+ -0.55623859167099
331
+ ],
332
+ "camera_attribs": {
333
+ "fovy": "60"
334
+ },
335
+ "parent_body": "mobilebase0_support"
336
+ },
337
+ "robot0_frontview": {
338
+ "pos": [
339
+ -0.5,
340
+ 0,
341
+ 0.95
342
+ ],
343
+ "quat": [
344
+ 0.6088936924934387,
345
+ 0.3814677894115448,
346
+ -0.3673907518386841,
347
+ -0.5905545353889465
348
+ ],
349
+ "camera_attribs": {
350
+ "fovy": "60"
351
+ },
352
+ "parent_body": "mobilebase0_support"
353
+ },
354
+ "robot0_eye_in_hand": {
355
+ "pos": [
356
+ 0.05,
357
+ 0,
358
+ 0
359
+ ],
360
+ "quat": [
361
+ 0,
362
+ 0.707107,
363
+ 0.707107,
364
+ 0
365
+ ],
366
+ "parent_body": "robot0_right_hand"
367
+ }
368
+ },
369
+ "init_robot_base_pos": [
370
+ 4.2020903702655845,
371
+ -0.9041947070102705,
372
+ 0.0
373
+ ],
374
+ "init_robot_base_ori": [
375
+ 0.0,
376
+ 0.0,
377
+ 1.5706379572530664
378
+ ]
379
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000003/ep_meta.json ADDED
@@ -0,0 +1,434 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 37,
3
+ "style_id": 39,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "island_island_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_island_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.06501576,
15
+ 0.09139125000000001,
16
+ 0.022924430000000003
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "shrimp",
37
+ "meat",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "shrimp",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 0.6914243019160475,
51
+ 1.045
52
+ ],
53
+ "offset": [
54
+ -0.7842878490419761,
55
+ 2.0816681711721685e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_counter_1",
63
+ "obj_groups": "all",
64
+ "placement": {
65
+ "fixture": "island_island_group_1",
66
+ "sample_region_kwargs": {
67
+ "ref": "sink_island_group_1",
68
+ "loc": "left_right",
69
+ "min_size": [
70
+ 0.06381797500000003,
71
+ 0.06285560840000001,
72
+ 0.051404796300000014
73
+ ]
74
+ },
75
+ "size": [
76
+ 0.3,
77
+ 0.3
78
+ ],
79
+ "pos": [
80
+ "ref",
81
+ -1.0
82
+ ],
83
+ "offset": [
84
+ 0.0,
85
+ 0.1
86
+ ]
87
+ },
88
+ "type": "object",
89
+ "info": {
90
+ "groups_containing_sampled_obj": [
91
+ "all",
92
+ "tangerine",
93
+ "fruit",
94
+ "food",
95
+ "in_container"
96
+ ],
97
+ "groups": [
98
+ "all"
99
+ ],
100
+ "cat": "tangerine",
101
+ "split": "train",
102
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_0/model.xml"
103
+ },
104
+ "reset_region": {
105
+ "size": [
106
+ 0.7818243019160478,
107
+ 1.045
108
+ ],
109
+ "offset": [
110
+ 0.7390878490419763,
111
+ 2.0816681711721685e-17,
112
+ 0.46
113
+ ],
114
+ "name": "geom_1"
115
+ }
116
+ },
117
+ {
118
+ "name": "distr_sink",
119
+ "obj_groups": "all",
120
+ "washable": true,
121
+ "placement": {
122
+ "fixture": "sink_island_group_1",
123
+ "size": [
124
+ 0.3,
125
+ 0.4
126
+ ],
127
+ "pos": [
128
+ null,
129
+ -1.0
130
+ ]
131
+ },
132
+ "type": "object",
133
+ "info": {
134
+ "groups_containing_sampled_obj": [
135
+ "all",
136
+ "cucumber",
137
+ "vegetable",
138
+ "food",
139
+ "in_container",
140
+ "food_set1"
141
+ ],
142
+ "groups": [
143
+ "all"
144
+ ],
145
+ "cat": "cucumber",
146
+ "split": "train",
147
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml"
148
+ },
149
+ "reset_region": {
150
+ "offset": [
151
+ 0.21500250718720276,
152
+ -0.041432212610281516,
153
+ -0.22800612393871678
154
+ ],
155
+ "size": [
156
+ 0.28606758145866207,
157
+ 0.3676055948766946
158
+ ],
159
+ "height": 0.12750776516385834,
160
+ "name": "basin_right"
161
+ }
162
+ }
163
+ ],
164
+ "fixtures": {
165
+ "wall_main_1_room": {
166
+ "cls": "Wall"
167
+ },
168
+ "wall_main_1_backing_room": {
169
+ "cls": "Wall"
170
+ },
171
+ "wall_left_1_room": {
172
+ "cls": "Wall"
173
+ },
174
+ "wall_left_1_backing_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_main_2_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_main_2_backing_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_main_3_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_main_3_backing_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "floor_1_room": {
190
+ "cls": "Floor"
191
+ },
192
+ "floor_1_backing_room": {
193
+ "cls": "Floor"
194
+ },
195
+ "wallaccessory_1_room": {
196
+ "cls": "WallAccessory"
197
+ },
198
+ "wallaccessory_2_room": {
199
+ "cls": "WallAccessory"
200
+ },
201
+ "stool_1_room": {
202
+ "cls": "Stool"
203
+ },
204
+ "stool_2_room": {
205
+ "cls": "Stool"
206
+ },
207
+ "stool_3_room": {
208
+ "cls": "Stool"
209
+ },
210
+ "stovetop_left_group_1": {
211
+ "cls": "Stovetop"
212
+ },
213
+ "counter_1_left_group_1": {
214
+ "cls": "Counter"
215
+ },
216
+ "hingecabinet_2_left_group_1": {
217
+ "cls": "HingeCabinet"
218
+ },
219
+ "hingecabinet_1_left_group_1": {
220
+ "cls": "HingeCabinet"
221
+ },
222
+ "microwave_left_group_1": {
223
+ "cls": "Microwave"
224
+ },
225
+ "cab_micro_left_group_1": {
226
+ "cls": "HingeCabinet"
227
+ },
228
+ "cube_1_left_group_1": {
229
+ "cls": "Box"
230
+ },
231
+ "fridgefrenchdoor_left_group_1": {
232
+ "cls": "FridgeFrenchDoor"
233
+ },
234
+ "fridgefrenchdoor_housing_left_group_1": {
235
+ "cls": "HousingCabinet"
236
+ },
237
+ "bottom_left_group_1_base": {
238
+ "cls": "Box"
239
+ },
240
+ "bottom_left_group_1_1": {
241
+ "cls": "Drawer"
242
+ },
243
+ "oven_left_group_1": {
244
+ "cls": "Oven"
245
+ },
246
+ "oven_housing_left_group_1": {
247
+ "cls": "HousingCabinet"
248
+ },
249
+ "hingecabinet_3_left_group_1": {
250
+ "cls": "HingeCabinet"
251
+ },
252
+ "microwave_cabinet_left_group_1": {
253
+ "cls": "HingeCabinet"
254
+ },
255
+ "top_left_group_1": {
256
+ "cls": "HingeCabinet"
257
+ },
258
+ "stack_1_left_group_1_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_1_left_group_1_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "stack_1_left_group_1_2": {
265
+ "cls": "Drawer"
266
+ },
267
+ "stack_2_left_group_1_base": {
268
+ "cls": "Box"
269
+ },
270
+ "stack_2_left_group_1_1": {
271
+ "cls": "Drawer"
272
+ },
273
+ "stack_2_left_group_1_2": {
274
+ "cls": "Drawer"
275
+ },
276
+ "stack_2_left_group_1_3": {
277
+ "cls": "PanelCabinet"
278
+ },
279
+ "stack_3_left_group_1_base": {
280
+ "cls": "Box"
281
+ },
282
+ "stack_3_left_group_1_1": {
283
+ "cls": "HingeCabinet"
284
+ },
285
+ "stack_3_left_group_1_2": {
286
+ "cls": "Drawer"
287
+ },
288
+ "papertowel_left_group_1": {
289
+ "cls": "Accessory"
290
+ },
291
+ "coffee_machine_left_group_1": {
292
+ "cls": "CoffeeMachine"
293
+ },
294
+ "toaster_left_group_1": {
295
+ "cls": "Toaster"
296
+ },
297
+ "sink_island_group_1": {
298
+ "cls": "Sink"
299
+ },
300
+ "island_island_group_1": {
301
+ "cls": "Counter"
302
+ },
303
+ "cube_5_island_group_1": {
304
+ "cls": "Box"
305
+ },
306
+ "cube_1_island_group_1": {
307
+ "cls": "Box"
308
+ },
309
+ "cube_2_island_group_1": {
310
+ "cls": "Box"
311
+ },
312
+ "cube_3_island_group_1": {
313
+ "cls": "Box"
314
+ },
315
+ "cube_4_island_group_1": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_2_island_group_1_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_2_island_group_1_1": {
322
+ "cls": "SingleCabinet"
323
+ },
324
+ "stack_2_island_group_1_2": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_1_island_group_1_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_1_island_group_1_1": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "stack_1_island_group_1_2": {
334
+ "cls": "PanelCabinet"
335
+ },
336
+ "dishwasher_1_island_group_1": {
337
+ "cls": "Dishwasher"
338
+ }
339
+ },
340
+ "gen_textures": {},
341
+ "lang": "Turn on the sink faucet.",
342
+ "fixture_refs": {},
343
+ "cam_configs": {
344
+ "robot0_agentview_center": {
345
+ "pos": [
346
+ -0.6,
347
+ 0.0,
348
+ 1.15
349
+ ],
350
+ "quat": [
351
+ 0.636945903301239,
352
+ 0.3325185477733612,
353
+ -0.3199238181114197,
354
+ -0.6175596117973328
355
+ ],
356
+ "parent_body": "mobilebase0_support"
357
+ },
358
+ "robot0_agentview_left": {
359
+ "pos": [
360
+ -0.5,
361
+ 0.35,
362
+ 1.05
363
+ ],
364
+ "quat": [
365
+ 0.55623853,
366
+ 0.29935253,
367
+ -0.37678665,
368
+ -0.6775092
369
+ ],
370
+ "camera_attribs": {
371
+ "fovy": "60"
372
+ },
373
+ "parent_body": "mobilebase0_support"
374
+ },
375
+ "robot0_agentview_right": {
376
+ "pos": [
377
+ -0.5,
378
+ -0.35,
379
+ 1.05
380
+ ],
381
+ "quat": [
382
+ 0.6775091886520386,
383
+ 0.3767866790294647,
384
+ -0.2993525564670563,
385
+ -0.55623859167099
386
+ ],
387
+ "camera_attribs": {
388
+ "fovy": "60"
389
+ },
390
+ "parent_body": "mobilebase0_support"
391
+ },
392
+ "robot0_frontview": {
393
+ "pos": [
394
+ -0.5,
395
+ 0,
396
+ 0.95
397
+ ],
398
+ "quat": [
399
+ 0.6088936924934387,
400
+ 0.3814677894115448,
401
+ -0.3673907518386841,
402
+ -0.5905545353889465
403
+ ],
404
+ "camera_attribs": {
405
+ "fovy": "60"
406
+ },
407
+ "parent_body": "mobilebase0_support"
408
+ },
409
+ "robot0_eye_in_hand": {
410
+ "pos": [
411
+ 0.05,
412
+ 0,
413
+ 0
414
+ ],
415
+ "quat": [
416
+ 0,
417
+ 0.707107,
418
+ 0.707107,
419
+ 0
420
+ ],
421
+ "parent_body": "robot0_right_hand"
422
+ }
423
+ },
424
+ "init_robot_base_pos": [
425
+ 2.555172624286292,
426
+ -2.503933714061349,
427
+ 0.0
428
+ ],
429
+ "init_robot_base_ori": [
430
+ 0.0,
431
+ 0.0,
432
+ -4.7153339388650295e-07
433
+ ]
434
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000004/ep_meta.json ADDED
@@ -0,0 +1,536 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 12,
3
+ "style_id": 12,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_main_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.0481624,
15
+ 0.0483176,
16
+ 0.048868800000000004
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "cookie_dough_ball",
37
+ "sweets",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "cookie_dough_ball",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall001/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.2831315477734426,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ -1.2954342261132787,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_1"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_sink",
63
+ "obj_groups": "all",
64
+ "washable": true,
65
+ "placement": {
66
+ "fixture": "sink_1_main_group",
67
+ "size": [
68
+ 0.3,
69
+ 0.4
70
+ ],
71
+ "pos": [
72
+ null,
73
+ -1.0
74
+ ]
75
+ },
76
+ "type": "object",
77
+ "info": {
78
+ "groups_containing_sampled_obj": [
79
+ "all",
80
+ "straw"
81
+ ],
82
+ "groups": [
83
+ "all"
84
+ ],
85
+ "cat": "straw",
86
+ "split": "train",
87
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw006/model.xml"
88
+ },
89
+ "reset_region": {
90
+ "offset": [
91
+ 0.19388016231908867,
92
+ -0.002682803526246197,
93
+ -0.2138930795623537
94
+ ],
95
+ "size": [
96
+ 0.43329073200660473,
97
+ 0.41896811018702423
98
+ ],
99
+ "height": 0.17810293712910438,
100
+ "name": "basin_right"
101
+ }
102
+ }
103
+ ],
104
+ "fixtures": {
105
+ "wall_left_1_room": {
106
+ "cls": "Wall"
107
+ },
108
+ "wall_left_1_backing_room": {
109
+ "cls": "Wall"
110
+ },
111
+ "wall_main_1_room": {
112
+ "cls": "Wall"
113
+ },
114
+ "wall_main_1_backing_room": {
115
+ "cls": "Wall"
116
+ },
117
+ "wall_right_1_room": {
118
+ "cls": "Wall"
119
+ },
120
+ "wall_right_1_backing_room": {
121
+ "cls": "Wall"
122
+ },
123
+ "wall_right_2_room": {
124
+ "cls": "Wall"
125
+ },
126
+ "wall_right_2_backing_room": {
127
+ "cls": "Wall"
128
+ },
129
+ "wall_right_3_room": {
130
+ "cls": "Wall"
131
+ },
132
+ "wall_right_3_backing_room": {
133
+ "cls": "Wall"
134
+ },
135
+ "floor_1_room": {
136
+ "cls": "Floor"
137
+ },
138
+ "floor_1_backing_room": {
139
+ "cls": "Floor"
140
+ },
141
+ "wall_accessory_1_room": {
142
+ "cls": "WallAccessory"
143
+ },
144
+ "wall_accessory_2_room": {
145
+ "cls": "WallAccessory"
146
+ },
147
+ "wall_accessory_3_room": {
148
+ "cls": "WallAccessory"
149
+ },
150
+ "light_switch_1_room": {
151
+ "cls": "WallAccessory"
152
+ },
153
+ "wall_accessory_4_room": {
154
+ "cls": "WallAccessory"
155
+ },
156
+ "wall_accessory_5_room": {
157
+ "cls": "WallAccessory"
158
+ },
159
+ "window_group_room": {
160
+ "cls": "Window"
161
+ },
162
+ "stool_1_room": {
163
+ "cls": "Stool"
164
+ },
165
+ "stool_2_room": {
166
+ "cls": "Stool"
167
+ },
168
+ "stool_3_room": {
169
+ "cls": "Stool"
170
+ },
171
+ "stool_4_room": {
172
+ "cls": "Stool"
173
+ },
174
+ "stool_5_room": {
175
+ "cls": "Stool"
176
+ },
177
+ "stool_6_room": {
178
+ "cls": "Stool"
179
+ },
180
+ "counter_corner_1_main_group": {
181
+ "cls": "Counter"
182
+ },
183
+ "sink_1_main_group": {
184
+ "cls": "Sink"
185
+ },
186
+ "counter_1_main_group": {
187
+ "cls": "Counter"
188
+ },
189
+ "counter_corner_2_main_group": {
190
+ "cls": "Counter"
191
+ },
192
+ "box_1_main_group": {
193
+ "cls": "Box"
194
+ },
195
+ "stack_1_main_group_base": {
196
+ "cls": "Box"
197
+ },
198
+ "stack_1_main_group_1": {
199
+ "cls": "Drawer"
200
+ },
201
+ "stack_1_main_group_2": {
202
+ "cls": "Drawer"
203
+ },
204
+ "stack_1_main_group_3": {
205
+ "cls": "Drawer"
206
+ },
207
+ "stack_2_main_group_base": {
208
+ "cls": "Box"
209
+ },
210
+ "stack_2_main_group_1": {
211
+ "cls": "SingleCabinet"
212
+ },
213
+ "stack_2_main_group_2": {
214
+ "cls": "Drawer"
215
+ },
216
+ "stack_3_main_group_base": {
217
+ "cls": "Box"
218
+ },
219
+ "stack_3_main_group_1": {
220
+ "cls": "HingeCabinet"
221
+ },
222
+ "dishwasher_1_main_group": {
223
+ "cls": "Dishwasher"
224
+ },
225
+ "stack_4_main_group_base": {
226
+ "cls": "Box"
227
+ },
228
+ "stack_4_main_group_1": {
229
+ "cls": "SingleCabinet"
230
+ },
231
+ "stack_4_main_group_2": {
232
+ "cls": "Drawer"
233
+ },
234
+ "stack_5_main_group_base": {
235
+ "cls": "Box"
236
+ },
237
+ "stack_5_main_group_1": {
238
+ "cls": "SingleCabinet"
239
+ },
240
+ "box_2_main_group": {
241
+ "cls": "Box"
242
+ },
243
+ "top_corner_1_main_group": {
244
+ "cls": "Box"
245
+ },
246
+ "cab_1_main_group": {
247
+ "cls": "HingeCabinet"
248
+ },
249
+ "cab_2_main_group": {
250
+ "cls": "HingeCabinet"
251
+ },
252
+ "top_corner_2_main_group": {
253
+ "cls": "Box"
254
+ },
255
+ "paper_towel_main_group": {
256
+ "cls": "Accessory"
257
+ },
258
+ "coffee_machine_main_group": {
259
+ "cls": "CoffeeMachine"
260
+ },
261
+ "toaster_main_group": {
262
+ "cls": "Toaster"
263
+ },
264
+ "knife_block_main_group": {
265
+ "cls": "Accessory"
266
+ },
267
+ "stovetop_left_group": {
268
+ "cls": "Stovetop"
269
+ },
270
+ "counter_1_left_group": {
271
+ "cls": "Counter"
272
+ },
273
+ "box_1_left_group": {
274
+ "cls": "Box"
275
+ },
276
+ "stack_1_left_group_base": {
277
+ "cls": "Box"
278
+ },
279
+ "stack_1_left_group_1": {
280
+ "cls": "SingleCabinet"
281
+ },
282
+ "stack_2_left_group_base": {
283
+ "cls": "Box"
284
+ },
285
+ "stack_2_left_group_1": {
286
+ "cls": "Drawer"
287
+ },
288
+ "stack_2_left_group_2": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_2_left_group_3": {
292
+ "cls": "PanelCabinet"
293
+ },
294
+ "box_3_left_group": {
295
+ "cls": "Box"
296
+ },
297
+ "stack_3_left_group_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_3_left_group_1": {
301
+ "cls": "Drawer"
302
+ },
303
+ "stack_3_left_group_2": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_3_left_group_3": {
307
+ "cls": "Drawer"
308
+ },
309
+ "box_2_left_group": {
310
+ "cls": "Box"
311
+ },
312
+ "fridge_1_left_group": {
313
+ "cls": "FridgeFrenchDoor"
314
+ },
315
+ "fridge_1_housing_left_group": {
316
+ "cls": "HousingCabinet"
317
+ },
318
+ "hood_left_group": {
319
+ "cls": "Hood"
320
+ },
321
+ "cab_1_left_group": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "cab_2_left_group": {
325
+ "cls": "SingleCabinet"
326
+ },
327
+ "cab_3_left_group": {
328
+ "cls": "HingeCabinet"
329
+ },
330
+ "toaster_oven_left_group": {
331
+ "cls": "ToasterOven"
332
+ },
333
+ "bottom_right_group_1_base": {
334
+ "cls": "Box"
335
+ },
336
+ "bottom_right_group_1_1": {
337
+ "cls": "Drawer"
338
+ },
339
+ "oven_right_group_1": {
340
+ "cls": "Oven"
341
+ },
342
+ "oven_housing_right_group_1": {
343
+ "cls": "HousingCabinet"
344
+ },
345
+ "microwave_right_group_1": {
346
+ "cls": "Microwave"
347
+ },
348
+ "microwave_housing_right_group_1": {
349
+ "cls": "HousingCabinet"
350
+ },
351
+ "top_right_group_1": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "stack_1_right_group_1_base": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_1_right_group_1_1": {
358
+ "cls": "HingeCabinet"
359
+ },
360
+ "stack_2_right_group_1_base": {
361
+ "cls": "Box"
362
+ },
363
+ "stack_2_right_group_1_1": {
364
+ "cls": "PanelCabinet"
365
+ },
366
+ "box_right_group_1": {
367
+ "cls": "Box"
368
+ },
369
+ "stack_3_right_group_1_base": {
370
+ "cls": "Box"
371
+ },
372
+ "stack_3_right_group_1_1": {
373
+ "cls": "HingeCabinet"
374
+ },
375
+ "counter_1_right_group_1": {
376
+ "cls": "Counter"
377
+ },
378
+ "cab_1_right_group_1": {
379
+ "cls": "HingeCabinet"
380
+ },
381
+ "cab_2_right_group_1": {
382
+ "cls": "SingleCabinet"
383
+ },
384
+ "cab_3_right_group_1": {
385
+ "cls": "HingeCabinet"
386
+ },
387
+ "island_island_group": {
388
+ "cls": "Counter"
389
+ },
390
+ "panel_stack_1_island_group_base": {
391
+ "cls": "Box"
392
+ },
393
+ "panel_stack_1_island_group_1": {
394
+ "cls": "PanelCabinet"
395
+ },
396
+ "stack_1_island_group_base": {
397
+ "cls": "Box"
398
+ },
399
+ "stack_1_island_group_1": {
400
+ "cls": "HingeCabinet"
401
+ },
402
+ "stack_1_island_group_2": {
403
+ "cls": "Drawer"
404
+ },
405
+ "stack_2_island_group_base": {
406
+ "cls": "Box"
407
+ },
408
+ "stack_2_island_group_1": {
409
+ "cls": "HingeCabinet"
410
+ },
411
+ "stack_2_island_group_2": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_3_island_group_base": {
415
+ "cls": "Box"
416
+ },
417
+ "stack_3_island_group_1": {
418
+ "cls": "HingeCabinet"
419
+ },
420
+ "stack_3_island_group_2": {
421
+ "cls": "Drawer"
422
+ },
423
+ "stack_4_island_group_base": {
424
+ "cls": "Box"
425
+ },
426
+ "stack_4_island_group_1": {
427
+ "cls": "HingeCabinet"
428
+ },
429
+ "stack_4_island_group_2": {
430
+ "cls": "Drawer"
431
+ },
432
+ "panel_stack_2_island_group_base": {
433
+ "cls": "Box"
434
+ },
435
+ "panel_stack_2_island_group_1": {
436
+ "cls": "PanelCabinet"
437
+ },
438
+ "box_1_island_group": {
439
+ "cls": "Box"
440
+ }
441
+ },
442
+ "gen_textures": {},
443
+ "lang": "Turn on the sink faucet.",
444
+ "fixture_refs": {},
445
+ "cam_configs": {
446
+ "robot0_agentview_center": {
447
+ "pos": [
448
+ -0.6,
449
+ 0.0,
450
+ 1.15
451
+ ],
452
+ "quat": [
453
+ 0.636945903301239,
454
+ 0.3325185477733612,
455
+ -0.3199238181114197,
456
+ -0.6175596117973328
457
+ ],
458
+ "parent_body": "mobilebase0_support"
459
+ },
460
+ "robot0_agentview_left": {
461
+ "pos": [
462
+ -0.5,
463
+ 0.35,
464
+ 1.05
465
+ ],
466
+ "quat": [
467
+ 0.55623853,
468
+ 0.29935253,
469
+ -0.37678665,
470
+ -0.6775092
471
+ ],
472
+ "camera_attribs": {
473
+ "fovy": "60"
474
+ },
475
+ "parent_body": "mobilebase0_support"
476
+ },
477
+ "robot0_agentview_right": {
478
+ "pos": [
479
+ -0.5,
480
+ -0.35,
481
+ 1.05
482
+ ],
483
+ "quat": [
484
+ 0.6775091886520386,
485
+ 0.3767866790294647,
486
+ -0.2993525564670563,
487
+ -0.55623859167099
488
+ ],
489
+ "camera_attribs": {
490
+ "fovy": "60"
491
+ },
492
+ "parent_body": "mobilebase0_support"
493
+ },
494
+ "robot0_frontview": {
495
+ "pos": [
496
+ -0.5,
497
+ 0,
498
+ 0.95
499
+ ],
500
+ "quat": [
501
+ 0.6088936924934387,
502
+ 0.3814677894115448,
503
+ -0.3673907518386841,
504
+ -0.5905545353889465
505
+ ],
506
+ "camera_attribs": {
507
+ "fovy": "60"
508
+ },
509
+ "parent_body": "mobilebase0_support"
510
+ },
511
+ "robot0_eye_in_hand": {
512
+ "pos": [
513
+ 0.05,
514
+ 0,
515
+ 0
516
+ ],
517
+ "quat": [
518
+ 0,
519
+ 0.707107,
520
+ 0.707107,
521
+ 0
522
+ ],
523
+ "parent_body": "robot0_right_hand"
524
+ }
525
+ },
526
+ "init_robot_base_pos": [
527
+ 2.3594660274061705,
528
+ -0.7778154812123791,
529
+ 0.0
530
+ ],
531
+ "init_robot_base_ori": [
532
+ 0.0,
533
+ 0.0,
534
+ 1.5707963267948966
535
+ ]
536
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000005/ep_meta.json ADDED
@@ -0,0 +1,439 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 19,
3
+ "style_id": 51,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_left_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_left_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.06108814601999999,
15
+ 0.09900000197999997,
16
+ 0.019427373899999992
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "sponge",
37
+ "cleaner"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "sponge",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_1/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 0.826587619802766,
49
+ 0.65
50
+ ],
51
+ "offset": [
52
+ -0.836706190098617,
53
+ -3.469446951953614e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_1"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_sink",
61
+ "obj_groups": "all",
62
+ "washable": true,
63
+ "placement": {
64
+ "fixture": "sink_left_group_1",
65
+ "size": [
66
+ 0.3,
67
+ 0.4
68
+ ],
69
+ "pos": [
70
+ null,
71
+ -1.0
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "bar_soap",
79
+ "cleaner"
80
+ ],
81
+ "groups": [
82
+ "all"
83
+ ],
84
+ "cat": "bar_soap",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "offset": [
90
+ -0.18172511580648798,
91
+ -0.01695322675879661,
92
+ -0.26930880011384073
93
+ ],
94
+ "size": [
95
+ 0.2790416587967839,
96
+ 0.323237158319961
97
+ ],
98
+ "height": 0.1981160992416856,
99
+ "name": "basin"
100
+ }
101
+ }
102
+ ],
103
+ "fixtures": {
104
+ "wall_left_1_room": {
105
+ "cls": "Wall"
106
+ },
107
+ "wall_left_1_backing_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_main_1_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_main_1_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_main_3_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_main_3_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_main_2_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_main_2_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_right_1_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_right_1_backing_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "floor_1_room": {
135
+ "cls": "Floor"
136
+ },
137
+ "floor_1_backing_room": {
138
+ "cls": "Floor"
139
+ },
140
+ "wall_accessory_1_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "wall_accessory_2_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "wall_accessory_3_room": {
147
+ "cls": "WallAccessory"
148
+ },
149
+ "light_switch_1_room": {
150
+ "cls": "WallAccessory"
151
+ },
152
+ "window_group_room": {
153
+ "cls": "Window"
154
+ },
155
+ "stool_1_room": {
156
+ "cls": "Stool"
157
+ },
158
+ "stool_2_room": {
159
+ "cls": "Stool"
160
+ },
161
+ "sink_left_group_1": {
162
+ "cls": "Sink"
163
+ },
164
+ "counter_1_left_group_1": {
165
+ "cls": "Counter"
166
+ },
167
+ "stack_1_left_group_1_base": {
168
+ "cls": "Box"
169
+ },
170
+ "stack_1_left_group_1_1": {
171
+ "cls": "HingeCabinet"
172
+ },
173
+ "stack_1_left_group_1_2": {
174
+ "cls": "Drawer"
175
+ },
176
+ "stack_1_left_group_1_3": {
177
+ "cls": "Drawer"
178
+ },
179
+ "stack_2_left_group_1_base": {
180
+ "cls": "Box"
181
+ },
182
+ "stack_2_left_group_1_1": {
183
+ "cls": "HingeCabinet"
184
+ },
185
+ "stack_2_left_group_1_2": {
186
+ "cls": "PanelCabinet"
187
+ },
188
+ "stack_3_left_group_1_base": {
189
+ "cls": "Box"
190
+ },
191
+ "stack_3_left_group_1_1": {
192
+ "cls": "HingeCabinet"
193
+ },
194
+ "stack_3_left_group_1_2": {
195
+ "cls": "Drawer"
196
+ },
197
+ "stack_3_left_group_1_3": {
198
+ "cls": "Drawer"
199
+ },
200
+ "cab_1_left_group_1": {
201
+ "cls": "HingeCabinet"
202
+ },
203
+ "cab_2_left_group_1": {
204
+ "cls": "HingeCabinet"
205
+ },
206
+ "cab_3_left_group_1": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "bottom_left_group_1_base": {
210
+ "cls": "Box"
211
+ },
212
+ "bottom_left_group_1_1": {
213
+ "cls": "Drawer"
214
+ },
215
+ "middle_1_left_group_1": {
216
+ "cls": "HingeCabinet"
217
+ },
218
+ "middle_2_left_group_1": {
219
+ "cls": "HingeCabinet"
220
+ },
221
+ "top_1_left_group_1": {
222
+ "cls": "HingeCabinet"
223
+ },
224
+ "toaster_oven_left_group_1": {
225
+ "cls": "ToasterOven"
226
+ },
227
+ "counter_1_right_group_1": {
228
+ "cls": "Counter"
229
+ },
230
+ "counter_corner_right_group_1": {
231
+ "cls": "Counter"
232
+ },
233
+ "box_1_right_group_1": {
234
+ "cls": "Box"
235
+ },
236
+ "stack_1_right_group_1_base": {
237
+ "cls": "Box"
238
+ },
239
+ "stack_1_right_group_1_1": {
240
+ "cls": "SingleCabinet"
241
+ },
242
+ "stack_1_right_group_1_2": {
243
+ "cls": "Drawer"
244
+ },
245
+ "dishwasher_1_right_group_1": {
246
+ "cls": "Dishwasher"
247
+ },
248
+ "stack_2_right_group_1_base": {
249
+ "cls": "Box"
250
+ },
251
+ "stack_2_right_group_1_1": {
252
+ "cls": "HingeCabinet"
253
+ },
254
+ "stack_2_right_group_1_2": {
255
+ "cls": "Drawer"
256
+ },
257
+ "box_2_right_group_1": {
258
+ "cls": "Box"
259
+ },
260
+ "cab_1_right_group_1": {
261
+ "cls": "HingeCabinet"
262
+ },
263
+ "coffee_machine_right_group_1": {
264
+ "cls": "CoffeeMachine"
265
+ },
266
+ "toaster_right_group_1": {
267
+ "cls": "Toaster"
268
+ },
269
+ "paper_towel_right_group_1": {
270
+ "cls": "Accessory"
271
+ },
272
+ "counter_corner_1_main_group_3": {
273
+ "cls": "Counter"
274
+ },
275
+ "stove_main_group_3": {
276
+ "cls": "Stove"
277
+ },
278
+ "fridge_1_main_group_3": {
279
+ "cls": "FridgeBottomFreezer"
280
+ },
281
+ "fridge_1_housing_main_group_3": {
282
+ "cls": "HousingCabinet"
283
+ },
284
+ "top_1_main_group_3": {
285
+ "cls": "HingeCabinet"
286
+ },
287
+ "cab_1_main_group_3": {
288
+ "cls": "OpenCabinet"
289
+ },
290
+ "microwave_main_group_3": {
291
+ "cls": "Microwave"
292
+ },
293
+ "cab_micro_main_group_3": {
294
+ "cls": "HingeCabinet"
295
+ },
296
+ "cab_corner_main_group_3": {
297
+ "cls": "Box"
298
+ },
299
+ "dining_dining_area_group": {
300
+ "cls": "Counter"
301
+ },
302
+ "box_dining_area_group": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_1_dining_area_group_base": {
306
+ "cls": "Box"
307
+ },
308
+ "stack_1_dining_area_group_1": {
309
+ "cls": "SingleCabinet"
310
+ },
311
+ "stack_1_dining_area_group_2": {
312
+ "cls": "Drawer"
313
+ },
314
+ "stack_2_dining_area_group_base": {
315
+ "cls": "Box"
316
+ },
317
+ "stack_2_dining_area_group_1": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_2_dining_area_group_2": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_2_dining_area_group_3": {
324
+ "cls": "Drawer"
325
+ },
326
+ "stack_2_dining_area_group_4": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_3_dining_area_group_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_3_dining_area_group_1": {
333
+ "cls": "Drawer"
334
+ },
335
+ "stack_3_dining_area_group_2": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_3_dining_area_group_3": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_3_dining_area_group_4": {
342
+ "cls": "Drawer"
343
+ }
344
+ },
345
+ "gen_textures": {},
346
+ "lang": "Turn on the sink faucet.",
347
+ "fixture_refs": {},
348
+ "cam_configs": {
349
+ "robot0_agentview_center": {
350
+ "pos": [
351
+ -0.6,
352
+ 0.0,
353
+ 1.15
354
+ ],
355
+ "quat": [
356
+ 0.636945903301239,
357
+ 0.3325185477733612,
358
+ -0.3199238181114197,
359
+ -0.6175596117973328
360
+ ],
361
+ "parent_body": "mobilebase0_support"
362
+ },
363
+ "robot0_agentview_left": {
364
+ "pos": [
365
+ -0.5,
366
+ 0.35,
367
+ 1.05
368
+ ],
369
+ "quat": [
370
+ 0.55623853,
371
+ 0.29935253,
372
+ -0.37678665,
373
+ -0.6775092
374
+ ],
375
+ "camera_attribs": {
376
+ "fovy": "60"
377
+ },
378
+ "parent_body": "mobilebase0_support"
379
+ },
380
+ "robot0_agentview_right": {
381
+ "pos": [
382
+ -0.5,
383
+ -0.35,
384
+ 1.05
385
+ ],
386
+ "quat": [
387
+ 0.6775091886520386,
388
+ 0.3767866790294647,
389
+ -0.2993525564670563,
390
+ -0.55623859167099
391
+ ],
392
+ "camera_attribs": {
393
+ "fovy": "60"
394
+ },
395
+ "parent_body": "mobilebase0_support"
396
+ },
397
+ "robot0_frontview": {
398
+ "pos": [
399
+ -0.5,
400
+ 0,
401
+ 0.95
402
+ ],
403
+ "quat": [
404
+ 0.6088936924934387,
405
+ 0.3814677894115448,
406
+ -0.3673907518386841,
407
+ -0.5905545353889465
408
+ ],
409
+ "camera_attribs": {
410
+ "fovy": "60"
411
+ },
412
+ "parent_body": "mobilebase0_support"
413
+ },
414
+ "robot0_eye_in_hand": {
415
+ "pos": [
416
+ 0.05,
417
+ 0,
418
+ 0
419
+ ],
420
+ "quat": [
421
+ 0,
422
+ 0.707107,
423
+ 0.707107,
424
+ 0
425
+ ],
426
+ "parent_body": "robot0_right_hand"
427
+ }
428
+ },
429
+ "init_robot_base_pos": [
430
+ 0.7740725422367731,
431
+ -1.9417543441278498,
432
+ 0.0
433
+ ],
434
+ "init_robot_base_ori": [
435
+ 0.0,
436
+ 0.0,
437
+ 3.1415926193612504
438
+ ]
439
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000006/ep_meta.json ADDED
@@ -0,0 +1,565 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 26,
3
+ "style_id": 12,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_front_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_front_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.084831,
15
+ 0.082088,
16
+ 0.181234
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "soap_dispenser",
37
+ "cleaner"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "soap_dispenser",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser002/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 1.3915875477734425,
49
+ 0.65
50
+ ],
51
+ "offset": [
52
+ 0.5542062261132787,
53
+ -3.469446951953614e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_0"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_counter_1",
61
+ "obj_groups": "all",
62
+ "placement": {
63
+ "fixture": "counter_1_front_group",
64
+ "sample_region_kwargs": {
65
+ "ref": "sink_1_front_group",
66
+ "loc": "left_right",
67
+ "min_size": [
68
+ 0.09901191164999998,
69
+ 0.14636637124999996,
70
+ 0.07431051929999997
71
+ ]
72
+ },
73
+ "size": [
74
+ 0.3,
75
+ 0.3
76
+ ],
77
+ "pos": [
78
+ "ref",
79
+ -1.0
80
+ ],
81
+ "offset": [
82
+ 0.0,
83
+ 0.1
84
+ ]
85
+ },
86
+ "type": "object",
87
+ "info": {
88
+ "groups_containing_sampled_obj": [
89
+ "all",
90
+ "bagged_food",
91
+ "packaged_food"
92
+ ],
93
+ "groups": [
94
+ "all"
95
+ ],
96
+ "cat": "bagged_food",
97
+ "split": "train",
98
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagged_food/bagged_food_14/model.xml"
99
+ },
100
+ "reset_region": {
101
+ "size": [
102
+ 1.3915875477734425,
103
+ 0.65
104
+ ],
105
+ "offset": [
106
+ 0.5542062261132787,
107
+ -3.469446951953614e-17,
108
+ 0.46
109
+ ],
110
+ "name": "geom_0"
111
+ }
112
+ },
113
+ {
114
+ "name": "distr_counter_2",
115
+ "obj_groups": "all",
116
+ "placement": {
117
+ "fixture": "counter_1_front_group",
118
+ "sample_region_kwargs": {
119
+ "ref": "sink_1_front_group",
120
+ "loc": "left_right",
121
+ "min_size": [
122
+ 0.06792552134999998,
123
+ 0.06795752309999996,
124
+ 0.05594104889999998
125
+ ]
126
+ },
127
+ "size": [
128
+ 0.3,
129
+ 0.3
130
+ ],
131
+ "pos": [
132
+ "ref",
133
+ -1.0
134
+ ],
135
+ "offset": [
136
+ 0.0,
137
+ 0.1
138
+ ]
139
+ },
140
+ "type": "object",
141
+ "info": {
142
+ "groups_containing_sampled_obj": [
143
+ "all",
144
+ "jam",
145
+ "packaged_food"
146
+ ],
147
+ "groups": [
148
+ "all"
149
+ ],
150
+ "cat": "jam",
151
+ "split": "train",
152
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_0/model.xml"
153
+ },
154
+ "reset_region": {
155
+ "size": [
156
+ 1.3915875477734425,
157
+ 0.65
158
+ ],
159
+ "offset": [
160
+ 0.5542062261132787,
161
+ -3.469446951953614e-17,
162
+ 0.46
163
+ ],
164
+ "name": "geom_0"
165
+ }
166
+ },
167
+ {
168
+ "name": "distr_sink",
169
+ "obj_groups": "all",
170
+ "washable": true,
171
+ "placement": {
172
+ "fixture": "sink_1_front_group",
173
+ "size": [
174
+ 0.3,
175
+ 0.4
176
+ ],
177
+ "pos": [
178
+ null,
179
+ -1.0
180
+ ]
181
+ },
182
+ "type": "object",
183
+ "info": {
184
+ "groups_containing_sampled_obj": [
185
+ "all",
186
+ "lemon",
187
+ "vegetable",
188
+ "food",
189
+ "in_container",
190
+ "food_set1"
191
+ ],
192
+ "groups": [
193
+ "all"
194
+ ],
195
+ "cat": "lemon",
196
+ "split": "train",
197
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_2/model.xml"
198
+ },
199
+ "reset_region": {
200
+ "offset": [
201
+ 0.19388016231908867,
202
+ -0.002682803526246197,
203
+ -0.2138930795623537
204
+ ],
205
+ "size": [
206
+ 0.43329073200660473,
207
+ 0.41896811018702423
208
+ ],
209
+ "height": 0.17810293712910438,
210
+ "name": "basin_right"
211
+ }
212
+ }
213
+ ],
214
+ "fixtures": {
215
+ "wall_left_1_room": {
216
+ "cls": "Wall"
217
+ },
218
+ "wall_left_1_backing_room": {
219
+ "cls": "Wall"
220
+ },
221
+ "wall_main_room": {
222
+ "cls": "Wall"
223
+ },
224
+ "wall_main_backing_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "wall_right_1_room": {
228
+ "cls": "Wall"
229
+ },
230
+ "wall_right_1_backing_room": {
231
+ "cls": "Wall"
232
+ },
233
+ "wall_right_3_room": {
234
+ "cls": "Wall"
235
+ },
236
+ "wall_right_3_backing_room": {
237
+ "cls": "Wall"
238
+ },
239
+ "wall_right_2_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_right_2_backing_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_front_1_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_front_1_backing_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "floor_1_room": {
252
+ "cls": "Floor"
253
+ },
254
+ "floor_1_backing_room": {
255
+ "cls": "Floor"
256
+ },
257
+ "wall_accessory_1_room": {
258
+ "cls": "WallAccessory"
259
+ },
260
+ "light_switch_1_room": {
261
+ "cls": "WallAccessory"
262
+ },
263
+ "wall_accessory_2_room": {
264
+ "cls": "WallAccessory"
265
+ },
266
+ "light_switch_2_room": {
267
+ "cls": "WallAccessory"
268
+ },
269
+ "wall_accessory_3_room": {
270
+ "cls": "WallAccessory"
271
+ },
272
+ "light_switch_3_room": {
273
+ "cls": "WallAccessory"
274
+ },
275
+ "light_switch_4_room": {
276
+ "cls": "WallAccessory"
277
+ },
278
+ "window_group_1_room": {
279
+ "cls": "Window"
280
+ },
281
+ "window_group_2_room": {
282
+ "cls": "Window"
283
+ },
284
+ "stool_1_room": {
285
+ "cls": "Stool"
286
+ },
287
+ "stool_2_room": {
288
+ "cls": "Stool"
289
+ },
290
+ "stool_3_room": {
291
+ "cls": "Stool"
292
+ },
293
+ "counter_1_main_group": {
294
+ "cls": "Counter"
295
+ },
296
+ "stove_main_group": {
297
+ "cls": "Stove"
298
+ },
299
+ "counter_2_main_group": {
300
+ "cls": "Counter"
301
+ },
302
+ "stack_1_main_group_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_1_main_group_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "stack_2_main_group_base": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_2_main_group_1": {
312
+ "cls": "Drawer"
313
+ },
314
+ "stack_2_main_group_2": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_2_main_group_3": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_3_main_group_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_3_main_group_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "stack_3_main_group_2": {
327
+ "cls": "Drawer"
328
+ },
329
+ "fridge_main_group": {
330
+ "cls": "FridgeFrenchDoor"
331
+ },
332
+ "fridge_housing_main_group": {
333
+ "cls": "HousingCabinet"
334
+ },
335
+ "stack_4_main_group_base": {
336
+ "cls": "Box"
337
+ },
338
+ "stack_4_main_group_1": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_4_main_group_2": {
342
+ "cls": "Drawer"
343
+ },
344
+ "stack_4_main_group_3": {
345
+ "cls": "HingeCabinet"
346
+ },
347
+ "stack_4_main_group_4": {
348
+ "cls": "HingeCabinet"
349
+ },
350
+ "cab_1_main_group": {
351
+ "cls": "HingeCabinet"
352
+ },
353
+ "microwave_main_group": {
354
+ "cls": "Microwave"
355
+ },
356
+ "cab_2_main_group": {
357
+ "cls": "HingeCabinet"
358
+ },
359
+ "cab_3_main_group": {
360
+ "cls": "OpenCabinet"
361
+ },
362
+ "toaster_oven_main_group": {
363
+ "cls": "ToasterOven"
364
+ },
365
+ "sink_1_front_group": {
366
+ "cls": "Sink"
367
+ },
368
+ "counter_1_front_group": {
369
+ "cls": "Counter"
370
+ },
371
+ "box_front_group": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_1_front_group_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_1_front_group_1": {
378
+ "cls": "HingeCabinet"
379
+ },
380
+ "dishwasher_front_group": {
381
+ "cls": "Dishwasher"
382
+ },
383
+ "stack_2_front_group_base": {
384
+ "cls": "Box"
385
+ },
386
+ "stack_2_front_group_1": {
387
+ "cls": "SingleCabinet"
388
+ },
389
+ "stack_2_front_group_2": {
390
+ "cls": "Drawer"
391
+ },
392
+ "cab_1_front_group": {
393
+ "cls": "HingeCabinet"
394
+ },
395
+ "counter_corner_right_group": {
396
+ "cls": "Counter"
397
+ },
398
+ "counter_1_right_group": {
399
+ "cls": "Counter"
400
+ },
401
+ "box_right_group": {
402
+ "cls": "Box"
403
+ },
404
+ "stack_1_right_group_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_1_right_group_1": {
408
+ "cls": "SingleCabinet"
409
+ },
410
+ "stack_1_right_group_2": {
411
+ "cls": "Drawer"
412
+ },
413
+ "stack_2_right_group_base": {
414
+ "cls": "Box"
415
+ },
416
+ "stack_2_right_group_1": {
417
+ "cls": "SingleCabinet"
418
+ },
419
+ "stack_2_right_group_2": {
420
+ "cls": "Drawer"
421
+ },
422
+ "stack_3_right_group_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_3_right_group_1": {
426
+ "cls": "Drawer"
427
+ },
428
+ "stack_3_right_group_2": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_3_right_group_3": {
432
+ "cls": "Drawer"
433
+ },
434
+ "cab_1_right_group": {
435
+ "cls": "HingeCabinet"
436
+ },
437
+ "cab_2_right_group": {
438
+ "cls": "HingeCabinet"
439
+ },
440
+ "coffee_machine_right_group": {
441
+ "cls": "CoffeeMachine"
442
+ },
443
+ "toaster_right_group": {
444
+ "cls": "Toaster"
445
+ },
446
+ "paper_towel_right_group": {
447
+ "cls": "Accessory"
448
+ },
449
+ "island_island_group": {
450
+ "cls": "Counter"
451
+ },
452
+ "stack_1_island_group_base": {
453
+ "cls": "Box"
454
+ },
455
+ "stack_1_island_group_1": {
456
+ "cls": "SingleCabinet"
457
+ },
458
+ "stack_2_island_group_base": {
459
+ "cls": "Box"
460
+ },
461
+ "stack_2_island_group_1": {
462
+ "cls": "HingeCabinet"
463
+ },
464
+ "box_1_island_group": {
465
+ "cls": "Box"
466
+ },
467
+ "box_2_island_group": {
468
+ "cls": "Box"
469
+ }
470
+ },
471
+ "gen_textures": {},
472
+ "lang": "Turn on the sink faucet.",
473
+ "fixture_refs": {},
474
+ "cam_configs": {
475
+ "robot0_agentview_center": {
476
+ "pos": [
477
+ -0.6,
478
+ 0.0,
479
+ 1.15
480
+ ],
481
+ "quat": [
482
+ 0.636945903301239,
483
+ 0.3325185477733612,
484
+ -0.3199238181114197,
485
+ -0.6175596117973328
486
+ ],
487
+ "parent_body": "mobilebase0_support"
488
+ },
489
+ "robot0_agentview_left": {
490
+ "pos": [
491
+ -0.5,
492
+ 0.35,
493
+ 1.05
494
+ ],
495
+ "quat": [
496
+ 0.55623853,
497
+ 0.29935253,
498
+ -0.37678665,
499
+ -0.6775092
500
+ ],
501
+ "camera_attribs": {
502
+ "fovy": "60"
503
+ },
504
+ "parent_body": "mobilebase0_support"
505
+ },
506
+ "robot0_agentview_right": {
507
+ "pos": [
508
+ -0.5,
509
+ -0.35,
510
+ 1.05
511
+ ],
512
+ "quat": [
513
+ 0.6775091886520386,
514
+ 0.3767866790294647,
515
+ -0.2993525564670563,
516
+ -0.55623859167099
517
+ ],
518
+ "camera_attribs": {
519
+ "fovy": "60"
520
+ },
521
+ "parent_body": "mobilebase0_support"
522
+ },
523
+ "robot0_frontview": {
524
+ "pos": [
525
+ -0.5,
526
+ 0,
527
+ 0.95
528
+ ],
529
+ "quat": [
530
+ 0.6088936924934387,
531
+ 0.3814677894115448,
532
+ -0.3673907518386841,
533
+ -0.5905545353889465
534
+ ],
535
+ "camera_attribs": {
536
+ "fovy": "60"
537
+ },
538
+ "parent_body": "mobilebase0_support"
539
+ },
540
+ "robot0_eye_in_hand": {
541
+ "pos": [
542
+ 0.05,
543
+ 0,
544
+ 0
545
+ ],
546
+ "quat": [
547
+ 0,
548
+ 0.707107,
549
+ 0.707107,
550
+ 0
551
+ ],
552
+ "parent_body": "robot0_right_hand"
553
+ }
554
+ },
555
+ "init_robot_base_pos": [
556
+ 4.036916626658632,
557
+ -4.378138551700832,
558
+ 0.0
559
+ ],
560
+ "init_robot_base_ori": [
561
+ 0.0,
562
+ 0.0,
563
+ -1.5707957029303028
564
+ ]
565
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000007/ep_meta.json ADDED
@@ -0,0 +1,544 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 23,
3
+ "style_id": 58,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_main_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.04425715098199655,
15
+ 0.12057776957794432,
16
+ 0.09758241612488114
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "bar",
37
+ "packaged_food"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "bar",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_2/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 1.6371566106143347,
49
+ 0.65
50
+ ],
51
+ "offset": [
52
+ -1.3629216946928329,
53
+ -3.469446951953614e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_1"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_counter_1",
61
+ "obj_groups": "all",
62
+ "placement": {
63
+ "fixture": "counter_1_main_group",
64
+ "sample_region_kwargs": {
65
+ "ref": "sink_1_main_group",
66
+ "loc": "left_right",
67
+ "min_size": [
68
+ 0.05768639376,
69
+ 0.1357854192,
70
+ 0.007433992559999998
71
+ ]
72
+ },
73
+ "size": [
74
+ 0.3,
75
+ 0.3
76
+ ],
77
+ "pos": [
78
+ "ref",
79
+ -1.0
80
+ ],
81
+ "offset": [
82
+ 0.0,
83
+ 0.1
84
+ ]
85
+ },
86
+ "type": "object",
87
+ "info": {
88
+ "groups_containing_sampled_obj": [
89
+ "all",
90
+ "chocolate",
91
+ "sweets",
92
+ "food",
93
+ "in_container"
94
+ ],
95
+ "groups": [
96
+ "all"
97
+ ],
98
+ "cat": "chocolate",
99
+ "split": "train",
100
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/chocolate/chocolate_11/model.xml"
101
+ },
102
+ "reset_region": {
103
+ "size": [
104
+ 1.8989366106143346,
105
+ 0.65
106
+ ],
107
+ "offset": [
108
+ 1.2320316946928327,
109
+ -3.469446951953614e-17,
110
+ 0.46
111
+ ],
112
+ "name": "geom_0"
113
+ }
114
+ },
115
+ {
116
+ "name": "distr_sink",
117
+ "obj_groups": "all",
118
+ "washable": true,
119
+ "placement": {
120
+ "fixture": "sink_1_main_group",
121
+ "size": [
122
+ 0.3,
123
+ 0.4
124
+ ],
125
+ "pos": [
126
+ null,
127
+ -1.0
128
+ ]
129
+ },
130
+ "type": "object",
131
+ "info": {
132
+ "groups_containing_sampled_obj": [
133
+ "all",
134
+ "banana",
135
+ "fruit",
136
+ "food",
137
+ "in_container",
138
+ "food_set1",
139
+ "group1"
140
+ ],
141
+ "groups": [
142
+ "all"
143
+ ],
144
+ "cat": "banana",
145
+ "split": "train",
146
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_2/model.xml"
147
+ },
148
+ "reset_region": {
149
+ "offset": [
150
+ -0.11659964548121332,
151
+ -0.04359979581849083,
152
+ -0.30001439324862383
153
+ ],
154
+ "size": [
155
+ 0.5202381756598345,
156
+ 0.35118815745587006
157
+ ],
158
+ "height": 0.25718018866726644,
159
+ "name": "basin"
160
+ }
161
+ }
162
+ ],
163
+ "fixtures": {
164
+ "wall_left_1_room": {
165
+ "cls": "Wall"
166
+ },
167
+ "wall_left_1_backing_room": {
168
+ "cls": "Wall"
169
+ },
170
+ "wall_main_room": {
171
+ "cls": "Wall"
172
+ },
173
+ "wall_main_backing_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_right_1_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_right_1_backing_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "floor_1_room": {
183
+ "cls": "Floor"
184
+ },
185
+ "floor_1_backing_room": {
186
+ "cls": "Floor"
187
+ },
188
+ "wall_accessory_1_room": {
189
+ "cls": "WallAccessory"
190
+ },
191
+ "wall_accessory_2_room": {
192
+ "cls": "WallAccessory"
193
+ },
194
+ "wall_accessory_3_room": {
195
+ "cls": "WallAccessory"
196
+ },
197
+ "wall_accessory_4_room": {
198
+ "cls": "WallAccessory"
199
+ },
200
+ "wall_accessory_5_room": {
201
+ "cls": "WallAccessory"
202
+ },
203
+ "wall_accessory_6_room": {
204
+ "cls": "WallAccessory"
205
+ },
206
+ "wall_accessory_7_room": {
207
+ "cls": "WallAccessory"
208
+ },
209
+ "window_group_1_room": {
210
+ "cls": "Window"
211
+ },
212
+ "window_group_2_room": {
213
+ "cls": "Window"
214
+ },
215
+ "stool_1_room": {
216
+ "cls": "Stool"
217
+ },
218
+ "stool_2_room": {
219
+ "cls": "Stool"
220
+ },
221
+ "counter_corner_1_main_group": {
222
+ "cls": "Counter"
223
+ },
224
+ "sink_1_main_group": {
225
+ "cls": "Sink"
226
+ },
227
+ "counter_1_main_group": {
228
+ "cls": "Counter"
229
+ },
230
+ "counter_corner_2_main_group": {
231
+ "cls": "Counter"
232
+ },
233
+ "box_1_main_group": {
234
+ "cls": "Box"
235
+ },
236
+ "stack_1_main_group_base": {
237
+ "cls": "Box"
238
+ },
239
+ "stack_1_main_group_1": {
240
+ "cls": "HingeCabinet"
241
+ },
242
+ "dishwasher_main_group": {
243
+ "cls": "Dishwasher"
244
+ },
245
+ "stack_2_main_group_base": {
246
+ "cls": "Box"
247
+ },
248
+ "stack_2_main_group_1": {
249
+ "cls": "HingeCabinet"
250
+ },
251
+ "stack_3_main_group_base": {
252
+ "cls": "Box"
253
+ },
254
+ "stack_3_main_group_1": {
255
+ "cls": "SingleCabinet"
256
+ },
257
+ "stack_4_main_group_base": {
258
+ "cls": "Box"
259
+ },
260
+ "stack_4_main_group_1": {
261
+ "cls": "HingeCabinet"
262
+ },
263
+ "box_2_main_group": {
264
+ "cls": "Box"
265
+ },
266
+ "cab_1_main_group": {
267
+ "cls": "SingleCabinet"
268
+ },
269
+ "cab_2_main_group": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "cab_3_main_group": {
273
+ "cls": "SingleCabinet"
274
+ },
275
+ "cab_4_main_group": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "top_corner_box_main_group": {
279
+ "cls": "Box"
280
+ },
281
+ "coffee_machine_main_group": {
282
+ "cls": "CoffeeMachine"
283
+ },
284
+ "paper_towel_main_group": {
285
+ "cls": "Accessory"
286
+ },
287
+ "plant_main_group": {
288
+ "cls": "Accessory"
289
+ },
290
+ "knife_block_main_group": {
291
+ "cls": "Accessory"
292
+ },
293
+ "counter_1_left_group": {
294
+ "cls": "Counter"
295
+ },
296
+ "stove_left_group": {
297
+ "cls": "Stove"
298
+ },
299
+ "counter_2_left_group": {
300
+ "cls": "Counter"
301
+ },
302
+ "stack_1_left_group_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_1_left_group_1": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_1_left_group_2": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_1_left_group_3": {
312
+ "cls": "Drawer"
313
+ },
314
+ "stack_2_left_group_base": {
315
+ "cls": "Box"
316
+ },
317
+ "stack_2_left_group_1": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "box_left_group": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_3_left_group_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_3_left_group_1": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_3_left_group_2": {
330
+ "cls": "Drawer"
331
+ },
332
+ "stack_3_left_group_3": {
333
+ "cls": "Drawer"
334
+ },
335
+ "stack_4_left_group_base": {
336
+ "cls": "Box"
337
+ },
338
+ "stack_4_left_group_1": {
339
+ "cls": "HingeCabinet"
340
+ },
341
+ "hood_left_group": {
342
+ "cls": "Hood"
343
+ },
344
+ "cab_1_left_group": {
345
+ "cls": "OpenCabinet"
346
+ },
347
+ "cab_2_left_group": {
348
+ "cls": "OpenCabinet"
349
+ },
350
+ "toaster_oven_left_group": {
351
+ "cls": "ToasterOven"
352
+ },
353
+ "toaster_left_group": {
354
+ "cls": "Toaster"
355
+ },
356
+ "counter_1_right_group": {
357
+ "cls": "Counter"
358
+ },
359
+ "box_right_group": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_1_right_group_base": {
363
+ "cls": "Box"
364
+ },
365
+ "stack_1_right_group_1": {
366
+ "cls": "SingleCabinet"
367
+ },
368
+ "stack_2_right_group_base": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_2_right_group_1": {
372
+ "cls": "HingeCabinet"
373
+ },
374
+ "stack_3_right_group_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_3_right_group_1": {
378
+ "cls": "Drawer"
379
+ },
380
+ "stack_3_right_group_2": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_3_right_group_3": {
384
+ "cls": "Drawer"
385
+ },
386
+ "bottom_right_group_base": {
387
+ "cls": "Box"
388
+ },
389
+ "bottom_right_group_1": {
390
+ "cls": "HingeCabinet"
391
+ },
392
+ "bottom_right_group_2": {
393
+ "cls": "Drawer"
394
+ },
395
+ "microwave_right_group": {
396
+ "cls": "Microwave"
397
+ },
398
+ "microwave_housing_right_group": {
399
+ "cls": "HousingCabinet"
400
+ },
401
+ "top_right_group": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "fridge_right_group": {
405
+ "cls": "FridgeBottomFreezer"
406
+ },
407
+ "fridge_housing_right_group": {
408
+ "cls": "HousingCabinet"
409
+ },
410
+ "cab_1_right_group": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "cab_2_right_group": {
414
+ "cls": "HingeCabinet"
415
+ },
416
+ "island_1_island_group": {
417
+ "cls": "Counter"
418
+ },
419
+ "island_box_island_group": {
420
+ "cls": "Box"
421
+ },
422
+ "island_2_island_group": {
423
+ "cls": "Counter"
424
+ },
425
+ "panel_stack_1_island_group_base": {
426
+ "cls": "Box"
427
+ },
428
+ "panel_stack_1_island_group_1": {
429
+ "cls": "PanelCabinet"
430
+ },
431
+ "stack_1_island_group_base": {
432
+ "cls": "Box"
433
+ },
434
+ "stack_1_island_group_1": {
435
+ "cls": "HingeCabinet"
436
+ },
437
+ "stack_2_island_group_base": {
438
+ "cls": "Box"
439
+ },
440
+ "stack_2_island_group_1": {
441
+ "cls": "HingeCabinet"
442
+ },
443
+ "panel_stack_2_island_group_base": {
444
+ "cls": "Box"
445
+ },
446
+ "panel_stack_2_island_group_1": {
447
+ "cls": "PanelCabinet"
448
+ }
449
+ },
450
+ "gen_textures": {},
451
+ "lang": "Turn on the sink faucet.",
452
+ "fixture_refs": {},
453
+ "cam_configs": {
454
+ "robot0_agentview_center": {
455
+ "pos": [
456
+ -0.6,
457
+ 0.0,
458
+ 1.15
459
+ ],
460
+ "quat": [
461
+ 0.636945903301239,
462
+ 0.3325185477733612,
463
+ -0.3199238181114197,
464
+ -0.6175596117973328
465
+ ],
466
+ "parent_body": "mobilebase0_support"
467
+ },
468
+ "robot0_agentview_left": {
469
+ "pos": [
470
+ -0.5,
471
+ 0.35,
472
+ 1.05
473
+ ],
474
+ "quat": [
475
+ 0.55623853,
476
+ 0.29935253,
477
+ -0.37678665,
478
+ -0.6775092
479
+ ],
480
+ "camera_attribs": {
481
+ "fovy": "60"
482
+ },
483
+ "parent_body": "mobilebase0_support"
484
+ },
485
+ "robot0_agentview_right": {
486
+ "pos": [
487
+ -0.5,
488
+ -0.35,
489
+ 1.05
490
+ ],
491
+ "quat": [
492
+ 0.6775091886520386,
493
+ 0.3767866790294647,
494
+ -0.2993525564670563,
495
+ -0.55623859167099
496
+ ],
497
+ "camera_attribs": {
498
+ "fovy": "60"
499
+ },
500
+ "parent_body": "mobilebase0_support"
501
+ },
502
+ "robot0_frontview": {
503
+ "pos": [
504
+ -0.5,
505
+ 0,
506
+ 0.95
507
+ ],
508
+ "quat": [
509
+ 0.6088936924934387,
510
+ 0.3814677894115448,
511
+ -0.3673907518386841,
512
+ -0.5905545353889465
513
+ ],
514
+ "camera_attribs": {
515
+ "fovy": "60"
516
+ },
517
+ "parent_body": "mobilebase0_support"
518
+ },
519
+ "robot0_eye_in_hand": {
520
+ "pos": [
521
+ 0.05,
522
+ 0,
523
+ 0
524
+ ],
525
+ "quat": [
526
+ 0,
527
+ 0.707107,
528
+ 0.707107,
529
+ 0
530
+ ],
531
+ "parent_body": "robot0_right_hand"
532
+ }
533
+ },
534
+ "init_robot_base_pos": [
535
+ 2.6346555663850806,
536
+ -0.7933463999338377,
537
+ 0.0
538
+ ],
539
+ "init_robot_base_ori": [
540
+ 0.0,
541
+ 0.0,
542
+ 1.5707963267948966
543
+ ]
544
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000009/ep_meta.json ADDED
@@ -0,0 +1,555 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 47,
3
+ "style_id": 30,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_03_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_right_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.1386226,
15
+ 0.046661575000000004,
16
+ 0.01874565
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "cream_cheese_stick",
37
+ "dairy",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "cream_cheese_stick",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick007/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.3688983460768134,
51
+ 0.649981
52
+ ],
53
+ "offset": [
54
+ -0.7124248269615933,
55
+ -3.469446951953614e-17,
56
+ 0.4599995
57
+ ],
58
+ "name": "geom_1"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_counter_1",
63
+ "obj_groups": "all",
64
+ "placement": {
65
+ "fixture": "counter_03_right_group_1",
66
+ "sample_region_kwargs": {
67
+ "ref": "sink_right_group_1",
68
+ "loc": "left_right",
69
+ "min_size": [
70
+ 0.06427166399999999,
71
+ 0.03698743039999999,
72
+ 0.15998434079999996
73
+ ]
74
+ },
75
+ "size": [
76
+ 0.3,
77
+ 0.3
78
+ ],
79
+ "pos": [
80
+ "ref",
81
+ -1.0
82
+ ],
83
+ "offset": [
84
+ 0.0,
85
+ 0.1
86
+ ]
87
+ },
88
+ "type": "object",
89
+ "info": {
90
+ "groups_containing_sampled_obj": [
91
+ "all",
92
+ "ketchup",
93
+ "condiment"
94
+ ],
95
+ "groups": [
96
+ "all"
97
+ ],
98
+ "cat": "ketchup",
99
+ "split": "train",
100
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_1/model.xml"
101
+ },
102
+ "reset_region": {
103
+ "size": [
104
+ 0.8101487460768133,
105
+ 0.649981
106
+ ],
107
+ "offset": [
108
+ 0.9917996269615932,
109
+ -3.469446951953614e-17,
110
+ 0.4599995
111
+ ],
112
+ "name": "geom_0"
113
+ }
114
+ },
115
+ {
116
+ "name": "distr_counter_2",
117
+ "obj_groups": "all",
118
+ "placement": {
119
+ "fixture": "counter_03_right_group_1",
120
+ "sample_region_kwargs": {
121
+ "ref": "sink_right_group_1",
122
+ "loc": "left_right",
123
+ "min_size": [
124
+ 0.04033332207189279,
125
+ 0.1008333269597293,
126
+ 0.12099999999999997
127
+ ]
128
+ },
129
+ "size": [
130
+ 0.3,
131
+ 0.3
132
+ ],
133
+ "pos": [
134
+ "ref",
135
+ -1.0
136
+ ],
137
+ "offset": [
138
+ 0.0,
139
+ 0.1
140
+ ]
141
+ },
142
+ "type": "object",
143
+ "info": {
144
+ "groups_containing_sampled_obj": [
145
+ "all",
146
+ "boxed_food",
147
+ "packaged_food"
148
+ ],
149
+ "groups": [
150
+ "all"
151
+ ],
152
+ "cat": "boxed_food",
153
+ "split": "train",
154
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_11/model.xml"
155
+ },
156
+ "reset_region": {
157
+ "size": [
158
+ 0.8101487460768133,
159
+ 0.649981
160
+ ],
161
+ "offset": [
162
+ 0.9917996269615932,
163
+ -3.469446951953614e-17,
164
+ 0.4599995
165
+ ],
166
+ "name": "geom_0"
167
+ }
168
+ },
169
+ {
170
+ "name": "distr_sink",
171
+ "obj_groups": "all",
172
+ "washable": true,
173
+ "placement": {
174
+ "fixture": "sink_right_group_1",
175
+ "size": [
176
+ 0.3,
177
+ 0.4
178
+ ],
179
+ "pos": [
180
+ null,
181
+ -1.0
182
+ ]
183
+ },
184
+ "type": "object",
185
+ "info": {
186
+ "groups_containing_sampled_obj": [
187
+ "all",
188
+ "spatula",
189
+ "utensil"
190
+ ],
191
+ "groups": [
192
+ "all"
193
+ ],
194
+ "cat": "spatula",
195
+ "split": "train",
196
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spatula/spatula_0/model.xml"
197
+ },
198
+ "reset_region": {
199
+ "offset": [
200
+ 0.0005908201020984327,
201
+ -0.026236142537545346,
202
+ -0.22237974242709907
203
+ ],
204
+ "size": [
205
+ 0.5416768652538709,
206
+ 0.4087185143212876
207
+ ],
208
+ "height": 0.19075755405985345,
209
+ "name": "basin"
210
+ }
211
+ }
212
+ ],
213
+ "fixtures": {
214
+ "wall_right_1_room": {
215
+ "cls": "Wall"
216
+ },
217
+ "wall_right_1_backing_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "wall_main_1_room": {
221
+ "cls": "Wall"
222
+ },
223
+ "wall_main_1_backing_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "wall_front_1_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_front_1_backing_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "wall_left_2_room": {
233
+ "cls": "Wall"
234
+ },
235
+ "wall_left_2_backing_room": {
236
+ "cls": "Wall"
237
+ },
238
+ "wall_left_1_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "wall_left_1_backing_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_main_2_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_main_2_backing_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "floor_1_room": {
251
+ "cls": "Floor"
252
+ },
253
+ "floor_1_backing_room": {
254
+ "cls": "Floor"
255
+ },
256
+ "floor_2_room": {
257
+ "cls": "Floor"
258
+ },
259
+ "floor_2_backing_room": {
260
+ "cls": "Floor"
261
+ },
262
+ "wallaccessory_2_room": {
263
+ "cls": "WallAccessory"
264
+ },
265
+ "wallaccessory_5_room": {
266
+ "cls": "WallAccessory"
267
+ },
268
+ "lightswitch_02_room": {
269
+ "cls": "WallAccessory"
270
+ },
271
+ "wallaccessory_3_room": {
272
+ "cls": "WallAccessory"
273
+ },
274
+ "wallaccessory_4_room": {
275
+ "cls": "WallAccessory"
276
+ },
277
+ "wallaccessory_1_room": {
278
+ "cls": "WallAccessory"
279
+ },
280
+ "lightswitch_01_room": {
281
+ "cls": "WallAccessory"
282
+ },
283
+ "wallaccessory_6.001_room": {
284
+ "cls": "WallAccessory"
285
+ },
286
+ "window_group_1_room": {
287
+ "cls": "Window"
288
+ },
289
+ "hingecabinet_5_right_group_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "hingecabinet_4_right_group_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "sink_right_group_1": {
296
+ "cls": "Sink"
297
+ },
298
+ "counter_03_right_group_1": {
299
+ "cls": "Counter"
300
+ },
301
+ "counter_corner_2_right_group_1": {
302
+ "cls": "Counter"
303
+ },
304
+ "stack_05_right_group_1_base": {
305
+ "cls": "Box"
306
+ },
307
+ "stack_05_right_group_1_1": {
308
+ "cls": "SingleCabinet"
309
+ },
310
+ "stack_05_right_group_1_2": {
311
+ "cls": "Drawer"
312
+ },
313
+ "box_05_right_group_1": {
314
+ "cls": "Box"
315
+ },
316
+ "dishwasher_1_right_group_1": {
317
+ "cls": "Dishwasher"
318
+ },
319
+ "stack_06_right_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_06_right_group_1_1": {
323
+ "cls": "HingeCabinet"
324
+ },
325
+ "stack_06_right_group_1_2": {
326
+ "cls": "PanelCabinet"
327
+ },
328
+ "stack_08_right_group_1_base": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_08_right_group_1_1": {
332
+ "cls": "SingleCabinet"
333
+ },
334
+ "stack_08_right_group_1_2": {
335
+ "cls": "Drawer"
336
+ },
337
+ "hingecabinet_1_front_group_1": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "hingecabinet_3_front_group_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "hingecabinet_2_front_group_1": {
344
+ "cls": "HingeCabinet"
345
+ },
346
+ "counter_05_front_group_1": {
347
+ "cls": "Counter"
348
+ },
349
+ "stack_02_front_group_1_base": {
350
+ "cls": "Box"
351
+ },
352
+ "stack_02_front_group_1_1": {
353
+ "cls": "HingeCabinet"
354
+ },
355
+ "stack_02_front_group_1_2": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_01_front_group_1_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_01_front_group_1_1": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "coffee_machine_front_group_1": {
365
+ "cls": "CoffeeMachine"
366
+ },
367
+ "toaster_front_group_1": {
368
+ "cls": "Toaster"
369
+ },
370
+ "fridgesidebyside_main_group_1": {
371
+ "cls": "FridgeSideBySide"
372
+ },
373
+ "fridgesidebyside_housing_main_group_1": {
374
+ "cls": "HousingCabinet"
375
+ },
376
+ "hingecabinet_6_main_group_1": {
377
+ "cls": "HingeCabinet"
378
+ },
379
+ "counter_02_main_group_1": {
380
+ "cls": "Counter"
381
+ },
382
+ "counter_01_main_group_1": {
383
+ "cls": "Counter"
384
+ },
385
+ "counter_corner_2_main_group_1": {
386
+ "cls": "Counter"
387
+ },
388
+ "stove_main_group_1": {
389
+ "cls": "Stove"
390
+ },
391
+ "microwave_main_group_1": {
392
+ "cls": "Microwave"
393
+ },
394
+ "micro_cab_main_group_1": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "singlecabinet_1_main_group_1": {
398
+ "cls": "SingleCabinet"
399
+ },
400
+ "singlecabinet_2_main_group_1": {
401
+ "cls": "SingleCabinet"
402
+ },
403
+ "cube_main_group_1": {
404
+ "cls": "Box"
405
+ },
406
+ "stack_03_main_group_1_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_03_main_group_1_1": {
410
+ "cls": "SingleCabinet"
411
+ },
412
+ "stack_03_main_group_1_2": {
413
+ "cls": "Drawer"
414
+ },
415
+ "stack_04_main_group_1_base": {
416
+ "cls": "Box"
417
+ },
418
+ "stack_04_main_group_1_1": {
419
+ "cls": "SingleCabinet"
420
+ },
421
+ "stack_04_main_group_1_2": {
422
+ "cls": "Drawer"
423
+ },
424
+ "papertowel_main_group_1": {
425
+ "cls": "Accessory"
426
+ },
427
+ "toaster_oven_main_group_1": {
428
+ "cls": "ToasterOven"
429
+ },
430
+ "counter_04_front_group_2": {
431
+ "cls": "Counter"
432
+ },
433
+ "stack_10_front_group_2_base": {
434
+ "cls": "Box"
435
+ },
436
+ "stack_10_front_group_2_1": {
437
+ "cls": "Drawer"
438
+ },
439
+ "stack_10_front_group_2_2": {
440
+ "cls": "Drawer"
441
+ },
442
+ "stack_10_front_group_2_3": {
443
+ "cls": "Drawer"
444
+ },
445
+ "stack_10_front_group_2_4": {
446
+ "cls": "Drawer"
447
+ },
448
+ "stack_09_front_group_2_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_09_front_group_2_1": {
452
+ "cls": "SingleCabinet"
453
+ },
454
+ "stack_09_front_group_2_2": {
455
+ "cls": "Drawer"
456
+ },
457
+ "cube_front_group_2": {
458
+ "cls": "Box"
459
+ }
460
+ },
461
+ "gen_textures": {},
462
+ "lang": "Turn on the sink faucet.",
463
+ "fixture_refs": {},
464
+ "cam_configs": {
465
+ "robot0_agentview_center": {
466
+ "pos": [
467
+ -0.6,
468
+ 0.0,
469
+ 1.15
470
+ ],
471
+ "quat": [
472
+ 0.636945903301239,
473
+ 0.3325185477733612,
474
+ -0.3199238181114197,
475
+ -0.6175596117973328
476
+ ],
477
+ "parent_body": "mobilebase0_support"
478
+ },
479
+ "robot0_agentview_left": {
480
+ "pos": [
481
+ -0.5,
482
+ 0.35,
483
+ 1.05
484
+ ],
485
+ "quat": [
486
+ 0.55623853,
487
+ 0.29935253,
488
+ -0.37678665,
489
+ -0.6775092
490
+ ],
491
+ "camera_attribs": {
492
+ "fovy": "60"
493
+ },
494
+ "parent_body": "mobilebase0_support"
495
+ },
496
+ "robot0_agentview_right": {
497
+ "pos": [
498
+ -0.5,
499
+ -0.35,
500
+ 1.05
501
+ ],
502
+ "quat": [
503
+ 0.6775091886520386,
504
+ 0.3767866790294647,
505
+ -0.2993525564670563,
506
+ -0.55623859167099
507
+ ],
508
+ "camera_attribs": {
509
+ "fovy": "60"
510
+ },
511
+ "parent_body": "mobilebase0_support"
512
+ },
513
+ "robot0_frontview": {
514
+ "pos": [
515
+ -0.5,
516
+ 0,
517
+ 0.95
518
+ ],
519
+ "quat": [
520
+ 0.6088936924934387,
521
+ 0.3814677894115448,
522
+ -0.3673907518386841,
523
+ -0.5905545353889465
524
+ ],
525
+ "camera_attribs": {
526
+ "fovy": "60"
527
+ },
528
+ "parent_body": "mobilebase0_support"
529
+ },
530
+ "robot0_eye_in_hand": {
531
+ "pos": [
532
+ 0.05,
533
+ 0,
534
+ 0
535
+ ],
536
+ "quat": [
537
+ 0,
538
+ 0.707107,
539
+ 0.707107,
540
+ 0
541
+ ],
542
+ "parent_body": "robot0_right_hand"
543
+ }
544
+ },
545
+ "init_robot_base_pos": [
546
+ 6.142149846549197,
547
+ -2.56147738203821,
548
+ 0.0
549
+ ],
550
+ "init_robot_base_ori": [
551
+ 0.0,
552
+ 0.0,
553
+ -0.00014782238328514552
554
+ ]
555
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000010/ep_meta.json ADDED
@@ -0,0 +1,457 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 31,
3
+ "style_id": 43,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "island_island_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_island_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.04085709341999999,
15
+ 0.14299989989999995,
16
+ 0.14269349093999997
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "boxed_food",
37
+ "packaged_food"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "boxed_food",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_10/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 1.5216732836254978,
49
+ 1.3
50
+ ],
51
+ "offset": [
52
+ 1.2891448581872509,
53
+ 2.0816681711721685e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_0"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_sink",
61
+ "obj_groups": "all",
62
+ "washable": true,
63
+ "placement": {
64
+ "fixture": "sink_island_group_1",
65
+ "size": [
66
+ 0.3,
67
+ 0.4
68
+ ],
69
+ "pos": [
70
+ null,
71
+ -1.0
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "fish",
79
+ "meat",
80
+ "food",
81
+ "in_container",
82
+ "oven_ready"
83
+ ],
84
+ "groups": [
85
+ "all"
86
+ ],
87
+ "cat": "fish",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml"
90
+ },
91
+ "reset_region": {
92
+ "offset": [
93
+ -0.20564561673306772,
94
+ -0.00026283565737052206,
95
+ -0.24197012749003982
96
+ ],
97
+ "size": [
98
+ 0.3156186952191235,
99
+ 0.37582371792828684
100
+ ],
101
+ "height": 0.1974794886454183,
102
+ "name": "basin_left"
103
+ }
104
+ }
105
+ ],
106
+ "fixtures": {
107
+ "wall_main_1_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_main_1_backing_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_right_1_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_right_1_backing_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_main_2_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_main_2_backing_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_left_1_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_left_1_backing_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_main_3_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_main_3_backing_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "floor_1_room": {
138
+ "cls": "Floor"
139
+ },
140
+ "floor_1_backing_room": {
141
+ "cls": "Floor"
142
+ },
143
+ "floor_2_room": {
144
+ "cls": "Floor"
145
+ },
146
+ "floor_2_backing_room": {
147
+ "cls": "Floor"
148
+ },
149
+ "stool_3_room": {
150
+ "cls": "Stool"
151
+ },
152
+ "stool_2_room": {
153
+ "cls": "Stool"
154
+ },
155
+ "stool_1_room": {
156
+ "cls": "Stool"
157
+ },
158
+ "stack_1_main_group_1_base": {
159
+ "cls": "Box"
160
+ },
161
+ "stack_1_main_group_1_1": {
162
+ "cls": "HingeCabinet"
163
+ },
164
+ "fridgebottomfreezer_main_group_1": {
165
+ "cls": "FridgeBottomFreezer"
166
+ },
167
+ "fridgebottomfreezer_housing_main_group_1": {
168
+ "cls": "HousingCabinet"
169
+ },
170
+ "bottom_main_group_1_base": {
171
+ "cls": "Box"
172
+ },
173
+ "bottom_main_group_1_1": {
174
+ "cls": "Drawer"
175
+ },
176
+ "oven_main_group_1": {
177
+ "cls": "Oven"
178
+ },
179
+ "microwave_main_group_1": {
180
+ "cls": "Microwave"
181
+ },
182
+ "hingecabinet_2_main_group_1": {
183
+ "cls": "HingeCabinet"
184
+ },
185
+ "hingecabinet_3_main_group_1": {
186
+ "cls": "HingeCabinet"
187
+ },
188
+ "cube_2_main_group_1": {
189
+ "cls": "Box"
190
+ },
191
+ "cube_3_main_group_1": {
192
+ "cls": "Box"
193
+ },
194
+ "cube_1_main_group_1": {
195
+ "cls": "Box"
196
+ },
197
+ "oven_housing_main_group_1": {
198
+ "cls": "HousingCabinet"
199
+ },
200
+ "hingecabinet_1_main_group_1": {
201
+ "cls": "HingeCabinet"
202
+ },
203
+ "microwave_housing_main_group_1": {
204
+ "cls": "HousingCabinet"
205
+ },
206
+ "top_main_group_1": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "stovetop_right_group_1": {
210
+ "cls": "Stovetop"
211
+ },
212
+ "counter_1_right_group_1": {
213
+ "cls": "Counter"
214
+ },
215
+ "hingecabinet_1_right_group_1": {
216
+ "cls": "HingeCabinet"
217
+ },
218
+ "hingecabinet_2_right_group_1": {
219
+ "cls": "HingeCabinet"
220
+ },
221
+ "hingecabinet_3_right_group_1": {
222
+ "cls": "HingeCabinet"
223
+ },
224
+ "hingecabinet_4_right_group_1": {
225
+ "cls": "HingeCabinet"
226
+ },
227
+ "hood_right_group_1": {
228
+ "cls": "Hood"
229
+ },
230
+ "stack_2_right_group_1_base": {
231
+ "cls": "Box"
232
+ },
233
+ "stack_2_right_group_1_1": {
234
+ "cls": "HingeCabinet"
235
+ },
236
+ "stack_2_right_group_1_2": {
237
+ "cls": "Drawer"
238
+ },
239
+ "stack_1_right_group_1_base": {
240
+ "cls": "Box"
241
+ },
242
+ "stack_1_right_group_1_1": {
243
+ "cls": "HingeCabinet"
244
+ },
245
+ "stack_1_right_group_1_2": {
246
+ "cls": "Drawer"
247
+ },
248
+ "stack_4_right_group_1_base": {
249
+ "cls": "Box"
250
+ },
251
+ "stack_4_right_group_1_1": {
252
+ "cls": "HingeCabinet"
253
+ },
254
+ "stack_4_right_group_1_2": {
255
+ "cls": "Drawer"
256
+ },
257
+ "stack_3_right_group_1_base": {
258
+ "cls": "Box"
259
+ },
260
+ "stack_3_right_group_1_1": {
261
+ "cls": "Drawer"
262
+ },
263
+ "stack_3_right_group_1_2": {
264
+ "cls": "Drawer"
265
+ },
266
+ "stack_3_right_group_1_3": {
267
+ "cls": "PanelCabinet"
268
+ },
269
+ "stack_5_right_group_1_base": {
270
+ "cls": "Box"
271
+ },
272
+ "stack_5_right_group_1_1": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "stack_5_right_group_1_2": {
276
+ "cls": "Drawer"
277
+ },
278
+ "coffee_machine_right_group_1": {
279
+ "cls": "CoffeeMachine"
280
+ },
281
+ "toaster_right_group_1": {
282
+ "cls": "Toaster"
283
+ },
284
+ "papertowel_right_group_1": {
285
+ "cls": "Accessory"
286
+ },
287
+ "toaster_oven_right_group_1": {
288
+ "cls": "ToasterOven"
289
+ },
290
+ "sink_island_group_1": {
291
+ "cls": "Sink"
292
+ },
293
+ "island_island_group_1": {
294
+ "cls": "Counter"
295
+ },
296
+ "cube_1_island_group_1": {
297
+ "cls": "Box"
298
+ },
299
+ "cube_2_island_group_1": {
300
+ "cls": "Box"
301
+ },
302
+ "cube_3_island_group_1": {
303
+ "cls": "Box"
304
+ },
305
+ "cube_4_island_group_1": {
306
+ "cls": "Box"
307
+ },
308
+ "cube_5_island_group_1": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_1_island_group_1_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_1_island_group_1_1": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_1_island_group_1_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_1_island_group_1_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_2_island_group_1_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_2_island_group_1_1": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "stack_3_island_group_1_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_3_island_group_1_1": {
333
+ "cls": "SingleCabinet"
334
+ },
335
+ "stack_4_island_group_1_base": {
336
+ "cls": "Box"
337
+ },
338
+ "stack_4_island_group_1_1": {
339
+ "cls": "SingleCabinet"
340
+ },
341
+ "stack_5_island_group_1_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_5_island_group_1_1": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_5_island_group_1_2": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_5_island_group_1_3": {
351
+ "cls": "Drawer"
352
+ },
353
+ "cube_6_island_group_1": {
354
+ "cls": "Box"
355
+ },
356
+ "cube_7_island_group_1": {
357
+ "cls": "Box"
358
+ },
359
+ "dishwasher_1_island_group_1": {
360
+ "cls": "Dishwasher"
361
+ }
362
+ },
363
+ "gen_textures": {},
364
+ "lang": "Turn on the sink faucet.",
365
+ "fixture_refs": {},
366
+ "cam_configs": {
367
+ "robot0_agentview_center": {
368
+ "pos": [
369
+ -0.6,
370
+ 0.0,
371
+ 1.15
372
+ ],
373
+ "quat": [
374
+ 0.636945903301239,
375
+ 0.3325185477733612,
376
+ -0.3199238181114197,
377
+ -0.6175596117973328
378
+ ],
379
+ "parent_body": "mobilebase0_support"
380
+ },
381
+ "robot0_agentview_left": {
382
+ "pos": [
383
+ -0.5,
384
+ 0.35,
385
+ 1.05
386
+ ],
387
+ "quat": [
388
+ 0.55623853,
389
+ 0.29935253,
390
+ -0.37678665,
391
+ -0.6775092
392
+ ],
393
+ "camera_attribs": {
394
+ "fovy": "60"
395
+ },
396
+ "parent_body": "mobilebase0_support"
397
+ },
398
+ "robot0_agentview_right": {
399
+ "pos": [
400
+ -0.5,
401
+ -0.35,
402
+ 1.05
403
+ ],
404
+ "quat": [
405
+ 0.6775091886520386,
406
+ 0.3767866790294647,
407
+ -0.2993525564670563,
408
+ -0.55623859167099
409
+ ],
410
+ "camera_attribs": {
411
+ "fovy": "60"
412
+ },
413
+ "parent_body": "mobilebase0_support"
414
+ },
415
+ "robot0_frontview": {
416
+ "pos": [
417
+ -0.5,
418
+ 0,
419
+ 0.95
420
+ ],
421
+ "quat": [
422
+ 0.6088936924934387,
423
+ 0.3814677894115448,
424
+ -0.3673907518386841,
425
+ -0.5905545353889465
426
+ ],
427
+ "camera_attribs": {
428
+ "fovy": "60"
429
+ },
430
+ "parent_body": "mobilebase0_support"
431
+ },
432
+ "robot0_eye_in_hand": {
433
+ "pos": [
434
+ 0.05,
435
+ 0,
436
+ 0
437
+ ],
438
+ "quat": [
439
+ 0,
440
+ 0.707107,
441
+ 0.707107,
442
+ 0
443
+ ],
444
+ "parent_body": "robot0_right_hand"
445
+ }
446
+ },
447
+ "init_robot_base_pos": [
448
+ 3.118319615672422,
449
+ -4.288643100087991,
450
+ 0.0
451
+ ],
452
+ "init_robot_base_ori": [
453
+ 0.0,
454
+ 0.0,
455
+ 3.14159329371052
456
+ ]
457
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000012/ep_meta.json ADDED
@@ -0,0 +1,470 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 18,
3
+ "style_id": 44,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_right_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_right_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.007284,
15
+ 0.194992,
16
+ 0.00805
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "straw"
37
+ ],
38
+ "groups": [
39
+ "all"
40
+ ],
41
+ "cat": "straw",
42
+ "split": "train",
43
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw006/model.xml"
44
+ },
45
+ "reset_region": {
46
+ "size": [
47
+ 0.8511641218688839,
48
+ 0.65
49
+ ],
50
+ "offset": [
51
+ 1.5244179390655577,
52
+ -3.469446951953614e-17,
53
+ 0.46
54
+ ],
55
+ "name": "geom_1"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_sink",
60
+ "obj_groups": "all",
61
+ "washable": true,
62
+ "placement": {
63
+ "fixture": "sink_1_right_group",
64
+ "size": [
65
+ 0.3,
66
+ 0.4
67
+ ],
68
+ "pos": [
69
+ null,
70
+ -1.0
71
+ ]
72
+ },
73
+ "type": "object",
74
+ "info": {
75
+ "groups_containing_sampled_obj": [
76
+ "all",
77
+ "dish_brush",
78
+ "tool",
79
+ "cleaner",
80
+ "in_container"
81
+ ],
82
+ "groups": [
83
+ "all"
84
+ ],
85
+ "cat": "dish_brush",
86
+ "split": "train",
87
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml"
88
+ },
89
+ "reset_region": {
90
+ "offset": [
91
+ -0.06517741141494493,
92
+ -0.024395080242305967,
93
+ -0.22206354385833346
94
+ ],
95
+ "size": [
96
+ 0.3445961465834447,
97
+ 0.39989720086417463
98
+ ],
99
+ "height": 0.13494754823873578,
100
+ "name": "basin"
101
+ }
102
+ }
103
+ ],
104
+ "fixtures": {
105
+ "wall_main_room": {
106
+ "cls": "Wall"
107
+ },
108
+ "wall_main_backing_room": {
109
+ "cls": "Wall"
110
+ },
111
+ "wall_right_1_room": {
112
+ "cls": "Wall"
113
+ },
114
+ "wall_right_1_backing_room": {
115
+ "cls": "Wall"
116
+ },
117
+ "wall_left_1_room": {
118
+ "cls": "Wall"
119
+ },
120
+ "wall_left_1_backing_room": {
121
+ "cls": "Wall"
122
+ },
123
+ "wall_left_3_room": {
124
+ "cls": "Wall"
125
+ },
126
+ "wall_left_3_backing_room": {
127
+ "cls": "Wall"
128
+ },
129
+ "wall_left_2_room": {
130
+ "cls": "Wall"
131
+ },
132
+ "wall_left_2_backing_room": {
133
+ "cls": "Wall"
134
+ },
135
+ "floor_1_room": {
136
+ "cls": "Floor"
137
+ },
138
+ "floor_1_backing_room": {
139
+ "cls": "Floor"
140
+ },
141
+ "light_switch_1_room": {
142
+ "cls": "WallAccessory"
143
+ },
144
+ "light_switch_2_room": {
145
+ "cls": "WallAccessory"
146
+ },
147
+ "light_switch_3_room": {
148
+ "cls": "WallAccessory"
149
+ },
150
+ "light_switch_4_room": {
151
+ "cls": "WallAccessory"
152
+ },
153
+ "wall_accessory_1_room": {
154
+ "cls": "WallAccessory"
155
+ },
156
+ "light_switch_5_room": {
157
+ "cls": "WallAccessory"
158
+ },
159
+ "light_switch_6_room": {
160
+ "cls": "WallAccessory"
161
+ },
162
+ "light_switch_7_room": {
163
+ "cls": "WallAccessory"
164
+ },
165
+ "window_group_1_room": {
166
+ "cls": "Window"
167
+ },
168
+ "window_group_2_room": {
169
+ "cls": "Window"
170
+ },
171
+ "bottom_main_group_base": {
172
+ "cls": "Box"
173
+ },
174
+ "bottom_main_group_1": {
175
+ "cls": "Drawer"
176
+ },
177
+ "oven_main_group": {
178
+ "cls": "Oven"
179
+ },
180
+ "oven_housing_main_group": {
181
+ "cls": "HousingCabinet"
182
+ },
183
+ "microwave_main_group": {
184
+ "cls": "Microwave"
185
+ },
186
+ "microwave_housing_main_group": {
187
+ "cls": "HousingCabinet"
188
+ },
189
+ "top_main_group": {
190
+ "cls": "HingeCabinet"
191
+ },
192
+ "fridge_main_group": {
193
+ "cls": "FridgeSideBySide"
194
+ },
195
+ "fridge_housing_main_group": {
196
+ "cls": "HousingCabinet"
197
+ },
198
+ "counter_1_main_group": {
199
+ "cls": "Counter"
200
+ },
201
+ "counter_corner_main_group": {
202
+ "cls": "Counter"
203
+ },
204
+ "stack_1_main_group_base": {
205
+ "cls": "Box"
206
+ },
207
+ "stack_1_main_group_1": {
208
+ "cls": "SingleCabinet"
209
+ },
210
+ "box_1_main_group": {
211
+ "cls": "Box"
212
+ },
213
+ "cab_1_main_group": {
214
+ "cls": "HingeCabinet"
215
+ },
216
+ "cab_2_main_group": {
217
+ "cls": "HingeCabinet"
218
+ },
219
+ "toaster_oven_main_group": {
220
+ "cls": "ToasterOven"
221
+ },
222
+ "plant_main_group": {
223
+ "cls": "Accessory"
224
+ },
225
+ "stovetop_left_group": {
226
+ "cls": "Stovetop"
227
+ },
228
+ "counter_1_left_group": {
229
+ "cls": "Counter"
230
+ },
231
+ "stack_1_left_group_base": {
232
+ "cls": "Box"
233
+ },
234
+ "stack_1_left_group_1": {
235
+ "cls": "SingleCabinet"
236
+ },
237
+ "stack_2_left_group_base": {
238
+ "cls": "Box"
239
+ },
240
+ "stack_2_left_group_1": {
241
+ "cls": "Drawer"
242
+ },
243
+ "stack_2_left_group_2": {
244
+ "cls": "Drawer"
245
+ },
246
+ "stack_2_left_group_3": {
247
+ "cls": "Drawer"
248
+ },
249
+ "stack_2_left_group_4": {
250
+ "cls": "Drawer"
251
+ },
252
+ "stack_2_left_group_5": {
253
+ "cls": "Drawer"
254
+ },
255
+ "stack_2_left_group_6": {
256
+ "cls": "Drawer"
257
+ },
258
+ "stack_3_left_group_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_3_left_group_1": {
262
+ "cls": "Drawer"
263
+ },
264
+ "stack_3_left_group_2": {
265
+ "cls": "Drawer"
266
+ },
267
+ "stack_3_left_group_3": {
268
+ "cls": "PanelCabinet"
269
+ },
270
+ "stack_4_left_group_base": {
271
+ "cls": "Box"
272
+ },
273
+ "stack_4_left_group_1": {
274
+ "cls": "Drawer"
275
+ },
276
+ "stack_4_left_group_2": {
277
+ "cls": "Drawer"
278
+ },
279
+ "stack_4_left_group_3": {
280
+ "cls": "Drawer"
281
+ },
282
+ "stack_4_left_group_4": {
283
+ "cls": "Drawer"
284
+ },
285
+ "stack_4_left_group_5": {
286
+ "cls": "Drawer"
287
+ },
288
+ "stack_4_left_group_6": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_5_left_group_base": {
292
+ "cls": "Box"
293
+ },
294
+ "stack_5_left_group_1": {
295
+ "cls": "SingleCabinet"
296
+ },
297
+ "hood_left_group": {
298
+ "cls": "Hood"
299
+ },
300
+ "cab_1_left_group": {
301
+ "cls": "HingeCabinet"
302
+ },
303
+ "cab_2_left_group": {
304
+ "cls": "HingeCabinet"
305
+ },
306
+ "paper_towel_left_group": {
307
+ "cls": "Accessory"
308
+ },
309
+ "coffee_machine_left_group": {
310
+ "cls": "CoffeeMachine"
311
+ },
312
+ "sink_1_right_group": {
313
+ "cls": "Sink"
314
+ },
315
+ "counter_1_right_group": {
316
+ "cls": "Counter"
317
+ },
318
+ "box_1_right_group": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_1_right_group_base": {
322
+ "cls": "Box"
323
+ },
324
+ "stack_1_right_group_1": {
325
+ "cls": "SingleCabinet"
326
+ },
327
+ "stack_2_right_group_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_2_right_group_1": {
331
+ "cls": "Drawer"
332
+ },
333
+ "stack_2_right_group_2": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_2_right_group_3": {
337
+ "cls": "Drawer"
338
+ },
339
+ "stack_3_right_group_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_3_right_group_1": {
343
+ "cls": "SingleCabinet"
344
+ },
345
+ "stack_4_right_group_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_4_right_group_1": {
349
+ "cls": "SingleCabinet"
350
+ },
351
+ "stack_5_right_group_base": {
352
+ "cls": "Box"
353
+ },
354
+ "stack_5_right_group_1": {
355
+ "cls": "HingeCabinet"
356
+ },
357
+ "dishwasher_1_right_group": {
358
+ "cls": "Dishwasher"
359
+ },
360
+ "panel_stack_right_group_base": {
361
+ "cls": "Box"
362
+ },
363
+ "panel_stack_right_group_1": {
364
+ "cls": "PanelCabinet"
365
+ },
366
+ "wall_stack_right_group_base": {
367
+ "cls": "Box"
368
+ },
369
+ "wall_stack_right_group_1": {
370
+ "cls": "HingeCabinet"
371
+ },
372
+ "toaster_right_group": {
373
+ "cls": "Toaster"
374
+ }
375
+ },
376
+ "gen_textures": {},
377
+ "lang": "Turn on the sink faucet.",
378
+ "fixture_refs": {},
379
+ "cam_configs": {
380
+ "robot0_agentview_center": {
381
+ "pos": [
382
+ -0.6,
383
+ 0.0,
384
+ 1.15
385
+ ],
386
+ "quat": [
387
+ 0.636945903301239,
388
+ 0.3325185477733612,
389
+ -0.3199238181114197,
390
+ -0.6175596117973328
391
+ ],
392
+ "parent_body": "mobilebase0_support"
393
+ },
394
+ "robot0_agentview_left": {
395
+ "pos": [
396
+ -0.5,
397
+ 0.35,
398
+ 1.05
399
+ ],
400
+ "quat": [
401
+ 0.55623853,
402
+ 0.29935253,
403
+ -0.37678665,
404
+ -0.6775092
405
+ ],
406
+ "camera_attribs": {
407
+ "fovy": "60"
408
+ },
409
+ "parent_body": "mobilebase0_support"
410
+ },
411
+ "robot0_agentview_right": {
412
+ "pos": [
413
+ -0.5,
414
+ -0.35,
415
+ 1.05
416
+ ],
417
+ "quat": [
418
+ 0.6775091886520386,
419
+ 0.3767866790294647,
420
+ -0.2993525564670563,
421
+ -0.55623859167099
422
+ ],
423
+ "camera_attribs": {
424
+ "fovy": "60"
425
+ },
426
+ "parent_body": "mobilebase0_support"
427
+ },
428
+ "robot0_frontview": {
429
+ "pos": [
430
+ -0.5,
431
+ 0,
432
+ 0.95
433
+ ],
434
+ "quat": [
435
+ 0.6088936924934387,
436
+ 0.3814677894115448,
437
+ -0.3673907518386841,
438
+ -0.5905545353889465
439
+ ],
440
+ "camera_attribs": {
441
+ "fovy": "60"
442
+ },
443
+ "parent_body": "mobilebase0_support"
444
+ },
445
+ "robot0_eye_in_hand": {
446
+ "pos": [
447
+ 0.05,
448
+ 0,
449
+ 0
450
+ ],
451
+ "quat": [
452
+ 0,
453
+ 0.707107,
454
+ 0.707107,
455
+ 0
456
+ ],
457
+ "parent_body": "robot0_right_hand"
458
+ }
459
+ },
460
+ "init_robot_base_pos": [
461
+ 2.2517329831235773,
462
+ -3.177294565410293,
463
+ 0.0
464
+ ],
465
+ "init_robot_base_ori": [
466
+ 0.0,
467
+ 0.0,
468
+ 3.422854288892552e-08
469
+ ]
470
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000013/ep_meta.json ADDED
@@ -0,0 +1,429 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 37,
3
+ "style_id": 25,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "island_island_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_island_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.0918202005,
15
+ 0.057627339,
16
+ 0.1382033835
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "honey_bottle",
37
+ "packaged_food"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "honey_bottle",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle001/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 0.6902,
49
+ 1.045
50
+ ],
51
+ "offset": [
52
+ 0.7848999999999999,
53
+ 2.0816681711721685e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_0"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_counter_1",
61
+ "obj_groups": "all",
62
+ "placement": {
63
+ "fixture": "island_island_group_1",
64
+ "sample_region_kwargs": {
65
+ "ref": "sink_island_group_1",
66
+ "loc": "left_right",
67
+ "min_size": [
68
+ 0.06792552134999998,
69
+ 0.06795752309999996,
70
+ 0.05594104889999998
71
+ ]
72
+ },
73
+ "size": [
74
+ 0.3,
75
+ 0.3
76
+ ],
77
+ "pos": [
78
+ "ref",
79
+ -1.0
80
+ ],
81
+ "offset": [
82
+ 0.0,
83
+ 0.1
84
+ ]
85
+ },
86
+ "type": "object",
87
+ "info": {
88
+ "groups_containing_sampled_obj": [
89
+ "all",
90
+ "jam",
91
+ "packaged_food"
92
+ ],
93
+ "groups": [
94
+ "all"
95
+ ],
96
+ "cat": "jam",
97
+ "split": "train",
98
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_3/model.xml"
99
+ },
100
+ "reset_region": {
101
+ "size": [
102
+ 0.6902,
103
+ 1.045
104
+ ],
105
+ "offset": [
106
+ 0.7848999999999999,
107
+ 2.0816681711721685e-17,
108
+ 0.46
109
+ ],
110
+ "name": "geom_0"
111
+ }
112
+ },
113
+ {
114
+ "name": "distr_sink",
115
+ "obj_groups": "all",
116
+ "washable": true,
117
+ "placement": {
118
+ "fixture": "sink_island_group_1",
119
+ "size": [
120
+ 0.3,
121
+ 0.4
122
+ ],
123
+ "pos": [
124
+ null,
125
+ -1.0
126
+ ]
127
+ },
128
+ "type": "object",
129
+ "info": {
130
+ "groups_containing_sampled_obj": [
131
+ "all",
132
+ "tangerine",
133
+ "fruit",
134
+ "food",
135
+ "in_container"
136
+ ],
137
+ "groups": [
138
+ "all"
139
+ ],
140
+ "cat": "tangerine",
141
+ "split": "train",
142
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml"
143
+ },
144
+ "reset_region": {
145
+ "offset": [
146
+ -0.22429199209769493,
147
+ -0.00014532459531040043,
148
+ -0.2189082755166076
149
+ ],
150
+ "size": [
151
+ 0.4352338878968735,
152
+ 0.3993956227543508
153
+ ],
154
+ "height": 0.17172770383294583,
155
+ "name": "basin"
156
+ }
157
+ }
158
+ ],
159
+ "fixtures": {
160
+ "wall_main_1_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_main_1_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_main_2_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_main_2_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_3_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_3_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "floor_1_room": {
185
+ "cls": "Floor"
186
+ },
187
+ "floor_1_backing_room": {
188
+ "cls": "Floor"
189
+ },
190
+ "wallaccessory_1_room": {
191
+ "cls": "WallAccessory"
192
+ },
193
+ "wallaccessory_2_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
+ "stovetop_left_group_1": {
206
+ "cls": "Stovetop"
207
+ },
208
+ "counter_1_left_group_1": {
209
+ "cls": "Counter"
210
+ },
211
+ "hingecabinet_2_left_group_1": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "hingecabinet_1_left_group_1": {
215
+ "cls": "HingeCabinet"
216
+ },
217
+ "microwave_left_group_1": {
218
+ "cls": "Microwave"
219
+ },
220
+ "cab_micro_left_group_1": {
221
+ "cls": "HingeCabinet"
222
+ },
223
+ "cube_1_left_group_1": {
224
+ "cls": "Box"
225
+ },
226
+ "fridgefrenchdoor_left_group_1": {
227
+ "cls": "FridgeFrenchDoor"
228
+ },
229
+ "fridgefrenchdoor_housing_left_group_1": {
230
+ "cls": "HousingCabinet"
231
+ },
232
+ "bottom_left_group_1_base": {
233
+ "cls": "Box"
234
+ },
235
+ "bottom_left_group_1_1": {
236
+ "cls": "Drawer"
237
+ },
238
+ "oven_left_group_1": {
239
+ "cls": "Oven"
240
+ },
241
+ "oven_housing_left_group_1": {
242
+ "cls": "HousingCabinet"
243
+ },
244
+ "hingecabinet_3_left_group_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "microwave_cabinet_left_group_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "top_left_group_1": {
251
+ "cls": "HingeCabinet"
252
+ },
253
+ "stack_1_left_group_1_base": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_1_left_group_1_1": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "stack_1_left_group_1_2": {
260
+ "cls": "Drawer"
261
+ },
262
+ "stack_2_left_group_1_base": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_2_left_group_1_1": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_2_left_group_1_2": {
269
+ "cls": "Drawer"
270
+ },
271
+ "stack_2_left_group_1_3": {
272
+ "cls": "PanelCabinet"
273
+ },
274
+ "stack_3_left_group_1_base": {
275
+ "cls": "Box"
276
+ },
277
+ "stack_3_left_group_1_1": {
278
+ "cls": "HingeCabinet"
279
+ },
280
+ "stack_3_left_group_1_2": {
281
+ "cls": "Drawer"
282
+ },
283
+ "papertowel_left_group_1": {
284
+ "cls": "Accessory"
285
+ },
286
+ "coffee_machine_left_group_1": {
287
+ "cls": "CoffeeMachine"
288
+ },
289
+ "toaster_left_group_1": {
290
+ "cls": "Toaster"
291
+ },
292
+ "sink_island_group_1": {
293
+ "cls": "Sink"
294
+ },
295
+ "island_island_group_1": {
296
+ "cls": "Counter"
297
+ },
298
+ "cube_5_island_group_1": {
299
+ "cls": "Box"
300
+ },
301
+ "cube_1_island_group_1": {
302
+ "cls": "Box"
303
+ },
304
+ "cube_2_island_group_1": {
305
+ "cls": "Box"
306
+ },
307
+ "cube_3_island_group_1": {
308
+ "cls": "Box"
309
+ },
310
+ "cube_4_island_group_1": {
311
+ "cls": "Box"
312
+ },
313
+ "stack_2_island_group_1_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_2_island_group_1_1": {
317
+ "cls": "SingleCabinet"
318
+ },
319
+ "stack_2_island_group_1_2": {
320
+ "cls": "Drawer"
321
+ },
322
+ "stack_1_island_group_1_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_1_island_group_1_1": {
326
+ "cls": "HingeCabinet"
327
+ },
328
+ "stack_1_island_group_1_2": {
329
+ "cls": "PanelCabinet"
330
+ },
331
+ "dishwasher_1_island_group_1": {
332
+ "cls": "Dishwasher"
333
+ }
334
+ },
335
+ "gen_textures": {},
336
+ "lang": "Turn on the sink faucet.",
337
+ "fixture_refs": {},
338
+ "cam_configs": {
339
+ "robot0_agentview_center": {
340
+ "pos": [
341
+ -0.6,
342
+ 0.0,
343
+ 1.15
344
+ ],
345
+ "quat": [
346
+ 0.636945903301239,
347
+ 0.3325185477733612,
348
+ -0.3199238181114197,
349
+ -0.6175596117973328
350
+ ],
351
+ "parent_body": "mobilebase0_support"
352
+ },
353
+ "robot0_agentview_left": {
354
+ "pos": [
355
+ -0.5,
356
+ 0.35,
357
+ 1.05
358
+ ],
359
+ "quat": [
360
+ 0.55623853,
361
+ 0.29935253,
362
+ -0.37678665,
363
+ -0.6775092
364
+ ],
365
+ "camera_attribs": {
366
+ "fovy": "60"
367
+ },
368
+ "parent_body": "mobilebase0_support"
369
+ },
370
+ "robot0_agentview_right": {
371
+ "pos": [
372
+ -0.5,
373
+ -0.35,
374
+ 1.05
375
+ ],
376
+ "quat": [
377
+ 0.6775091886520386,
378
+ 0.3767866790294647,
379
+ -0.2993525564670563,
380
+ -0.55623859167099
381
+ ],
382
+ "camera_attribs": {
383
+ "fovy": "60"
384
+ },
385
+ "parent_body": "mobilebase0_support"
386
+ },
387
+ "robot0_frontview": {
388
+ "pos": [
389
+ -0.5,
390
+ 0,
391
+ 0.95
392
+ ],
393
+ "quat": [
394
+ 0.6088936924934387,
395
+ 0.3814677894115448,
396
+ -0.3673907518386841,
397
+ -0.5905545353889465
398
+ ],
399
+ "camera_attribs": {
400
+ "fovy": "60"
401
+ },
402
+ "parent_body": "mobilebase0_support"
403
+ },
404
+ "robot0_eye_in_hand": {
405
+ "pos": [
406
+ 0.05,
407
+ 0,
408
+ 0
409
+ ],
410
+ "quat": [
411
+ 0,
412
+ 0.707107,
413
+ 0.707107,
414
+ 0
415
+ ],
416
+ "parent_body": "robot0_right_hand"
417
+ }
418
+ },
419
+ "init_robot_base_pos": [
420
+ 2.533895075171104,
421
+ -2.6059841115491214,
422
+ 0.0
423
+ ],
424
+ "init_robot_base_ori": [
425
+ 0.0,
426
+ 0.0,
427
+ -4.7153339388650295e-07
428
+ ]
429
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000014/ep_meta.json ADDED
@@ -0,0 +1,510 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 15,
3
+ "style_id": 15,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "island_island_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_island_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.06515116499999997,
15
+ 0.07499999999999997,
16
+ 0.07032914699999997
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "lime",
37
+ "vegetable",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "lime",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 0.8906671803869255,
51
+ 1.47
52
+ ],
53
+ "offset": [
54
+ 0.8341664098065373,
55
+ 2.0816681711721685e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_sink",
63
+ "obj_groups": "all",
64
+ "washable": true,
65
+ "placement": {
66
+ "fixture": "sink_island_group",
67
+ "size": [
68
+ 0.3,
69
+ 0.4
70
+ ],
71
+ "pos": [
72
+ null,
73
+ -1.0
74
+ ]
75
+ },
76
+ "type": "object",
77
+ "info": {
78
+ "groups_containing_sampled_obj": [
79
+ "all",
80
+ "spatula",
81
+ "utensil"
82
+ ],
83
+ "groups": [
84
+ "all"
85
+ ],
86
+ "cat": "spatula",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spatula/spatula_10/model.xml"
89
+ },
90
+ "reset_region": {
91
+ "offset": [
92
+ 0.27964325197453305,
93
+ -0.024715005115716268,
94
+ -0.22885473673370343
95
+ ],
96
+ "size": [
97
+ 0.24005096645558588,
98
+ 0.40076461774204786
99
+ ],
100
+ "height": 0.1355223112930033,
101
+ "name": "basin_right"
102
+ }
103
+ }
104
+ ],
105
+ "fixtures": {
106
+ "wall_main_1_room": {
107
+ "cls": "Wall"
108
+ },
109
+ "wall_main_1_backing_room": {
110
+ "cls": "Wall"
111
+ },
112
+ "wall_left_1_room": {
113
+ "cls": "Wall"
114
+ },
115
+ "wall_left_1_backing_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_left_2_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "wall_left_2_backing_room": {
122
+ "cls": "Wall"
123
+ },
124
+ "wall_left_3_room": {
125
+ "cls": "Wall"
126
+ },
127
+ "wall_left_3_backing_room": {
128
+ "cls": "Wall"
129
+ },
130
+ "wall_front_1_room": {
131
+ "cls": "Wall"
132
+ },
133
+ "wall_front_1_backing_room": {
134
+ "cls": "Wall"
135
+ },
136
+ "wall_right_1_room": {
137
+ "cls": "Wall"
138
+ },
139
+ "wall_right_1_backing_room": {
140
+ "cls": "Wall"
141
+ },
142
+ "wall_right_2_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_right_2_backing_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_front_2_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "wall_front_2_backing_room": {
152
+ "cls": "Wall"
153
+ },
154
+ "wall_main_2_room": {
155
+ "cls": "Wall"
156
+ },
157
+ "wall_main_2_backing_room": {
158
+ "cls": "Wall"
159
+ },
160
+ "wall_left_4_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_left_4_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_left_5_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_left_5_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
+ "floor_3_room": {
185
+ "cls": "Floor"
186
+ },
187
+ "floor_3_backing_room": {
188
+ "cls": "Floor"
189
+ },
190
+ "wall_accessory_1_room": {
191
+ "cls": "WallAccessory"
192
+ },
193
+ "wall_accessory_2_room": {
194
+ "cls": "WallAccessory"
195
+ },
196
+ "wall_accessory_3_room": {
197
+ "cls": "WallAccessory"
198
+ },
199
+ "light_switch_room": {
200
+ "cls": "WallAccessory"
201
+ },
202
+ "wall_accessory_4_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "wall_accessory_5_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "wall_accessory_6_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "stool_1_room": {
212
+ "cls": "Stool"
213
+ },
214
+ "stool_2_room": {
215
+ "cls": "Stool"
216
+ },
217
+ "stool_3_room": {
218
+ "cls": "Stool"
219
+ },
220
+ "fridge_1_main_group_1": {
221
+ "cls": "FridgeFrenchDoor"
222
+ },
223
+ "fridge_1_housing_main_group_1": {
224
+ "cls": "HousingCabinet"
225
+ },
226
+ "fridge_top_main_group_1": {
227
+ "cls": "HingeCabinet"
228
+ },
229
+ "bottom_main_group_1_base": {
230
+ "cls": "Box"
231
+ },
232
+ "bottom_main_group_1_1": {
233
+ "cls": "Drawer"
234
+ },
235
+ "oven_main_group_1": {
236
+ "cls": "Oven"
237
+ },
238
+ "oven_housing_main_group_1": {
239
+ "cls": "HousingCabinet"
240
+ },
241
+ "microwave_main_group_1": {
242
+ "cls": "Microwave"
243
+ },
244
+ "microwave_housing_main_group_1": {
245
+ "cls": "HousingCabinet"
246
+ },
247
+ "top_main_group_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "counter_1_main_group_1": {
251
+ "cls": "Counter"
252
+ },
253
+ "stack_1_main_group_1_base": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_1_main_group_1_1": {
257
+ "cls": "Drawer"
258
+ },
259
+ "stack_1_main_group_1_2": {
260
+ "cls": "Drawer"
261
+ },
262
+ "stack_1_main_group_1_3": {
263
+ "cls": "Drawer"
264
+ },
265
+ "stack_2_main_group_1_base": {
266
+ "cls": "Box"
267
+ },
268
+ "stack_2_main_group_1_1": {
269
+ "cls": "SingleCabinet"
270
+ },
271
+ "stack_2_main_group_1_2": {
272
+ "cls": "Drawer"
273
+ },
274
+ "cab_1_main_group_1": {
275
+ "cls": "HingeCabinet"
276
+ },
277
+ "toaster_main_group_1": {
278
+ "cls": "Toaster"
279
+ },
280
+ "stovetop_1_left_group_1": {
281
+ "cls": "Stovetop"
282
+ },
283
+ "counter_1_left_group_1": {
284
+ "cls": "Counter"
285
+ },
286
+ "stack_1_left_group_1_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_1_left_group_1_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "stack_1_left_group_1_2": {
293
+ "cls": "PanelCabinet"
294
+ },
295
+ "stack_2_left_group_1_base": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_2_left_group_1_1": {
299
+ "cls": "HingeCabinet"
300
+ },
301
+ "stack_2_left_group_1_2": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_3_left_group_1_base": {
305
+ "cls": "Box"
306
+ },
307
+ "stack_3_left_group_1_1": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "stack_3_left_group_1_2": {
311
+ "cls": "Drawer"
312
+ },
313
+ "hood_left_group_1": {
314
+ "cls": "Hood"
315
+ },
316
+ "cab_1_left_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "cab_2_left_group_1": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "coffee_machine_left_group_1": {
323
+ "cls": "CoffeeMachine"
324
+ },
325
+ "counter_1_front_group_1": {
326
+ "cls": "Counter"
327
+ },
328
+ "stack_1_front_group_1_base": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_1_front_group_1_1": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "stack_1_front_group_1_2": {
335
+ "cls": "Drawer"
336
+ },
337
+ "stack_2_front_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_2_front_group_1_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "stack_2_front_group_1_2": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_3_front_group_1_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_3_front_group_1_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_3_front_group_1_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "cab_1_front_group_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "cab_2_front_group_1": {
359
+ "cls": "HingeCabinet"
360
+ },
361
+ "cab_3_front_group_1": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "toaster_oven_front_group_1": {
365
+ "cls": "ToasterOven"
366
+ },
367
+ "sink_island_group": {
368
+ "cls": "Sink"
369
+ },
370
+ "island_island_group": {
371
+ "cls": "Counter"
372
+ },
373
+ "panel_stack_island_group_base": {
374
+ "cls": "Box"
375
+ },
376
+ "panel_stack_island_group_1": {
377
+ "cls": "PanelCabinet"
378
+ },
379
+ "dishwasher_island_group": {
380
+ "cls": "Dishwasher"
381
+ },
382
+ "box_island_group": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_1_island_group_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_1_island_group_1": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "stack_1_island_group_2": {
392
+ "cls": "PanelCabinet"
393
+ },
394
+ "stack_2_island_group_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_2_island_group_1": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "stack_2_island_group_2": {
401
+ "cls": "Drawer"
402
+ },
403
+ "stack_2_island_group_3": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_3_island_group_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_3_island_group_1": {
410
+ "cls": "PanelCabinet"
411
+ },
412
+ "paper_towel_island_group": {
413
+ "cls": "Accessory"
414
+ }
415
+ },
416
+ "gen_textures": {},
417
+ "lang": "Turn on the sink faucet.",
418
+ "fixture_refs": {},
419
+ "cam_configs": {
420
+ "robot0_agentview_center": {
421
+ "pos": [
422
+ -0.6,
423
+ 0.0,
424
+ 1.15
425
+ ],
426
+ "quat": [
427
+ 0.636945903301239,
428
+ 0.3325185477733612,
429
+ -0.3199238181114197,
430
+ -0.6175596117973328
431
+ ],
432
+ "parent_body": "mobilebase0_support"
433
+ },
434
+ "robot0_agentview_left": {
435
+ "pos": [
436
+ -0.5,
437
+ 0.35,
438
+ 1.05
439
+ ],
440
+ "quat": [
441
+ 0.55623853,
442
+ 0.29935253,
443
+ -0.37678665,
444
+ -0.6775092
445
+ ],
446
+ "camera_attribs": {
447
+ "fovy": "60"
448
+ },
449
+ "parent_body": "mobilebase0_support"
450
+ },
451
+ "robot0_agentview_right": {
452
+ "pos": [
453
+ -0.5,
454
+ -0.35,
455
+ 1.05
456
+ ],
457
+ "quat": [
458
+ 0.6775091886520386,
459
+ 0.3767866790294647,
460
+ -0.2993525564670563,
461
+ -0.55623859167099
462
+ ],
463
+ "camera_attribs": {
464
+ "fovy": "60"
465
+ },
466
+ "parent_body": "mobilebase0_support"
467
+ },
468
+ "robot0_frontview": {
469
+ "pos": [
470
+ -0.5,
471
+ 0,
472
+ 0.95
473
+ ],
474
+ "quat": [
475
+ 0.6088936924934387,
476
+ 0.3814677894115448,
477
+ -0.3673907518386841,
478
+ -0.5905545353889465
479
+ ],
480
+ "camera_attribs": {
481
+ "fovy": "60"
482
+ },
483
+ "parent_body": "mobilebase0_support"
484
+ },
485
+ "robot0_eye_in_hand": {
486
+ "pos": [
487
+ 0.05,
488
+ 0,
489
+ 0
490
+ ],
491
+ "quat": [
492
+ 0,
493
+ 0.707107,
494
+ 0.707107,
495
+ 0
496
+ ],
497
+ "parent_body": "robot0_right_hand"
498
+ }
499
+ },
500
+ "init_robot_base_pos": [
501
+ 1.6233815763205621,
502
+ -2.9597902453252316,
503
+ 0.0
504
+ ],
505
+ "init_robot_base_ori": [
506
+ 0.0,
507
+ 0.0,
508
+ 3.422854288892552e-08
509
+ ]
510
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000015/ep_meta.json ADDED
@@ -0,0 +1,572 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 50,
3
+ "style_id": 34,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_main_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.06792552134999998,
15
+ 0.06795752309999996,
16
+ 0.05594104889999998
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "jam",
37
+ "packaged_food"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "jam",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_3/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 1.339049734487567,
49
+ 0.65
50
+ ],
51
+ "offset": [
52
+ -0.8479576327562166,
53
+ -3.469446951953614e-17,
54
+ 0.4600005
55
+ ],
56
+ "name": "geom_0"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_counter_1",
61
+ "obj_groups": "all",
62
+ "placement": {
63
+ "fixture": "counter_1_main_group_1",
64
+ "sample_region_kwargs": {
65
+ "ref": "sink_main_group_1",
66
+ "loc": "left_right",
67
+ "min_size": [
68
+ 0.136588914,
69
+ 0.161007378,
70
+ 0.027112239
71
+ ]
72
+ },
73
+ "size": [
74
+ 0.3,
75
+ 0.3
76
+ ],
77
+ "pos": [
78
+ "ref",
79
+ -1.0
80
+ ],
81
+ "offset": [
82
+ 0.0,
83
+ 0.1
84
+ ]
85
+ },
86
+ "type": "object",
87
+ "info": {
88
+ "groups_containing_sampled_obj": [
89
+ "all",
90
+ "digital_scale",
91
+ "tool",
92
+ "in_container"
93
+ ],
94
+ "groups": [
95
+ "all"
96
+ ],
97
+ "cat": "digital_scale",
98
+ "split": "train",
99
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/digital_scale/DigitalScale003/model.xml"
100
+ },
101
+ "reset_region": {
102
+ "size": [
103
+ 1.339049734487567,
104
+ 0.65
105
+ ],
106
+ "offset": [
107
+ -0.8479576327562166,
108
+ -3.469446951953614e-17,
109
+ 0.4600005
110
+ ],
111
+ "name": "geom_0"
112
+ }
113
+ },
114
+ {
115
+ "name": "distr_counter_2",
116
+ "obj_groups": "all",
117
+ "placement": {
118
+ "fixture": "counter_1_main_group_1",
119
+ "sample_region_kwargs": {
120
+ "ref": "sink_main_group_1",
121
+ "loc": "left_right",
122
+ "min_size": [
123
+ 0.102843591,
124
+ 0.100126991,
125
+ 0.21690191199999997
126
+ ]
127
+ },
128
+ "size": [
129
+ 0.3,
130
+ 0.3
131
+ ],
132
+ "pos": [
133
+ "ref",
134
+ -1.0
135
+ ],
136
+ "offset": [
137
+ 0.0,
138
+ 0.1
139
+ ]
140
+ },
141
+ "type": "object",
142
+ "info": {
143
+ "groups_containing_sampled_obj": [
144
+ "all",
145
+ "cheese_grater",
146
+ "tool",
147
+ "in_container"
148
+ ],
149
+ "groups": [
150
+ "all"
151
+ ],
152
+ "cat": "cheese_grater",
153
+ "split": "train",
154
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cheese_grater/CheeseGrater005/model.xml"
155
+ },
156
+ "reset_region": {
157
+ "size": [
158
+ 0.8534553344875673,
159
+ 0.65
160
+ ],
161
+ "offset": [
162
+ 1.0907548327562162,
163
+ -3.469446951953614e-17,
164
+ 0.4600005
165
+ ],
166
+ "name": "geom_1"
167
+ }
168
+ },
169
+ {
170
+ "name": "distr_sink",
171
+ "obj_groups": "all",
172
+ "washable": true,
173
+ "placement": {
174
+ "fixture": "sink_main_group_1",
175
+ "size": [
176
+ 0.3,
177
+ 0.4
178
+ ],
179
+ "pos": [
180
+ null,
181
+ -1.0
182
+ ]
183
+ },
184
+ "type": "object",
185
+ "info": {
186
+ "groups_containing_sampled_obj": [
187
+ "all",
188
+ "garlic",
189
+ "vegetable",
190
+ "food",
191
+ "in_container"
192
+ ],
193
+ "groups": [
194
+ "all"
195
+ ],
196
+ "cat": "garlic",
197
+ "split": "train",
198
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml"
199
+ },
200
+ "reset_region": {
201
+ "offset": [
202
+ 0.09815626675122073,
203
+ -0.02979627466392039,
204
+ -0.2788192755161545
205
+ ],
206
+ "size": [
207
+ 0.5487269474466067,
208
+ 0.3795752534871376
209
+ ],
210
+ "height": 0.21085447908572008,
211
+ "name": "basin"
212
+ }
213
+ }
214
+ ],
215
+ "fixtures": {
216
+ "wall_main_1_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_main_1_backing_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_right_1_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_right_1_backing_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_left_1_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_left_1_backing_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_main_2_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "wall_main_2_backing_room": {
238
+ "cls": "Wall"
239
+ },
240
+ "wall_left_2_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "wall_left_2_backing_room": {
244
+ "cls": "Wall"
245
+ },
246
+ "wall_main_3_room": {
247
+ "cls": "Wall"
248
+ },
249
+ "wall_main_3_backing_room": {
250
+ "cls": "Wall"
251
+ },
252
+ "wall_main_3.001_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "wall_main_3.001_backing_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "floor_1_room": {
259
+ "cls": "Floor"
260
+ },
261
+ "floor_1_backing_room": {
262
+ "cls": "Floor"
263
+ },
264
+ "floor_2_room": {
265
+ "cls": "Floor"
266
+ },
267
+ "floor_2_backing_room": {
268
+ "cls": "Floor"
269
+ },
270
+ "window_group_1_room": {
271
+ "cls": "Window"
272
+ },
273
+ "window_group_2_room": {
274
+ "cls": "Window"
275
+ },
276
+ "window_group_3_room": {
277
+ "cls": "Window"
278
+ },
279
+ "sink_main_group_1": {
280
+ "cls": "Sink"
281
+ },
282
+ "counter_1_main_group_1": {
283
+ "cls": "Counter"
284
+ },
285
+ "counter_corner_1_main_group_1": {
286
+ "cls": "Counter"
287
+ },
288
+ "stack_02_main_group_1_base": {
289
+ "cls": "Box"
290
+ },
291
+ "stack_02_main_group_1_1": {
292
+ "cls": "HingeCabinet"
293
+ },
294
+ "stack_02_main_group_1_2": {
295
+ "cls": "PanelCabinet"
296
+ },
297
+ "stack_01_main_group_1_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_01_main_group_1_1": {
301
+ "cls": "SingleCabinet"
302
+ },
303
+ "stack_01_main_group_1_2": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_03_main_group_1_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_03_main_group_1_1": {
310
+ "cls": "SingleCabinet"
311
+ },
312
+ "stack_03_main_group_1_2": {
313
+ "cls": "Drawer"
314
+ },
315
+ "cube_09_main_group_1": {
316
+ "cls": "Box"
317
+ },
318
+ "dishwasher_1_main_group_1": {
319
+ "cls": "Dishwasher"
320
+ },
321
+ "papertowel_main_group_1": {
322
+ "cls": "Accessory"
323
+ },
324
+ "island_island_group_1": {
325
+ "cls": "Counter"
326
+ },
327
+ "cube_01_island_group_1": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_10_island_group_1_base": {
331
+ "cls": "Box"
332
+ },
333
+ "stack_10_island_group_1_1": {
334
+ "cls": "HingeCabinet"
335
+ },
336
+ "stack_10_island_group_1_2": {
337
+ "cls": "Drawer"
338
+ },
339
+ "cube_07_island_group_1": {
340
+ "cls": "Box"
341
+ },
342
+ "cube_08_island_group_1": {
343
+ "cls": "Box"
344
+ },
345
+ "plant_island_group_1": {
346
+ "cls": "Accessory"
347
+ },
348
+ "hingecabinet_5_left_group_1": {
349
+ "cls": "HingeCabinet"
350
+ },
351
+ "counter_2_left_group_1": {
352
+ "cls": "Counter"
353
+ },
354
+ "stack_13_left_group_1_base": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_13_left_group_1_1": {
358
+ "cls": "SingleCabinet"
359
+ },
360
+ "stack_13_left_group_1_2": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_12_left_group_1_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_12_left_group_1_1": {
367
+ "cls": "SingleCabinet"
368
+ },
369
+ "stack_12_left_group_1_2": {
370
+ "cls": "Drawer"
371
+ },
372
+ "fridgefrenchdoor_left_group_1": {
373
+ "cls": "FridgeFrenchDoor"
374
+ },
375
+ "fridgefrenchdoor_housing_left_group_1": {
376
+ "cls": "HousingCabinet"
377
+ },
378
+ "bottom_left_group_1_base": {
379
+ "cls": "Box"
380
+ },
381
+ "bottom_left_group_1_1": {
382
+ "cls": "Drawer"
383
+ },
384
+ "microwave_left_group_1": {
385
+ "cls": "Microwave"
386
+ },
387
+ "oven_cabinet_left_group_1": {
388
+ "cls": "HingeCabinet"
389
+ },
390
+ "hingecabinet_4_left_group_1": {
391
+ "cls": "HingeCabinet"
392
+ },
393
+ "microwave_housing_left_group_1": {
394
+ "cls": "HousingCabinet"
395
+ },
396
+ "top_left_group_1": {
397
+ "cls": "HingeCabinet"
398
+ },
399
+ "toaster_oven_left_group_1": {
400
+ "cls": "ToasterOven"
401
+ },
402
+ "hingecabinet_2_right_group_1": {
403
+ "cls": "HingeCabinet"
404
+ },
405
+ "hingecabinet_1_right_group_1": {
406
+ "cls": "HingeCabinet"
407
+ },
408
+ "hingecabinet_3_right_group_1": {
409
+ "cls": "HingeCabinet"
410
+ },
411
+ "singlecabinet_1_right_group_1": {
412
+ "cls": "SingleCabinet"
413
+ },
414
+ "counter_4_right_group_1": {
415
+ "cls": "Counter"
416
+ },
417
+ "counter_3_right_group_1": {
418
+ "cls": "Counter"
419
+ },
420
+ "stove_right_group_1": {
421
+ "cls": "Stove"
422
+ },
423
+ "stove_hood_right_group_1": {
424
+ "cls": "Hood"
425
+ },
426
+ "stack_06_right_group_1_base": {
427
+ "cls": "Box"
428
+ },
429
+ "stack_06_right_group_1_1": {
430
+ "cls": "SingleCabinet"
431
+ },
432
+ "stack_06_right_group_1_2": {
433
+ "cls": "Drawer"
434
+ },
435
+ "stack_04_right_group_1_base": {
436
+ "cls": "Box"
437
+ },
438
+ "stack_04_right_group_1_1": {
439
+ "cls": "SingleCabinet"
440
+ },
441
+ "stack_04_right_group_1_2": {
442
+ "cls": "Drawer"
443
+ },
444
+ "stack_05_right_group_1_base": {
445
+ "cls": "Box"
446
+ },
447
+ "stack_05_right_group_1_1": {
448
+ "cls": "Drawer"
449
+ },
450
+ "stack_05_right_group_1_2": {
451
+ "cls": "Drawer"
452
+ },
453
+ "stack_05_right_group_1_3": {
454
+ "cls": "Drawer"
455
+ },
456
+ "stack_07_right_group_1_base": {
457
+ "cls": "Box"
458
+ },
459
+ "stack_07_right_group_1_1": {
460
+ "cls": "HingeCabinet"
461
+ },
462
+ "stack_07_right_group_1_2": {
463
+ "cls": "Drawer"
464
+ },
465
+ "cube_02_right_group_1": {
466
+ "cls": "Box"
467
+ },
468
+ "cube_11_right_group_1": {
469
+ "cls": "Box"
470
+ },
471
+ "coffee_machine_right_group_1": {
472
+ "cls": "CoffeeMachine"
473
+ },
474
+ "toaster_right_group_1": {
475
+ "cls": "Toaster"
476
+ }
477
+ },
478
+ "gen_textures": {},
479
+ "lang": "Turn on the sink faucet.",
480
+ "fixture_refs": {},
481
+ "cam_configs": {
482
+ "robot0_agentview_center": {
483
+ "pos": [
484
+ -0.6,
485
+ 0.0,
486
+ 1.15
487
+ ],
488
+ "quat": [
489
+ 0.636945903301239,
490
+ 0.3325185477733612,
491
+ -0.3199238181114197,
492
+ -0.6175596117973328
493
+ ],
494
+ "parent_body": "mobilebase0_support"
495
+ },
496
+ "robot0_agentview_left": {
497
+ "pos": [
498
+ -0.5,
499
+ 0.35,
500
+ 1.05
501
+ ],
502
+ "quat": [
503
+ 0.55623853,
504
+ 0.29935253,
505
+ -0.37678665,
506
+ -0.6775092
507
+ ],
508
+ "camera_attribs": {
509
+ "fovy": "60"
510
+ },
511
+ "parent_body": "mobilebase0_support"
512
+ },
513
+ "robot0_agentview_right": {
514
+ "pos": [
515
+ -0.5,
516
+ -0.35,
517
+ 1.05
518
+ ],
519
+ "quat": [
520
+ 0.6775091886520386,
521
+ 0.3767866790294647,
522
+ -0.2993525564670563,
523
+ -0.55623859167099
524
+ ],
525
+ "camera_attribs": {
526
+ "fovy": "60"
527
+ },
528
+ "parent_body": "mobilebase0_support"
529
+ },
530
+ "robot0_frontview": {
531
+ "pos": [
532
+ -0.5,
533
+ 0,
534
+ 0.95
535
+ ],
536
+ "quat": [
537
+ 0.6088936924934387,
538
+ 0.3814677894115448,
539
+ -0.3673907518386841,
540
+ -0.5905545353889465
541
+ ],
542
+ "camera_attribs": {
543
+ "fovy": "60"
544
+ },
545
+ "parent_body": "mobilebase0_support"
546
+ },
547
+ "robot0_eye_in_hand": {
548
+ "pos": [
549
+ 0.05,
550
+ 0,
551
+ 0
552
+ ],
553
+ "quat": [
554
+ 0,
555
+ 0.707107,
556
+ 0.707107,
557
+ 0
558
+ ],
559
+ "parent_body": "robot0_right_hand"
560
+ }
561
+ },
562
+ "init_robot_base_pos": [
563
+ 4.401576634311086,
564
+ -0.8195069230583415,
565
+ 0.0
566
+ ],
567
+ "init_robot_base_ori": [
568
+ 0.0,
569
+ 0.0,
570
+ 1.5707959135307359
571
+ ]
572
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000016/ep_meta.json ADDED
@@ -0,0 +1,466 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 16,
3
+ "style_id": 37,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_right_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.28448646,
15
+ 0.11363478,
16
+ 0.05092187
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "ice_cube_tray",
37
+ "receptacle"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "ice_cube_tray",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray001/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 2.2510575495183676,
49
+ 0.65
50
+ ],
51
+ "offset": [
52
+ 1.199471225240817,
53
+ -3.469446951953614e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_1"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_sink",
61
+ "obj_groups": "all",
62
+ "washable": true,
63
+ "placement": {
64
+ "fixture": "sink_1_right_group_1",
65
+ "size": [
66
+ 0.3,
67
+ 0.4
68
+ ],
69
+ "pos": [
70
+ null,
71
+ -1.0
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "ladle",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "all"
83
+ ],
84
+ "cat": "ladle",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_2/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "offset": [
90
+ -0.114814220890639,
91
+ -0.0332509482965441,
92
+ -0.26344095561424385
93
+ ],
94
+ "size": [
95
+ 0.41675232205772766,
96
+ 0.4000341858437333
97
+ ],
98
+ "height": 0.22770993541680842,
99
+ "name": "basin"
100
+ }
101
+ }
102
+ ],
103
+ "fixtures": {
104
+ "wall_left_3_room": {
105
+ "cls": "Wall"
106
+ },
107
+ "wall_left_3_backing_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_main_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_main_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_right_1_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_right_1_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_left_2_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_left_2_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_left_1_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_left_1_backing_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_left_4_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "wall_left_4_backing_room": {
138
+ "cls": "Wall"
139
+ },
140
+ "wall_left_5_room": {
141
+ "cls": "Wall"
142
+ },
143
+ "wall_left_5_backing_room": {
144
+ "cls": "Wall"
145
+ },
146
+ "wall_right_3_room": {
147
+ "cls": "Wall"
148
+ },
149
+ "wall_right_3_backing_room": {
150
+ "cls": "Wall"
151
+ },
152
+ "wall_right_2_room": {
153
+ "cls": "Wall"
154
+ },
155
+ "wall_right_2_backing_room": {
156
+ "cls": "Wall"
157
+ },
158
+ "wall_right_4_room": {
159
+ "cls": "Wall"
160
+ },
161
+ "wall_right_4_backing_room": {
162
+ "cls": "Wall"
163
+ },
164
+ "floor_1_room": {
165
+ "cls": "Floor"
166
+ },
167
+ "floor_1_backing_room": {
168
+ "cls": "Floor"
169
+ },
170
+ "floor_2_room": {
171
+ "cls": "Floor"
172
+ },
173
+ "floor_2_backing_room": {
174
+ "cls": "Floor"
175
+ },
176
+ "wall_accessory_1_room": {
177
+ "cls": "WallAccessory"
178
+ },
179
+ "wall_accessory_2_room": {
180
+ "cls": "WallAccessory"
181
+ },
182
+ "wall_accessory_3_room": {
183
+ "cls": "WallAccessory"
184
+ },
185
+ "light_switch_1_room": {
186
+ "cls": "WallAccessory"
187
+ },
188
+ "light_switch_2_room": {
189
+ "cls": "WallAccessory"
190
+ },
191
+ "stool_1_room": {
192
+ "cls": "Stool"
193
+ },
194
+ "stool_2_room": {
195
+ "cls": "Stool"
196
+ },
197
+ "stool_3_room": {
198
+ "cls": "Stool"
199
+ },
200
+ "counter_1_main_group_1": {
201
+ "cls": "Counter"
202
+ },
203
+ "stove_main_group_1": {
204
+ "cls": "Stove"
205
+ },
206
+ "counter_corner_main_group_1": {
207
+ "cls": "Counter"
208
+ },
209
+ "stack_1_main_group_1_base": {
210
+ "cls": "Box"
211
+ },
212
+ "stack_1_main_group_1_1": {
213
+ "cls": "SingleCabinet"
214
+ },
215
+ "fridge_1_main_group_1": {
216
+ "cls": "FridgeFrenchDoor"
217
+ },
218
+ "fridge_1_housing_main_group_1": {
219
+ "cls": "HousingCabinet"
220
+ },
221
+ "fridge_top_main_group_1": {
222
+ "cls": "HingeCabinet"
223
+ },
224
+ "cab_1_main_group_1": {
225
+ "cls": "SingleCabinet"
226
+ },
227
+ "cab_corner_main_group_1": {
228
+ "cls": "Box"
229
+ },
230
+ "microwave_main_group_1": {
231
+ "cls": "Microwave"
232
+ },
233
+ "cab_2_main_group_1": {
234
+ "cls": "HingeCabinet"
235
+ },
236
+ "cab_3_main_group_1": {
237
+ "cls": "SingleCabinet"
238
+ },
239
+ "paper_towel_main_group_1": {
240
+ "cls": "Accessory"
241
+ },
242
+ "sink_1_right_group_1": {
243
+ "cls": "Sink"
244
+ },
245
+ "counter_1_right_group_1": {
246
+ "cls": "Counter"
247
+ },
248
+ "box_1_right_group_1": {
249
+ "cls": "Box"
250
+ },
251
+ "stack_1_right_group_1_base": {
252
+ "cls": "Box"
253
+ },
254
+ "stack_1_right_group_1_1": {
255
+ "cls": "HingeCabinet"
256
+ },
257
+ "stack_1_right_group_1_2": {
258
+ "cls": "Drawer"
259
+ },
260
+ "stack_1_right_group_1_3": {
261
+ "cls": "Drawer"
262
+ },
263
+ "stack_2_right_group_1_base": {
264
+ "cls": "Box"
265
+ },
266
+ "stack_2_right_group_1_1": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "stack_2_right_group_1_2": {
270
+ "cls": "Drawer"
271
+ },
272
+ "stack_2_right_group_1_3": {
273
+ "cls": "Drawer"
274
+ },
275
+ "stack_3_right_group_1_base": {
276
+ "cls": "Box"
277
+ },
278
+ "stack_3_right_group_1_1": {
279
+ "cls": "HingeCabinet"
280
+ },
281
+ "stack_3_right_group_1_2": {
282
+ "cls": "PanelCabinet"
283
+ },
284
+ "stack_4_right_group_1_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_4_right_group_1_1": {
288
+ "cls": "HingeCabinet"
289
+ },
290
+ "stack_4_right_group_1_2": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_4_right_group_1_3": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_5_right_group_1_base": {
297
+ "cls": "Box"
298
+ },
299
+ "stack_5_right_group_1_1": {
300
+ "cls": "HingeCabinet"
301
+ },
302
+ "stack_5_right_group_1_2": {
303
+ "cls": "Drawer"
304
+ },
305
+ "stack_5_right_group_1_3": {
306
+ "cls": "Drawer"
307
+ },
308
+ "dishwasher_right_group_1": {
309
+ "cls": "Dishwasher"
310
+ },
311
+ "panel_stack_right_group_1_base": {
312
+ "cls": "Box"
313
+ },
314
+ "panel_stack_right_group_1_1": {
315
+ "cls": "PanelCabinet"
316
+ },
317
+ "cab_1_right_group_1": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "cab_2_right_group_1": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "coffee_machine_right_group_1": {
324
+ "cls": "CoffeeMachine"
325
+ },
326
+ "toaster_oven_right_group_1": {
327
+ "cls": "ToasterOven"
328
+ },
329
+ "toaster_right_group_1": {
330
+ "cls": "Toaster"
331
+ },
332
+ "island_island_group": {
333
+ "cls": "Counter"
334
+ },
335
+ "stack_1_island_group_base": {
336
+ "cls": "Box"
337
+ },
338
+ "stack_1_island_group_1": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_1_island_group_2": {
342
+ "cls": "Drawer"
343
+ },
344
+ "box_1_island_group": {
345
+ "cls": "Box"
346
+ },
347
+ "box_2_island_group": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_2_island_group_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_2_island_group_1": {
354
+ "cls": "Drawer"
355
+ },
356
+ "stack_2_island_group_2": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_2_island_group_3": {
360
+ "cls": "Drawer"
361
+ },
362
+ "stack_3_island_group_base": {
363
+ "cls": "Box"
364
+ },
365
+ "stack_3_island_group_1": {
366
+ "cls": "Drawer"
367
+ },
368
+ "stack_3_island_group_2": {
369
+ "cls": "Drawer"
370
+ }
371
+ },
372
+ "gen_textures": {},
373
+ "lang": "Turn on the sink faucet.",
374
+ "fixture_refs": {},
375
+ "cam_configs": {
376
+ "robot0_agentview_center": {
377
+ "pos": [
378
+ -0.6,
379
+ 0.0,
380
+ 1.15
381
+ ],
382
+ "quat": [
383
+ 0.636945903301239,
384
+ 0.3325185477733612,
385
+ -0.3199238181114197,
386
+ -0.6175596117973328
387
+ ],
388
+ "parent_body": "mobilebase0_support"
389
+ },
390
+ "robot0_agentview_left": {
391
+ "pos": [
392
+ -0.5,
393
+ 0.35,
394
+ 1.05
395
+ ],
396
+ "quat": [
397
+ 0.55623853,
398
+ 0.29935253,
399
+ -0.37678665,
400
+ -0.6775092
401
+ ],
402
+ "camera_attribs": {
403
+ "fovy": "60"
404
+ },
405
+ "parent_body": "mobilebase0_support"
406
+ },
407
+ "robot0_agentview_right": {
408
+ "pos": [
409
+ -0.5,
410
+ -0.35,
411
+ 1.05
412
+ ],
413
+ "quat": [
414
+ 0.6775091886520386,
415
+ 0.3767866790294647,
416
+ -0.2993525564670563,
417
+ -0.55623859167099
418
+ ],
419
+ "camera_attribs": {
420
+ "fovy": "60"
421
+ },
422
+ "parent_body": "mobilebase0_support"
423
+ },
424
+ "robot0_frontview": {
425
+ "pos": [
426
+ -0.5,
427
+ 0,
428
+ 0.95
429
+ ],
430
+ "quat": [
431
+ 0.6088936924934387,
432
+ 0.3814677894115448,
433
+ -0.3673907518386841,
434
+ -0.5905545353889465
435
+ ],
436
+ "camera_attribs": {
437
+ "fovy": "60"
438
+ },
439
+ "parent_body": "mobilebase0_support"
440
+ },
441
+ "robot0_eye_in_hand": {
442
+ "pos": [
443
+ 0.05,
444
+ 0,
445
+ 0
446
+ ],
447
+ "quat": [
448
+ 0,
449
+ 0.707107,
450
+ 0.707107,
451
+ 0
452
+ ],
453
+ "parent_body": "robot0_right_hand"
454
+ }
455
+ },
456
+ "init_robot_base_pos": [
457
+ 2.2044134630622825,
458
+ -2.6014771477656584,
459
+ 0.0
460
+ ],
461
+ "init_robot_base_ori": [
462
+ 0.0,
463
+ 0.0,
464
+ 3.422854288892552e-08
465
+ ]
466
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000017/ep_meta.json ADDED
@@ -0,0 +1,556 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 22,
3
+ "style_id": 46,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_left_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.030919662499999997,
15
+ 0.030623749999999998,
16
+ 0.0290325
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "ice_cube",
37
+ "iced_item",
38
+ "in_container"
39
+ ],
40
+ "groups": [
41
+ "all"
42
+ ],
43
+ "cat": "ice_cube",
44
+ "split": "train",
45
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube003/model.xml"
46
+ },
47
+ "reset_region": {
48
+ "size": [
49
+ 2.395799138458223,
50
+ 0.65
51
+ ],
52
+ "offset": [
53
+ -1.3196004307708886,
54
+ -3.469446951953614e-17,
55
+ 0.46
56
+ ],
57
+ "name": "geom_0"
58
+ }
59
+ },
60
+ {
61
+ "name": "distr_counter_1",
62
+ "obj_groups": "all",
63
+ "placement": {
64
+ "fixture": "counter_1_left_group",
65
+ "sample_region_kwargs": {
66
+ "ref": "sink_1_left_group",
67
+ "loc": "left_right",
68
+ "min_size": [
69
+ 0.1106500824,
70
+ 0.21753792431999996,
71
+ 0.16861336272
72
+ ]
73
+ },
74
+ "size": [
75
+ 0.3,
76
+ 0.3
77
+ ],
78
+ "pos": [
79
+ "ref",
80
+ -1.0
81
+ ],
82
+ "offset": [
83
+ 0.0,
84
+ 0.1
85
+ ]
86
+ },
87
+ "type": "object",
88
+ "info": {
89
+ "groups_containing_sampled_obj": [
90
+ "all",
91
+ "kettle_non_electric",
92
+ "receptacle",
93
+ "kettle",
94
+ "cookware"
95
+ ],
96
+ "groups": [
97
+ "all"
98
+ ],
99
+ "cat": "kettle_non_electric",
100
+ "split": "train",
101
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_22/model.xml"
102
+ },
103
+ "reset_region": {
104
+ "size": [
105
+ 1.8419491384582223,
106
+ 0.65
107
+ ],
108
+ "offset": [
109
+ 1.596525430770889,
110
+ -3.469446951953614e-17,
111
+ 0.46
112
+ ],
113
+ "name": "geom_1"
114
+ }
115
+ },
116
+ {
117
+ "name": "distr_sink",
118
+ "obj_groups": "all",
119
+ "washable": true,
120
+ "placement": {
121
+ "fixture": "sink_1_left_group",
122
+ "size": [
123
+ 0.3,
124
+ 0.4
125
+ ],
126
+ "pos": [
127
+ null,
128
+ -1.0
129
+ ]
130
+ },
131
+ "type": "object",
132
+ "info": {
133
+ "groups_containing_sampled_obj": [
134
+ "all",
135
+ "fork",
136
+ "utensil"
137
+ ],
138
+ "groups": [
139
+ "all"
140
+ ],
141
+ "cat": "fork",
142
+ "split": "train",
143
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
144
+ },
145
+ "reset_region": {
146
+ "offset": [
147
+ -0.10735290891483294,
148
+ 0.004994269748289981,
149
+ -0.25504018433597425
150
+ ],
151
+ "size": [
152
+ 0.37891261960111045,
153
+ 0.36353188289810057
154
+ ],
155
+ "height": 0.18096763688560286,
156
+ "name": "basin"
157
+ }
158
+ }
159
+ ],
160
+ "fixtures": {
161
+ "wall_front_1_room": {
162
+ "cls": "Wall"
163
+ },
164
+ "wall_front_1_backing_room": {
165
+ "cls": "Wall"
166
+ },
167
+ "wall_left_1_room": {
168
+ "cls": "Wall"
169
+ },
170
+ "wall_left_1_backing_room": {
171
+ "cls": "Wall"
172
+ },
173
+ "wall_main_1_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_main_1_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_main_3_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_main_3_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_main_2_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_main_2_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_right_1_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_right_1_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_right_2_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_right_2_backing_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "wall_front_2_room": {
204
+ "cls": "Wall"
205
+ },
206
+ "wall_front_2_backing_room": {
207
+ "cls": "Wall"
208
+ },
209
+ "wall_main_4_room": {
210
+ "cls": "Wall"
211
+ },
212
+ "wall_main_4_backing_room": {
213
+ "cls": "Wall"
214
+ },
215
+ "floor_1_room": {
216
+ "cls": "Floor"
217
+ },
218
+ "floor_1_backing_room": {
219
+ "cls": "Floor"
220
+ },
221
+ "floor_2_room": {
222
+ "cls": "Floor"
223
+ },
224
+ "floor_2_backing_room": {
225
+ "cls": "Floor"
226
+ },
227
+ "floor_3_room": {
228
+ "cls": "Floor"
229
+ },
230
+ "floor_3_backing_room": {
231
+ "cls": "Floor"
232
+ },
233
+ "floor_4_room": {
234
+ "cls": "Floor"
235
+ },
236
+ "floor_4_backing_room": {
237
+ "cls": "Floor"
238
+ },
239
+ "wall_accessory_1_room": {
240
+ "cls": "WallAccessory"
241
+ },
242
+ "wall_accessory_2_room": {
243
+ "cls": "WallAccessory"
244
+ },
245
+ "wall_accessory_3_room": {
246
+ "cls": "WallAccessory"
247
+ },
248
+ "wall_accessory_4_room": {
249
+ "cls": "WallAccessory"
250
+ },
251
+ "light_switch_1_room": {
252
+ "cls": "WallAccessory"
253
+ },
254
+ "window_group_room": {
255
+ "cls": "Window"
256
+ },
257
+ "stool_1_room": {
258
+ "cls": "Stool"
259
+ },
260
+ "stool_2_room": {
261
+ "cls": "Stool"
262
+ },
263
+ "stool_3_room": {
264
+ "cls": "Stool"
265
+ },
266
+ "stool_4_room": {
267
+ "cls": "Stool"
268
+ },
269
+ "stool_5_room": {
270
+ "cls": "Stool"
271
+ },
272
+ "stool_6_room": {
273
+ "cls": "Stool"
274
+ },
275
+ "sink_1_left_group": {
276
+ "cls": "Sink"
277
+ },
278
+ "counter_1_left_group": {
279
+ "cls": "Counter"
280
+ },
281
+ "stack_1_left_group_base": {
282
+ "cls": "Box"
283
+ },
284
+ "stack_1_left_group_1": {
285
+ "cls": "SingleCabinet"
286
+ },
287
+ "stack_1_left_group_2": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_2_left_group_base": {
291
+ "cls": "Box"
292
+ },
293
+ "stack_2_left_group_1": {
294
+ "cls": "HingeCabinet"
295
+ },
296
+ "stack_2_left_group_2": {
297
+ "cls": "Drawer"
298
+ },
299
+ "oven_left_group": {
300
+ "cls": "Oven"
301
+ },
302
+ "stack_3_left_group_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_3_left_group_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "dishwasher_left_group": {
309
+ "cls": "Dishwasher"
310
+ },
311
+ "stack_4_left_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_4_left_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_4_left_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "cab_1_left_group": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "cab_2_left_group": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "toaster_left_group": {
327
+ "cls": "Toaster"
328
+ },
329
+ "coffee_machine_left_group": {
330
+ "cls": "CoffeeMachine"
331
+ },
332
+ "paper_towel_left_group": {
333
+ "cls": "Accessory"
334
+ },
335
+ "knife_block_left_group": {
336
+ "cls": "Accessory"
337
+ },
338
+ "fridge_main_group": {
339
+ "cls": "FridgeFrenchDoor"
340
+ },
341
+ "fridge_housing_main_group": {
342
+ "cls": "HousingCabinet"
343
+ },
344
+ "counter_1_main_group": {
345
+ "cls": "Counter"
346
+ },
347
+ "stack_1_main_group_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_1_main_group_1": {
351
+ "cls": "HingeCabinet"
352
+ },
353
+ "stack_1_main_group_2": {
354
+ "cls": "Drawer"
355
+ },
356
+ "stack_1_main_group_3": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_2_main_group_base": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_2_main_group_1": {
363
+ "cls": "HingeCabinet"
364
+ },
365
+ "stack_2_main_group_2": {
366
+ "cls": "Drawer"
367
+ },
368
+ "stack_2_main_group_3": {
369
+ "cls": "Drawer"
370
+ },
371
+ "cab_1_main_group": {
372
+ "cls": "HingeCabinet"
373
+ },
374
+ "cab_2_main_group": {
375
+ "cls": "HingeCabinet"
376
+ },
377
+ "cab_3_main_group": {
378
+ "cls": "HingeCabinet"
379
+ },
380
+ "toaster_oven_main_group": {
381
+ "cls": "ToasterOven"
382
+ },
383
+ "stovetop_dining_area_group_1": {
384
+ "cls": "Stovetop"
385
+ },
386
+ "dining_dining_area_group_1": {
387
+ "cls": "Counter"
388
+ },
389
+ "stack_1_dining_area_group_1_base": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_1_dining_area_group_1_1": {
393
+ "cls": "SingleCabinet"
394
+ },
395
+ "stack_1_dining_area_group_1_2": {
396
+ "cls": "Drawer"
397
+ },
398
+ "stack_2_dining_area_group_1_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_2_dining_area_group_1_1": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "stack_3_dining_area_group_1_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_3_dining_area_group_1_1": {
408
+ "cls": "SingleCabinet"
409
+ },
410
+ "stack_3_dining_area_group_1_2": {
411
+ "cls": "Drawer"
412
+ },
413
+ "dining_dining_area_group_2": {
414
+ "cls": "Counter"
415
+ },
416
+ "stack_1_dining_area_group_2_base": {
417
+ "cls": "Box"
418
+ },
419
+ "stack_1_dining_area_group_2_1": {
420
+ "cls": "SingleCabinet"
421
+ },
422
+ "stack_1_dining_area_group_2_2": {
423
+ "cls": "Drawer"
424
+ },
425
+ "stack_2_dining_area_group_2_base": {
426
+ "cls": "Box"
427
+ },
428
+ "stack_2_dining_area_group_2_1": {
429
+ "cls": "HingeCabinet"
430
+ },
431
+ "stack_2_dining_area_group_2_2": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_3_dining_area_group_2_base": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_3_dining_area_group_2_1": {
438
+ "cls": "SingleCabinet"
439
+ },
440
+ "stack_3_dining_area_group_2_2": {
441
+ "cls": "Drawer"
442
+ },
443
+ "bottom_front_group_base": {
444
+ "cls": "Box"
445
+ },
446
+ "bottom_front_group_1": {
447
+ "cls": "Drawer"
448
+ },
449
+ "middle_front_group": {
450
+ "cls": "HingeCabinet"
451
+ },
452
+ "microwave_front_group": {
453
+ "cls": "Microwave"
454
+ },
455
+ "microwave_housing_front_group": {
456
+ "cls": "HousingCabinet"
457
+ },
458
+ "top_front_group": {
459
+ "cls": "HingeCabinet"
460
+ }
461
+ },
462
+ "gen_textures": {},
463
+ "lang": "Turn on the sink faucet.",
464
+ "fixture_refs": {},
465
+ "cam_configs": {
466
+ "robot0_agentview_center": {
467
+ "pos": [
468
+ -0.6,
469
+ 0.0,
470
+ 1.15
471
+ ],
472
+ "quat": [
473
+ 0.636945903301239,
474
+ 0.3325185477733612,
475
+ -0.3199238181114197,
476
+ -0.6175596117973328
477
+ ],
478
+ "parent_body": "mobilebase0_support"
479
+ },
480
+ "robot0_agentview_left": {
481
+ "pos": [
482
+ -0.5,
483
+ 0.35,
484
+ 1.05
485
+ ],
486
+ "quat": [
487
+ 0.55623853,
488
+ 0.29935253,
489
+ -0.37678665,
490
+ -0.6775092
491
+ ],
492
+ "camera_attribs": {
493
+ "fovy": "60"
494
+ },
495
+ "parent_body": "mobilebase0_support"
496
+ },
497
+ "robot0_agentview_right": {
498
+ "pos": [
499
+ -0.5,
500
+ -0.35,
501
+ 1.05
502
+ ],
503
+ "quat": [
504
+ 0.6775091886520386,
505
+ 0.3767866790294647,
506
+ -0.2993525564670563,
507
+ -0.55623859167099
508
+ ],
509
+ "camera_attribs": {
510
+ "fovy": "60"
511
+ },
512
+ "parent_body": "mobilebase0_support"
513
+ },
514
+ "robot0_frontview": {
515
+ "pos": [
516
+ -0.5,
517
+ 0,
518
+ 0.95
519
+ ],
520
+ "quat": [
521
+ 0.6088936924934387,
522
+ 0.3814677894115448,
523
+ -0.3673907518386841,
524
+ -0.5905545353889465
525
+ ],
526
+ "camera_attribs": {
527
+ "fovy": "60"
528
+ },
529
+ "parent_body": "mobilebase0_support"
530
+ },
531
+ "robot0_eye_in_hand": {
532
+ "pos": [
533
+ 0.05,
534
+ 0,
535
+ 0
536
+ ],
537
+ "quat": [
538
+ 0,
539
+ 0.707107,
540
+ 0.707107,
541
+ 0
542
+ ],
543
+ "parent_body": "robot0_right_hand"
544
+ }
545
+ },
546
+ "init_robot_base_pos": [
547
+ 0.7700221750071058,
548
+ -2.1014422828352655,
549
+ 0.0
550
+ ],
551
+ "init_robot_base_ori": [
552
+ 0.0,
553
+ 0.0,
554
+ 3.1415926193612504
555
+ ]
556
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000019/ep_meta.json ADDED
@@ -0,0 +1,678 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 25,
3
+ "style_id": 27,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_left_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.06297735599999996,
15
+ 0.06132000479999996,
16
+ 0.12128616599999992
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "milk",
37
+ "drink",
38
+ "dairy",
39
+ "food",
40
+ "in_container"
41
+ ],
42
+ "groups": [
43
+ "all"
44
+ ],
45
+ "cat": "milk",
46
+ "split": "train",
47
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_3/model.xml"
48
+ },
49
+ "reset_region": {
50
+ "size": [
51
+ 0.8614936169485822,
52
+ 0.65
53
+ ],
54
+ "offset": [
55
+ 1.7522531915257087,
56
+ -3.469446951953614e-17,
57
+ 0.46
58
+ ],
59
+ "name": "geom_1"
60
+ }
61
+ },
62
+ {
63
+ "name": "distr_counter_1",
64
+ "obj_groups": "all",
65
+ "placement": {
66
+ "fixture": "counter_1_left_group",
67
+ "sample_region_kwargs": {
68
+ "ref": "sink_1_left_group",
69
+ "loc": "left_right",
70
+ "min_size": [
71
+ 0.03766427779999999,
72
+ 0.11914475419999997,
73
+ 0.14500000289999992
74
+ ]
75
+ },
76
+ "size": [
77
+ 0.3,
78
+ 0.3
79
+ ],
80
+ "pos": [
81
+ "ref",
82
+ -1.0
83
+ ],
84
+ "offset": [
85
+ 0.0,
86
+ 0.1
87
+ ]
88
+ },
89
+ "type": "object",
90
+ "info": {
91
+ "groups_containing_sampled_obj": [
92
+ "all",
93
+ "cereal",
94
+ "packaged_food"
95
+ ],
96
+ "groups": [
97
+ "all"
98
+ ],
99
+ "cat": "cereal",
100
+ "split": "train",
101
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_0/model.xml"
102
+ },
103
+ "reset_region": {
104
+ "size": [
105
+ 2.695213616948582,
106
+ 0.65
107
+ ],
108
+ "offset": [
109
+ -0.8353931915257089,
110
+ -3.469446951953614e-17,
111
+ 0.46
112
+ ],
113
+ "name": "geom_0"
114
+ }
115
+ },
116
+ {
117
+ "name": "distr_sink",
118
+ "obj_groups": "all",
119
+ "washable": true,
120
+ "placement": {
121
+ "fixture": "sink_1_left_group",
122
+ "size": [
123
+ 0.3,
124
+ 0.4
125
+ ],
126
+ "pos": [
127
+ null,
128
+ -1.0
129
+ ]
130
+ },
131
+ "type": "object",
132
+ "info": {
133
+ "groups_containing_sampled_obj": [
134
+ "all",
135
+ "tangerine",
136
+ "fruit",
137
+ "food",
138
+ "in_container"
139
+ ],
140
+ "groups": [
141
+ "all"
142
+ ],
143
+ "cat": "tangerine",
144
+ "split": "train",
145
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml"
146
+ },
147
+ "reset_region": {
148
+ "offset": [
149
+ 0.14829120259929843,
150
+ -0.02523510293195036,
151
+ -0.22135208912039675
152
+ ],
153
+ "size": [
154
+ 0.43539479455070945,
155
+ 0.40359579094250053
156
+ ],
157
+ "height": 0.17968633963561323,
158
+ "name": "basin"
159
+ }
160
+ }
161
+ ],
162
+ "fixtures": {
163
+ "wall_left_1_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_left_1_backing_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_main_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_main_backing_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_right_1_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_right_1_backing_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "floor_1_room": {
182
+ "cls": "Floor"
183
+ },
184
+ "floor_1_backing_room": {
185
+ "cls": "Floor"
186
+ },
187
+ "wall_accessory_1_room": {
188
+ "cls": "WallAccessory"
189
+ },
190
+ "wall_accessory_2_room": {
191
+ "cls": "WallAccessory"
192
+ },
193
+ "light_switch_1_room": {
194
+ "cls": "WallAccessory"
195
+ },
196
+ "wall_accessory_3_room": {
197
+ "cls": "WallAccessory"
198
+ },
199
+ "light_switch_2_room": {
200
+ "cls": "WallAccessory"
201
+ },
202
+ "light_switch_3_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "wall_accessory_4_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "wall_accessory_5_room": {
209
+ "cls": "WallAccessory"
210
+ },
211
+ "wall_accessory_6_room": {
212
+ "cls": "WallAccessory"
213
+ },
214
+ "wall_accessory_7_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "window_group_1_room": {
218
+ "cls": "Window"
219
+ },
220
+ "window_group_2_room": {
221
+ "cls": "Window"
222
+ },
223
+ "stool_1_room": {
224
+ "cls": "Stool"
225
+ },
226
+ "stool_2_room": {
227
+ "cls": "Stool"
228
+ },
229
+ "counter_corner_main_group": {
230
+ "cls": "Counter"
231
+ },
232
+ "counter_1_main_group": {
233
+ "cls": "Counter"
234
+ },
235
+ "stove_main_group": {
236
+ "cls": "Stove"
237
+ },
238
+ "counter_2_main_group": {
239
+ "cls": "Counter"
240
+ },
241
+ "stack_1_main_group_base": {
242
+ "cls": "Box"
243
+ },
244
+ "stack_1_main_group_1": {
245
+ "cls": "SingleCabinet"
246
+ },
247
+ "stack_2_main_group_base": {
248
+ "cls": "Box"
249
+ },
250
+ "stack_2_main_group_1": {
251
+ "cls": "Drawer"
252
+ },
253
+ "stack_2_main_group_2": {
254
+ "cls": "Drawer"
255
+ },
256
+ "stack_2_main_group_3": {
257
+ "cls": "Drawer"
258
+ },
259
+ "stack_2_main_group_4": {
260
+ "cls": "Drawer"
261
+ },
262
+ "stack_3_main_group_base": {
263
+ "cls": "Box"
264
+ },
265
+ "stack_3_main_group_1": {
266
+ "cls": "SingleCabinet"
267
+ },
268
+ "box_1_main_group": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_4_main_group_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_4_main_group_1": {
275
+ "cls": "SingleCabinet"
276
+ },
277
+ "stack_5_main_group_base": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_5_main_group_1": {
281
+ "cls": "Drawer"
282
+ },
283
+ "stack_5_main_group_2": {
284
+ "cls": "Drawer"
285
+ },
286
+ "stack_5_main_group_3": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_5_main_group_4": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_6_main_group_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_6_main_group_1": {
296
+ "cls": "SingleCabinet"
297
+ },
298
+ "box_2_main_group": {
299
+ "cls": "Box"
300
+ },
301
+ "hood_main_group": {
302
+ "cls": "Hood"
303
+ },
304
+ "cab_corner_1_main_group": {
305
+ "cls": "Box"
306
+ },
307
+ "cab_1_main_group": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "cab_1_above_main_group": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "cab_2_main_group": {
314
+ "cls": "SingleCabinet"
315
+ },
316
+ "cab_2_above_main_group": {
317
+ "cls": "SingleCabinet"
318
+ },
319
+ "cab_corner_2_main_group": {
320
+ "cls": "Box"
321
+ },
322
+ "cab_3_main_group": {
323
+ "cls": "SingleCabinet"
324
+ },
325
+ "cab_3_above_main_group": {
326
+ "cls": "SingleCabinet"
327
+ },
328
+ "cab_4_main_group": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "cab_4_above_main_group": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "coffee_machine_main_group": {
335
+ "cls": "CoffeeMachine"
336
+ },
337
+ "toaster_main_group": {
338
+ "cls": "Toaster"
339
+ },
340
+ "knife_block_main_group": {
341
+ "cls": "Accessory"
342
+ },
343
+ "sink_1_left_group": {
344
+ "cls": "Sink"
345
+ },
346
+ "counter_1_left_group": {
347
+ "cls": "Counter"
348
+ },
349
+ "box_left_group": {
350
+ "cls": "Box"
351
+ },
352
+ "stack_1_left_group_base": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_1_left_group_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "stack_2_left_group_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_2_left_group_1": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "dishwasher_left_group": {
365
+ "cls": "Dishwasher"
366
+ },
367
+ "stack_3_left_group_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_3_left_group_1": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_3_left_group_2": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_4_left_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_4_left_group_1": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_4_left_group_2": {
383
+ "cls": "Drawer"
384
+ },
385
+ "stack_5_left_group_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_5_left_group_1": {
389
+ "cls": "SingleCabinet"
390
+ },
391
+ "stack_5_left_group_2": {
392
+ "cls": "Drawer"
393
+ },
394
+ "cab_1_left_group": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "cab_2_left_group": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "cab_3_left_group": {
401
+ "cls": "HingeCabinet"
402
+ },
403
+ "cab_4_left_group": {
404
+ "cls": "SingleCabinet"
405
+ },
406
+ "cab_5_left_group": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "cab_6_left_group": {
410
+ "cls": "HingeCabinet"
411
+ },
412
+ "paper_towel_left_group": {
413
+ "cls": "Accessory"
414
+ },
415
+ "toaster_oven_left_group": {
416
+ "cls": "ToasterOven"
417
+ },
418
+ "corner_counter_right_group": {
419
+ "cls": "Counter"
420
+ },
421
+ "counter_1_right_group": {
422
+ "cls": "Counter"
423
+ },
424
+ "box_right_group": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_1_right_group_base": {
428
+ "cls": "Box"
429
+ },
430
+ "stack_1_right_group_1": {
431
+ "cls": "PanelCabinet"
432
+ },
433
+ "fridge_right_group": {
434
+ "cls": "FridgeFrenchDoor"
435
+ },
436
+ "fridge_housing_right_group": {
437
+ "cls": "HousingCabinet"
438
+ },
439
+ "bottom_right_group_base": {
440
+ "cls": "Box"
441
+ },
442
+ "bottom_right_group_1": {
443
+ "cls": "HingeCabinet"
444
+ },
445
+ "middle_right_group": {
446
+ "cls": "HingeCabinet"
447
+ },
448
+ "microwave_right_group": {
449
+ "cls": "Microwave"
450
+ },
451
+ "microwave_housing_right_group": {
452
+ "cls": "HousingCabinet"
453
+ },
454
+ "top_right_group": {
455
+ "cls": "HingeCabinet"
456
+ },
457
+ "cab_1_right_group": {
458
+ "cls": "HingeCabinet"
459
+ },
460
+ "cab_2_right_group": {
461
+ "cls": "HingeCabinet"
462
+ },
463
+ "counter_2_right_group": {
464
+ "cls": "Counter"
465
+ },
466
+ "stack_2_right_group_base": {
467
+ "cls": "Box"
468
+ },
469
+ "stack_2_right_group_1": {
470
+ "cls": "Drawer"
471
+ },
472
+ "stack_2_right_group_2": {
473
+ "cls": "Drawer"
474
+ },
475
+ "stack_2_right_group_3": {
476
+ "cls": "Drawer"
477
+ },
478
+ "stack_2_right_group_4": {
479
+ "cls": "Drawer"
480
+ },
481
+ "stack_3_right_group_base": {
482
+ "cls": "Box"
483
+ },
484
+ "stack_3_right_group_1": {
485
+ "cls": "HingeCabinet"
486
+ },
487
+ "stack_3_right_group_2": {
488
+ "cls": "Drawer"
489
+ },
490
+ "stack_4_right_group_base": {
491
+ "cls": "Box"
492
+ },
493
+ "stack_4_right_group_1": {
494
+ "cls": "Drawer"
495
+ },
496
+ "stack_4_right_group_2": {
497
+ "cls": "Drawer"
498
+ },
499
+ "stack_4_right_group_3": {
500
+ "cls": "Drawer"
501
+ },
502
+ "stack_4_right_group_4": {
503
+ "cls": "Drawer"
504
+ },
505
+ "plant_right_group": {
506
+ "cls": "Accessory"
507
+ },
508
+ "island_island_group_1": {
509
+ "cls": "Counter"
510
+ },
511
+ "stack_1_island_group_1_base": {
512
+ "cls": "Box"
513
+ },
514
+ "stack_1_island_group_1_1": {
515
+ "cls": "SingleCabinet"
516
+ },
517
+ "stack_1_island_group_1_2": {
518
+ "cls": "Drawer"
519
+ },
520
+ "stack_2_island_group_1_base": {
521
+ "cls": "Box"
522
+ },
523
+ "stack_2_island_group_1_1": {
524
+ "cls": "SingleCabinet"
525
+ },
526
+ "stack_2_island_group_1_2": {
527
+ "cls": "Drawer"
528
+ },
529
+ "stack_3_island_group_1_base": {
530
+ "cls": "Box"
531
+ },
532
+ "stack_3_island_group_1_1": {
533
+ "cls": "SingleCabinet"
534
+ },
535
+ "stack_3_island_group_1_2": {
536
+ "cls": "Drawer"
537
+ },
538
+ "stack_4_island_group_1_base": {
539
+ "cls": "Box"
540
+ },
541
+ "stack_4_island_group_1_1": {
542
+ "cls": "SingleCabinet"
543
+ },
544
+ "stack_4_island_group_1_2": {
545
+ "cls": "Drawer"
546
+ },
547
+ "stack_1_island_group_2_base": {
548
+ "cls": "Box"
549
+ },
550
+ "stack_1_island_group_2_1": {
551
+ "cls": "SingleCabinet"
552
+ },
553
+ "stack_1_island_group_2_2": {
554
+ "cls": "Drawer"
555
+ },
556
+ "stack_2_island_group_2_base": {
557
+ "cls": "Box"
558
+ },
559
+ "stack_2_island_group_2_1": {
560
+ "cls": "SingleCabinet"
561
+ },
562
+ "stack_2_island_group_2_2": {
563
+ "cls": "Drawer"
564
+ },
565
+ "stack_3_island_group_2_base": {
566
+ "cls": "Box"
567
+ },
568
+ "stack_3_island_group_2_1": {
569
+ "cls": "SingleCabinet"
570
+ },
571
+ "stack_3_island_group_2_2": {
572
+ "cls": "Drawer"
573
+ },
574
+ "stack_4_island_group_2_base": {
575
+ "cls": "Box"
576
+ },
577
+ "stack_4_island_group_2_1": {
578
+ "cls": "SingleCabinet"
579
+ },
580
+ "stack_4_island_group_2_2": {
581
+ "cls": "Drawer"
582
+ }
583
+ },
584
+ "gen_textures": {},
585
+ "lang": "Turn on the sink faucet.",
586
+ "fixture_refs": {},
587
+ "cam_configs": {
588
+ "robot0_agentview_center": {
589
+ "pos": [
590
+ -0.6,
591
+ 0.0,
592
+ 1.15
593
+ ],
594
+ "quat": [
595
+ 0.636945903301239,
596
+ 0.3325185477733612,
597
+ -0.3199238181114197,
598
+ -0.6175596117973328
599
+ ],
600
+ "parent_body": "mobilebase0_support"
601
+ },
602
+ "robot0_agentview_left": {
603
+ "pos": [
604
+ -0.5,
605
+ 0.35,
606
+ 1.05
607
+ ],
608
+ "quat": [
609
+ 0.55623853,
610
+ 0.29935253,
611
+ -0.37678665,
612
+ -0.6775092
613
+ ],
614
+ "camera_attribs": {
615
+ "fovy": "60"
616
+ },
617
+ "parent_body": "mobilebase0_support"
618
+ },
619
+ "robot0_agentview_right": {
620
+ "pos": [
621
+ -0.5,
622
+ -0.35,
623
+ 1.05
624
+ ],
625
+ "quat": [
626
+ 0.6775091886520386,
627
+ 0.3767866790294647,
628
+ -0.2993525564670563,
629
+ -0.55623859167099
630
+ ],
631
+ "camera_attribs": {
632
+ "fovy": "60"
633
+ },
634
+ "parent_body": "mobilebase0_support"
635
+ },
636
+ "robot0_frontview": {
637
+ "pos": [
638
+ -0.5,
639
+ 0,
640
+ 0.95
641
+ ],
642
+ "quat": [
643
+ 0.6088936924934387,
644
+ 0.3814677894115448,
645
+ -0.3673907518386841,
646
+ -0.5905545353889465
647
+ ],
648
+ "camera_attribs": {
649
+ "fovy": "60"
650
+ },
651
+ "parent_body": "mobilebase0_support"
652
+ },
653
+ "robot0_eye_in_hand": {
654
+ "pos": [
655
+ 0.05,
656
+ 0,
657
+ 0
658
+ ],
659
+ "quat": [
660
+ 0,
661
+ 0.707107,
662
+ 0.707107,
663
+ 0
664
+ ],
665
+ "parent_body": "robot0_right_hand"
666
+ }
667
+ },
668
+ "init_robot_base_pos": [
669
+ 0.8112887454195984,
670
+ -1.8347064072312096,
671
+ 0.0
672
+ ],
673
+ "init_robot_base_ori": [
674
+ 0.0,
675
+ 0.0,
676
+ 3.1415926193612504
677
+ ]
678
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000020/ep_meta.json ADDED
@@ -0,0 +1,643 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 20,
3
+ "style_id": 32,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_left_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.07489480363000164,
15
+ 0.07446963915346248,
16
+ 0.07983764375782279
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "garlic",
37
+ "vegetable",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "garlic",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 0.6063719814390086,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 1.3848140092804953,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_counter_1",
63
+ "obj_groups": "all",
64
+ "placement": {
65
+ "fixture": "counter_1_left_group",
66
+ "sample_region_kwargs": {
67
+ "ref": "sink_1_left_group",
68
+ "loc": "left_right",
69
+ "min_size": [
70
+ 0.0759303125,
71
+ 0.0524059,
72
+ 0.1413036
73
+ ]
74
+ },
75
+ "size": [
76
+ 0.3,
77
+ 0.3
78
+ ],
79
+ "pos": [
80
+ "ref",
81
+ -1.0
82
+ ],
83
+ "offset": [
84
+ 0.0,
85
+ 0.1
86
+ ]
87
+ },
88
+ "type": "object",
89
+ "info": {
90
+ "groups_containing_sampled_obj": [
91
+ "all",
92
+ "mustard",
93
+ "condiment"
94
+ ],
95
+ "groups": [
96
+ "all"
97
+ ],
98
+ "cat": "mustard",
99
+ "split": "train",
100
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard004/model.xml"
101
+ },
102
+ "reset_region": {
103
+ "size": [
104
+ 0.6063719814390086,
105
+ 0.65
106
+ ],
107
+ "offset": [
108
+ 1.3848140092804953,
109
+ -3.469446951953614e-17,
110
+ 0.46
111
+ ],
112
+ "name": "geom_0"
113
+ }
114
+ },
115
+ {
116
+ "name": "distr_counter_2",
117
+ "obj_groups": "all",
118
+ "placement": {
119
+ "fixture": "counter_1_left_group",
120
+ "sample_region_kwargs": {
121
+ "ref": "sink_1_left_group",
122
+ "loc": "left_right",
123
+ "min_size": [
124
+ 0.029171615999999997,
125
+ 0.17652159599999998,
126
+ 0.033785796
127
+ ]
128
+ },
129
+ "size": [
130
+ 0.3,
131
+ 0.3
132
+ ],
133
+ "pos": [
134
+ "ref",
135
+ -1.0
136
+ ],
137
+ "offset": [
138
+ 0.0,
139
+ 0.1
140
+ ]
141
+ },
142
+ "type": "object",
143
+ "info": {
144
+ "groups_containing_sampled_obj": [
145
+ "all",
146
+ "kebab_skewer",
147
+ "cooked_food",
148
+ "food",
149
+ "in_container"
150
+ ],
151
+ "groups": [
152
+ "all"
153
+ ],
154
+ "cat": "kebab_skewer",
155
+ "split": "train",
156
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer002/model.xml"
157
+ },
158
+ "reset_region": {
159
+ "size": [
160
+ 0.6063719814390086,
161
+ 0.65
162
+ ],
163
+ "offset": [
164
+ 1.3848140092804953,
165
+ -3.469446951953614e-17,
166
+ 0.46
167
+ ],
168
+ "name": "geom_0"
169
+ }
170
+ },
171
+ {
172
+ "name": "distr_sink",
173
+ "obj_groups": "all",
174
+ "washable": true,
175
+ "placement": {
176
+ "fixture": "sink_1_left_group",
177
+ "size": [
178
+ 0.3,
179
+ 0.4
180
+ ],
181
+ "pos": [
182
+ null,
183
+ -1.0
184
+ ]
185
+ },
186
+ "type": "object",
187
+ "info": {
188
+ "groups_containing_sampled_obj": [
189
+ "all",
190
+ "dish_brush",
191
+ "tool",
192
+ "cleaner",
193
+ "in_container"
194
+ ],
195
+ "groups": [
196
+ "all"
197
+ ],
198
+ "cat": "dish_brush",
199
+ "split": "train",
200
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush007/model.xml"
201
+ },
202
+ "reset_region": {
203
+ "offset": [
204
+ -0.2743378307648673,
205
+ -0.00032859913629010307,
206
+ -0.2378779518881799
207
+ ],
208
+ "size": [
209
+ 0.2846096953416748,
210
+ 0.40586402736016364
211
+ ],
212
+ "height": 0.19603346130024896,
213
+ "name": "basin_left"
214
+ }
215
+ }
216
+ ],
217
+ "fixtures": {
218
+ "wall_left_1_room": {
219
+ "cls": "Wall"
220
+ },
221
+ "wall_left_1_backing_room": {
222
+ "cls": "Wall"
223
+ },
224
+ "wall_main_1_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "wall_main_1_backing_room": {
228
+ "cls": "Wall"
229
+ },
230
+ "wall_front_1_room": {
231
+ "cls": "Wall"
232
+ },
233
+ "wall_front_1_backing_room": {
234
+ "cls": "Wall"
235
+ },
236
+ "wall_front_2_room": {
237
+ "cls": "Wall"
238
+ },
239
+ "wall_front_2_backing_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_front_3_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_front_3_backing_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "floor_1_room": {
249
+ "cls": "Floor"
250
+ },
251
+ "floor_1_backing_room": {
252
+ "cls": "Floor"
253
+ },
254
+ "wall_accessory_1_room": {
255
+ "cls": "WallAccessory"
256
+ },
257
+ "wall_accessory_2_room": {
258
+ "cls": "WallAccessory"
259
+ },
260
+ "wall_accessory_3_room": {
261
+ "cls": "WallAccessory"
262
+ },
263
+ "wall_accessory_4_room": {
264
+ "cls": "WallAccessory"
265
+ },
266
+ "window_group_room": {
267
+ "cls": "Window"
268
+ },
269
+ "counter_corner_main_group": {
270
+ "cls": "Counter"
271
+ },
272
+ "counter_1_main_group": {
273
+ "cls": "Counter"
274
+ },
275
+ "stove_main_group": {
276
+ "cls": "Stove"
277
+ },
278
+ "counter_2_main_group": {
279
+ "cls": "Counter"
280
+ },
281
+ "stack_1_main_group_base": {
282
+ "cls": "Box"
283
+ },
284
+ "stack_1_main_group_1": {
285
+ "cls": "SingleCabinet"
286
+ },
287
+ "stack_1_main_group_2": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_2_main_group_base": {
291
+ "cls": "Box"
292
+ },
293
+ "stack_2_main_group_1": {
294
+ "cls": "SingleCabinet"
295
+ },
296
+ "box_main_group": {
297
+ "cls": "Box"
298
+ },
299
+ "stack_3_main_group_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_3_main_group_1": {
303
+ "cls": "SingleCabinet"
304
+ },
305
+ "stack_3_main_group_2": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_4_main_group_base": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_4_main_group_1": {
312
+ "cls": "SingleCabinet"
313
+ },
314
+ "stack_4_main_group_2": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_5_main_group_base": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_5_main_group_1": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "stack_6_main_group_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_6_main_group_1": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "cab_1_main_group": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "cab_2_main_group": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "cab_3_main_group": {
336
+ "cls": "SingleCabinet"
337
+ },
338
+ "microwave_main_group": {
339
+ "cls": "Microwave"
340
+ },
341
+ "cab_4_main_group": {
342
+ "cls": "HingeCabinet"
343
+ },
344
+ "cab_5_main_group": {
345
+ "cls": "HingeCabinet"
346
+ },
347
+ "cab_6_main_group": {
348
+ "cls": "HingeCabinet"
349
+ },
350
+ "coffee_machine_main_group": {
351
+ "cls": "CoffeeMachine"
352
+ },
353
+ "paper_towel_main_group": {
354
+ "cls": "Accessory"
355
+ },
356
+ "counter_corner_1_left_group": {
357
+ "cls": "Counter"
358
+ },
359
+ "sink_1_left_group": {
360
+ "cls": "Sink"
361
+ },
362
+ "counter_1_left_group": {
363
+ "cls": "Counter"
364
+ },
365
+ "box_1_left_group": {
366
+ "cls": "Box"
367
+ },
368
+ "stack_1_left_group_base": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_1_left_group_1": {
372
+ "cls": "HingeCabinet"
373
+ },
374
+ "dishwasher_1_left_group": {
375
+ "cls": "Dishwasher"
376
+ },
377
+ "stack_2_left_group_base": {
378
+ "cls": "Box"
379
+ },
380
+ "stack_2_left_group_1": {
381
+ "cls": "HingeCabinet"
382
+ },
383
+ "stack_3_left_group_base": {
384
+ "cls": "Box"
385
+ },
386
+ "stack_3_left_group_1": {
387
+ "cls": "SingleCabinet"
388
+ },
389
+ "box_2_left_group": {
390
+ "cls": "Box"
391
+ },
392
+ "cab_1_left_group": {
393
+ "cls": "SingleCabinet"
394
+ },
395
+ "cab_2_left_group": {
396
+ "cls": "HingeCabinet"
397
+ },
398
+ "cab_3_left_group": {
399
+ "cls": "SingleCabinet"
400
+ },
401
+ "cab_corner_left_group": {
402
+ "cls": "Box"
403
+ },
404
+ "knife_block_left_group": {
405
+ "cls": "Accessory"
406
+ },
407
+ "island_island_group_1": {
408
+ "cls": "Counter"
409
+ },
410
+ "panel_stack_1_island_group_1_base": {
411
+ "cls": "Box"
412
+ },
413
+ "panel_stack_1_island_group_1_1": {
414
+ "cls": "PanelCabinet"
415
+ },
416
+ "stack_1_island_group_1_base": {
417
+ "cls": "Box"
418
+ },
419
+ "stack_1_island_group_1_1": {
420
+ "cls": "HingeCabinet"
421
+ },
422
+ "stack_2_island_group_1_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_2_island_group_1_1": {
426
+ "cls": "HingeCabinet"
427
+ },
428
+ "stack_3_island_group_1_base": {
429
+ "cls": "Box"
430
+ },
431
+ "stack_3_island_group_1_1": {
432
+ "cls": "HingeCabinet"
433
+ },
434
+ "panel_stack_2_island_group_1_base": {
435
+ "cls": "Box"
436
+ },
437
+ "panel_stack_2_island_group_1_1": {
438
+ "cls": "PanelCabinet"
439
+ },
440
+ "plant_island_group_1": {
441
+ "cls": "Accessory"
442
+ },
443
+ "counter_1_island_group_2": {
444
+ "cls": "Counter"
445
+ },
446
+ "panel_stack_1_island_group_2_base": {
447
+ "cls": "Box"
448
+ },
449
+ "panel_stack_1_island_group_2_1": {
450
+ "cls": "PanelCabinet"
451
+ },
452
+ "stack_1_island_group_2_base": {
453
+ "cls": "Box"
454
+ },
455
+ "stack_1_island_group_2_1": {
456
+ "cls": "Drawer"
457
+ },
458
+ "stack_1_island_group_2_2": {
459
+ "cls": "Drawer"
460
+ },
461
+ "stack_2_island_group_2_base": {
462
+ "cls": "Box"
463
+ },
464
+ "stack_2_island_group_2_1": {
465
+ "cls": "Drawer"
466
+ },
467
+ "stack_2_island_group_2_2": {
468
+ "cls": "Drawer"
469
+ },
470
+ "stack_3_island_group_2_base": {
471
+ "cls": "Box"
472
+ },
473
+ "stack_3_island_group_2_1": {
474
+ "cls": "Drawer"
475
+ },
476
+ "stack_3_island_group_2_2": {
477
+ "cls": "Drawer"
478
+ },
479
+ "panel_stack_2_island_group_2_base": {
480
+ "cls": "Box"
481
+ },
482
+ "panel_stack_2_island_group_2_1": {
483
+ "cls": "PanelCabinet"
484
+ },
485
+ "counter_1_front_group_1": {
486
+ "cls": "Counter"
487
+ },
488
+ "fridge_1_front_group_1": {
489
+ "cls": "FridgeFrenchDoor"
490
+ },
491
+ "fridge_1_housing_front_group_1": {
492
+ "cls": "HousingCabinet"
493
+ },
494
+ "stack_1_front_group_1_base": {
495
+ "cls": "Box"
496
+ },
497
+ "stack_1_front_group_1_1": {
498
+ "cls": "HingeCabinet"
499
+ },
500
+ "box_front_group_1": {
501
+ "cls": "Box"
502
+ },
503
+ "cab_1_front_group_1": {
504
+ "cls": "HingeCabinet"
505
+ },
506
+ "cab_2_front_group_1": {
507
+ "cls": "SingleCabinet"
508
+ },
509
+ "cab_3_front_group_1": {
510
+ "cls": "SingleCabinet"
511
+ },
512
+ "toaster_front_group_1": {
513
+ "cls": "Toaster"
514
+ },
515
+ "counter_1_front_group_2": {
516
+ "cls": "Counter"
517
+ },
518
+ "stack_1_front_group_2_base": {
519
+ "cls": "Box"
520
+ },
521
+ "stack_1_front_group_2_1": {
522
+ "cls": "SingleCabinet"
523
+ },
524
+ "stack_2_front_group_2_base": {
525
+ "cls": "Box"
526
+ },
527
+ "stack_2_front_group_2_1": {
528
+ "cls": "SingleCabinet"
529
+ },
530
+ "stack_3_front_group_2_base": {
531
+ "cls": "Box"
532
+ },
533
+ "stack_3_front_group_2_1": {
534
+ "cls": "SingleCabinet"
535
+ },
536
+ "cab_1_front_group_2": {
537
+ "cls": "HingeCabinet"
538
+ },
539
+ "cab_2_front_group_2": {
540
+ "cls": "HingeCabinet"
541
+ },
542
+ "cab_3_front_group_2": {
543
+ "cls": "HingeCabinet"
544
+ },
545
+ "toaster_oven_front_group_2": {
546
+ "cls": "ToasterOven"
547
+ }
548
+ },
549
+ "gen_textures": {},
550
+ "lang": "Turn on the sink faucet.",
551
+ "fixture_refs": {},
552
+ "cam_configs": {
553
+ "robot0_agentview_center": {
554
+ "pos": [
555
+ -0.6,
556
+ 0.0,
557
+ 1.15
558
+ ],
559
+ "quat": [
560
+ 0.636945903301239,
561
+ 0.3325185477733612,
562
+ -0.3199238181114197,
563
+ -0.6175596117973328
564
+ ],
565
+ "parent_body": "mobilebase0_support"
566
+ },
567
+ "robot0_agentview_left": {
568
+ "pos": [
569
+ -0.5,
570
+ 0.35,
571
+ 1.05
572
+ ],
573
+ "quat": [
574
+ 0.55623853,
575
+ 0.29935253,
576
+ -0.37678665,
577
+ -0.6775092
578
+ ],
579
+ "camera_attribs": {
580
+ "fovy": "60"
581
+ },
582
+ "parent_body": "mobilebase0_support"
583
+ },
584
+ "robot0_agentview_right": {
585
+ "pos": [
586
+ -0.5,
587
+ -0.35,
588
+ 1.05
589
+ ],
590
+ "quat": [
591
+ 0.6775091886520386,
592
+ 0.3767866790294647,
593
+ -0.2993525564670563,
594
+ -0.55623859167099
595
+ ],
596
+ "camera_attribs": {
597
+ "fovy": "60"
598
+ },
599
+ "parent_body": "mobilebase0_support"
600
+ },
601
+ "robot0_frontview": {
602
+ "pos": [
603
+ -0.5,
604
+ 0,
605
+ 0.95
606
+ ],
607
+ "quat": [
608
+ 0.6088936924934387,
609
+ 0.3814677894115448,
610
+ -0.3673907518386841,
611
+ -0.5905545353889465
612
+ ],
613
+ "camera_attribs": {
614
+ "fovy": "60"
615
+ },
616
+ "parent_body": "mobilebase0_support"
617
+ },
618
+ "robot0_eye_in_hand": {
619
+ "pos": [
620
+ 0.05,
621
+ 0,
622
+ 0
623
+ ],
624
+ "quat": [
625
+ 0,
626
+ 0.707107,
627
+ 0.707107,
628
+ 0
629
+ ],
630
+ "parent_body": "robot0_right_hand"
631
+ }
632
+ },
633
+ "init_robot_base_pos": [
634
+ 0.8192708416048146,
635
+ -1.7917532510596597,
636
+ 0.0
637
+ ],
638
+ "init_robot_base_ori": [
639
+ 0.0,
640
+ 0.0,
641
+ 3.1415926193612504
642
+ ]
643
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000021/ep_meta.json ADDED
@@ -0,0 +1,570 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 46,
3
+ "style_id": 51,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_2_front_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_front_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.1109960355,
15
+ 0.125383608,
16
+ 0.0904473255
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "lettuce",
37
+ "vegetable",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "lettuce",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce004/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.4920598598027661,
51
+ 1.300035
52
+ ],
53
+ "offset": [
54
+ -1.406186070098617,
55
+ 2.0816681711721685e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_1"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_counter_1",
63
+ "obj_groups": "all",
64
+ "placement": {
65
+ "fixture": "counter_2_front_group_1",
66
+ "sample_region_kwargs": {
67
+ "ref": "sink_front_group_1",
68
+ "loc": "left_right",
69
+ "min_size": [
70
+ 0.054018195000000005,
71
+ 0.0540111495,
72
+ 0.099830367
73
+ ]
74
+ },
75
+ "size": [
76
+ 0.3,
77
+ 0.3
78
+ ],
79
+ "pos": [
80
+ "ref",
81
+ -1.0
82
+ ],
83
+ "offset": [
84
+ 0.0,
85
+ 0.1
86
+ ]
87
+ },
88
+ "type": "object",
89
+ "info": {
90
+ "groups_containing_sampled_obj": [
91
+ "all",
92
+ "salt_and_pepper_shaker",
93
+ "spice"
94
+ ],
95
+ "groups": [
96
+ "all"
97
+ ],
98
+ "cat": "salt_and_pepper_shaker",
99
+ "split": "train",
100
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/salt_and_pepper_shaker/PepperShaker002/model.xml"
101
+ },
102
+ "reset_region": {
103
+ "size": [
104
+ 1.4920598598027661,
105
+ 1.300035
106
+ ],
107
+ "offset": [
108
+ -1.406186070098617,
109
+ 2.0816681711721685e-17,
110
+ 0.46
111
+ ],
112
+ "name": "geom_1"
113
+ }
114
+ },
115
+ {
116
+ "name": "distr_counter_2",
117
+ "obj_groups": "all",
118
+ "placement": {
119
+ "fixture": "counter_2_front_group_1",
120
+ "sample_region_kwargs": {
121
+ "ref": "sink_front_group_1",
122
+ "loc": "left_right",
123
+ "min_size": [
124
+ 0.05704048680000002,
125
+ 0.059094555600000015,
126
+ 0.052538282400000004
127
+ ]
128
+ },
129
+ "size": [
130
+ 0.3,
131
+ 0.3
132
+ ],
133
+ "pos": [
134
+ "ref",
135
+ -1.0
136
+ ],
137
+ "offset": [
138
+ 0.0,
139
+ 0.1
140
+ ]
141
+ },
142
+ "type": "object",
143
+ "info": {
144
+ "groups_containing_sampled_obj": [
145
+ "all",
146
+ "tangerine",
147
+ "fruit",
148
+ "food",
149
+ "in_container"
150
+ ],
151
+ "groups": [
152
+ "all"
153
+ ],
154
+ "cat": "tangerine",
155
+ "split": "train",
156
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml"
157
+ },
158
+ "reset_region": {
159
+ "size": [
160
+ 1.4920598598027661,
161
+ 1.300035
162
+ ],
163
+ "offset": [
164
+ -1.406186070098617,
165
+ 2.0816681711721685e-17,
166
+ 0.46
167
+ ],
168
+ "name": "geom_1"
169
+ }
170
+ },
171
+ {
172
+ "name": "distr_sink",
173
+ "obj_groups": "all",
174
+ "washable": true,
175
+ "placement": {
176
+ "fixture": "sink_front_group_1",
177
+ "size": [
178
+ 0.3,
179
+ 0.4
180
+ ],
181
+ "pos": [
182
+ null,
183
+ -1.0
184
+ ]
185
+ },
186
+ "type": "object",
187
+ "info": {
188
+ "groups_containing_sampled_obj": [
189
+ "all",
190
+ "cup",
191
+ "stackable",
192
+ "receptacle"
193
+ ],
194
+ "groups": [
195
+ "all"
196
+ ],
197
+ "cat": "cup",
198
+ "split": "train",
199
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml"
200
+ },
201
+ "reset_region": {
202
+ "offset": [
203
+ -0.18172511580648798,
204
+ -0.01695322675879661,
205
+ -0.26930880011384073
206
+ ],
207
+ "size": [
208
+ 0.2790416587967839,
209
+ 0.323237158319961
210
+ ],
211
+ "height": 0.1981160992416856,
212
+ "name": "basin"
213
+ }
214
+ }
215
+ ],
216
+ "fixtures": {
217
+ "wall_right_1_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "wall_right_1_backing_room": {
221
+ "cls": "Wall"
222
+ },
223
+ "wall_main_1_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "wall_main_1_backing_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_right_3_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "wall_right_3_backing_room": {
233
+ "cls": "Wall"
234
+ },
235
+ "wall_right_2_room": {
236
+ "cls": "Wall"
237
+ },
238
+ "wall_right_2_backing_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "wall_main_2_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_main_2_backing_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "floor_1_room": {
248
+ "cls": "Floor"
249
+ },
250
+ "floor_1_backing_room": {
251
+ "cls": "Floor"
252
+ },
253
+ "floor_2_room": {
254
+ "cls": "Floor"
255
+ },
256
+ "floor_2_backing_room": {
257
+ "cls": "Floor"
258
+ },
259
+ "wallaccessory_06_room": {
260
+ "cls": "WallAccessory"
261
+ },
262
+ "lightswitch_01_room": {
263
+ "cls": "WallAccessory"
264
+ },
265
+ "wallaccessory_03_room": {
266
+ "cls": "WallAccessory"
267
+ },
268
+ "wallaccessory_04_room": {
269
+ "cls": "WallAccessory"
270
+ },
271
+ "stool_1_room": {
272
+ "cls": "Stool"
273
+ },
274
+ "stool_2_room": {
275
+ "cls": "Stool"
276
+ },
277
+ "stool_3_room": {
278
+ "cls": "Stool"
279
+ },
280
+ "stool_4_room": {
281
+ "cls": "Stool"
282
+ },
283
+ "stool_5_room": {
284
+ "cls": "Stool"
285
+ },
286
+ "stool_6_room": {
287
+ "cls": "Stool"
288
+ },
289
+ "dining_dining_area_group": {
290
+ "cls": "Counter"
291
+ },
292
+ "cube_1_dining_area_group": {
293
+ "cls": "Box"
294
+ },
295
+ "cube_2_dining_area_group": {
296
+ "cls": "Box"
297
+ },
298
+ "fridgefrenchdoor_main_group_1": {
299
+ "cls": "FridgeFrenchDoor"
300
+ },
301
+ "fridgefrenchdoor_housing_main_group_1": {
302
+ "cls": "HousingCabinet"
303
+ },
304
+ "bottom_main_group_1_base": {
305
+ "cls": "Box"
306
+ },
307
+ "bottom_main_group_1_1": {
308
+ "cls": "Drawer"
309
+ },
310
+ "microwave_main_group_1": {
311
+ "cls": "Microwave"
312
+ },
313
+ "hingecabinet_02_main_group_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "oven_cabinet_main_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "microwave_housing_main_group_1": {
320
+ "cls": "HousingCabinet"
321
+ },
322
+ "top_main_group_1": {
323
+ "cls": "HingeCabinet"
324
+ },
325
+ "hingecabinet_01_main_group_1": {
326
+ "cls": "HingeCabinet"
327
+ },
328
+ "singlecabinet_1_main_group_1": {
329
+ "cls": "SingleCabinet"
330
+ },
331
+ "singlecabinet_2_main_group_1": {
332
+ "cls": "SingleCabinet"
333
+ },
334
+ "counter_2_main_group_1": {
335
+ "cls": "Counter"
336
+ },
337
+ "counter_1_main_group_1": {
338
+ "cls": "Counter"
339
+ },
340
+ "stove_main_group_1": {
341
+ "cls": "Stove"
342
+ },
343
+ "stove_hood_main_group_1": {
344
+ "cls": "Hood"
345
+ },
346
+ "stack_01_main_group_1_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_01_main_group_1_1": {
350
+ "cls": "Drawer"
351
+ },
352
+ "stack_01_main_group_1_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_01_main_group_1_3": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_02_main_group_1_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_02_main_group_1_1": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_02_main_group_1_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_02_main_group_1_3": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_03_main_group_1_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_03_main_group_1_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_03_main_group_1_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "coffee_machine_main_group_1": {
380
+ "cls": "CoffeeMachine"
381
+ },
382
+ "toaster_main_group_1": {
383
+ "cls": "Toaster"
384
+ },
385
+ "toaster_oven_main_group_1": {
386
+ "cls": "ToasterOven"
387
+ },
388
+ "sink_front_group_1": {
389
+ "cls": "Sink"
390
+ },
391
+ "counter_2_front_group_1": {
392
+ "cls": "Counter"
393
+ },
394
+ "stack_05_front_group_1_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_05_front_group_1_1": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "stack_05_front_group_1_2": {
401
+ "cls": "PanelCabinet"
402
+ },
403
+ "stack_08_front_group_1_base": {
404
+ "cls": "Box"
405
+ },
406
+ "stack_08_front_group_1_1": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "stack_08_front_group_1_2": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_06_front_group_1_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_06_front_group_1_1": {
416
+ "cls": "SingleCabinet"
417
+ },
418
+ "stack_04_front_group_1_base": {
419
+ "cls": "Box"
420
+ },
421
+ "stack_04_front_group_1_1": {
422
+ "cls": "HingeCabinet"
423
+ },
424
+ "stack_04_front_group_1_2": {
425
+ "cls": "Drawer"
426
+ },
427
+ "dishwasher_1_front_group_1": {
428
+ "cls": "Dishwasher"
429
+ },
430
+ "stack_12_front_group_1_base": {
431
+ "cls": "Box"
432
+ },
433
+ "stack_12_front_group_1_1": {
434
+ "cls": "HingeCabinet"
435
+ },
436
+ "stack_12_front_group_1_2": {
437
+ "cls": "Drawer"
438
+ },
439
+ "plant_front_group_1": {
440
+ "cls": "Accessory"
441
+ },
442
+ "paper_towel_front_group_1": {
443
+ "cls": "Accessory"
444
+ },
445
+ "cube_1_front_group_2": {
446
+ "cls": "Box"
447
+ },
448
+ "stack_11_front_group_2_base": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_11_front_group_2_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "stack_10_front_group_2_base": {
455
+ "cls": "Box"
456
+ },
457
+ "stack_10_front_group_2_1": {
458
+ "cls": "HingeCabinet"
459
+ },
460
+ "stack_09_front_group_2_base": {
461
+ "cls": "Box"
462
+ },
463
+ "stack_09_front_group_2_1": {
464
+ "cls": "HingeCabinet"
465
+ },
466
+ "cube_2_front_group_2": {
467
+ "cls": "Box"
468
+ },
469
+ "stack_13_front_group_2_base": {
470
+ "cls": "Box"
471
+ },
472
+ "stack_13_front_group_2_1": {
473
+ "cls": "SingleCabinet"
474
+ }
475
+ },
476
+ "gen_textures": {},
477
+ "lang": "Turn on the sink faucet.",
478
+ "fixture_refs": {},
479
+ "cam_configs": {
480
+ "robot0_agentview_center": {
481
+ "pos": [
482
+ -0.6,
483
+ 0.0,
484
+ 1.15
485
+ ],
486
+ "quat": [
487
+ 0.636945903301239,
488
+ 0.3325185477733612,
489
+ -0.3199238181114197,
490
+ -0.6175596117973328
491
+ ],
492
+ "parent_body": "mobilebase0_support"
493
+ },
494
+ "robot0_agentview_left": {
495
+ "pos": [
496
+ -0.5,
497
+ 0.35,
498
+ 1.05
499
+ ],
500
+ "quat": [
501
+ 0.55623853,
502
+ 0.29935253,
503
+ -0.37678665,
504
+ -0.6775092
505
+ ],
506
+ "camera_attribs": {
507
+ "fovy": "60"
508
+ },
509
+ "parent_body": "mobilebase0_support"
510
+ },
511
+ "robot0_agentview_right": {
512
+ "pos": [
513
+ -0.5,
514
+ -0.35,
515
+ 1.05
516
+ ],
517
+ "quat": [
518
+ 0.6775091886520386,
519
+ 0.3767866790294647,
520
+ -0.2993525564670563,
521
+ -0.55623859167099
522
+ ],
523
+ "camera_attribs": {
524
+ "fovy": "60"
525
+ },
526
+ "parent_body": "mobilebase0_support"
527
+ },
528
+ "robot0_frontview": {
529
+ "pos": [
530
+ -0.5,
531
+ 0,
532
+ 0.95
533
+ ],
534
+ "quat": [
535
+ 0.6088936924934387,
536
+ 0.3814677894115448,
537
+ -0.3673907518386841,
538
+ -0.5905545353889465
539
+ ],
540
+ "camera_attribs": {
541
+ "fovy": "60"
542
+ },
543
+ "parent_body": "mobilebase0_support"
544
+ },
545
+ "robot0_eye_in_hand": {
546
+ "pos": [
547
+ 0.05,
548
+ 0,
549
+ 0
550
+ ],
551
+ "quat": [
552
+ 0,
553
+ 0.707107,
554
+ 0.707107,
555
+ 0
556
+ ],
557
+ "parent_body": "robot0_right_hand"
558
+ }
559
+ },
560
+ "init_robot_base_pos": [
561
+ 4.528584825991595,
562
+ -2.694317555210321,
563
+ 0.0
564
+ ],
565
+ "init_robot_base_ori": [
566
+ 0.0,
567
+ 0.0,
568
+ 4.712230463812298
569
+ ]
570
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000022/ep_meta.json ADDED
@@ -0,0 +1,464 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 36,
3
+ "style_id": 43,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_left_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_left_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.07876752593240186,
15
+ 0.09199586015335218,
16
+ 0.07757899957280649
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "broccoli",
37
+ "vegetable",
38
+ "food",
39
+ "in_container",
40
+ "oven_ready"
41
+ ],
42
+ "groups": [
43
+ "all"
44
+ ],
45
+ "cat": "broccoli",
46
+ "split": "train",
47
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml"
48
+ },
49
+ "reset_region": {
50
+ "size": [
51
+ 0.717091043625498,
52
+ 0.65
53
+ ],
54
+ "offset": [
55
+ -1.0957044781872511,
56
+ -3.469446951953614e-17,
57
+ 0.46
58
+ ],
59
+ "name": "geom_1"
60
+ }
61
+ },
62
+ {
63
+ "name": "distr_counter_1",
64
+ "obj_groups": "all",
65
+ "placement": {
66
+ "fixture": "counter_1_left_group_1",
67
+ "sample_region_kwargs": {
68
+ "ref": "sink_left_group_1",
69
+ "loc": "left_right",
70
+ "min_size": [
71
+ 0.07741226399999998,
72
+ 0.04837101023372554,
73
+ 0.14999772461887564
74
+ ]
75
+ },
76
+ "size": [
77
+ 0.3,
78
+ 0.3
79
+ ],
80
+ "pos": [
81
+ "ref",
82
+ -1.0
83
+ ],
84
+ "offset": [
85
+ 0.0,
86
+ 0.1
87
+ ]
88
+ },
89
+ "type": "object",
90
+ "info": {
91
+ "groups_containing_sampled_obj": [
92
+ "all",
93
+ "ketchup",
94
+ "condiment"
95
+ ],
96
+ "groups": [
97
+ "all"
98
+ ],
99
+ "cat": "ketchup",
100
+ "split": "train",
101
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_0/model.xml"
102
+ },
103
+ "reset_region": {
104
+ "size": [
105
+ 0.717091043625498,
106
+ 0.65
107
+ ],
108
+ "offset": [
109
+ -1.0957044781872511,
110
+ -3.469446951953614e-17,
111
+ 0.46
112
+ ],
113
+ "name": "geom_1"
114
+ }
115
+ },
116
+ {
117
+ "name": "distr_sink",
118
+ "obj_groups": "all",
119
+ "washable": true,
120
+ "placement": {
121
+ "fixture": "sink_left_group_1",
122
+ "size": [
123
+ 0.3,
124
+ 0.4
125
+ ],
126
+ "pos": [
127
+ null,
128
+ -1.0
129
+ ]
130
+ },
131
+ "type": "object",
132
+ "info": {
133
+ "groups_containing_sampled_obj": [
134
+ "all",
135
+ "reamer",
136
+ "tool",
137
+ "in_container"
138
+ ],
139
+ "groups": [
140
+ "all"
141
+ ],
142
+ "cat": "reamer",
143
+ "split": "train",
144
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer005/model.xml"
145
+ },
146
+ "reset_region": {
147
+ "offset": [
148
+ -0.20564561673306772,
149
+ -0.00026283565737052206,
150
+ -0.24197012749003982
151
+ ],
152
+ "size": [
153
+ 0.3156186952191235,
154
+ 0.37582371792828684
155
+ ],
156
+ "height": 0.1974794886454183,
157
+ "name": "basin_left"
158
+ }
159
+ }
160
+ ],
161
+ "fixtures": {
162
+ "wall_left_1_room": {
163
+ "cls": "Wall"
164
+ },
165
+ "wall_left_1_backing_room": {
166
+ "cls": "Wall"
167
+ },
168
+ "wall_main_1_room": {
169
+ "cls": "Wall"
170
+ },
171
+ "wall_main_1_backing_room": {
172
+ "cls": "Wall"
173
+ },
174
+ "wall_right_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_right_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_left_2_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_left_2_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_front_1_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_front_1_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_left_3_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_left_3_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_right_3_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "wall_right_3_backing_room": {
202
+ "cls": "Wall"
203
+ },
204
+ "wall_front_2_room": {
205
+ "cls": "Wall"
206
+ },
207
+ "wall_front_2_backing_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_5_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_left_5_backing_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_right_2_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_right_2_backing_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "floor_1_room": {
223
+ "cls": "Floor"
224
+ },
225
+ "floor_1_backing_room": {
226
+ "cls": "Floor"
227
+ },
228
+ "floor_2_room": {
229
+ "cls": "Floor"
230
+ },
231
+ "floor_2_backing_room": {
232
+ "cls": "Floor"
233
+ },
234
+ "wallaccessory_room": {
235
+ "cls": "WallAccessory"
236
+ },
237
+ "wallaccessory.001_room": {
238
+ "cls": "WallAccessory"
239
+ },
240
+ "wallaccessory.002_room": {
241
+ "cls": "WallAccessory"
242
+ },
243
+ "wallaccessory.003_room": {
244
+ "cls": "WallAccessory"
245
+ },
246
+ "window_group_room": {
247
+ "cls": "Window"
248
+ },
249
+ "counter_1_front_group_1": {
250
+ "cls": "Counter"
251
+ },
252
+ "fridgefrenchdoor_front_group_1": {
253
+ "cls": "FridgeFrenchDoor"
254
+ },
255
+ "fridgefrenchdoor_housing_front_group_1": {
256
+ "cls": "HousingCabinet"
257
+ },
258
+ "stack_1_front_group_1_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_1_front_group_1_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "stack_1_front_group_1_2": {
265
+ "cls": "Drawer"
266
+ },
267
+ "cube_2_front_group_1": {
268
+ "cls": "Box"
269
+ },
270
+ "cube_1_front_group_1": {
271
+ "cls": "Box"
272
+ },
273
+ "papertowel_front_group_1": {
274
+ "cls": "Accessory"
275
+ },
276
+ "counter_1_right_group_1": {
277
+ "cls": "Counter"
278
+ },
279
+ "counter_2_right_group_1": {
280
+ "cls": "Counter"
281
+ },
282
+ "stove_right_group_1": {
283
+ "cls": "Stove"
284
+ },
285
+ "microwave_right_group_1": {
286
+ "cls": "Microwave"
287
+ },
288
+ "micro_cab_right_group_1": {
289
+ "cls": "HingeCabinet"
290
+ },
291
+ "hingecabinet_2_right_group_1": {
292
+ "cls": "HingeCabinet"
293
+ },
294
+ "hingecabinet_1_right_group_1": {
295
+ "cls": "HingeCabinet"
296
+ },
297
+ "stack_2_right_group_1_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_2_right_group_1_1": {
301
+ "cls": "HingeCabinet"
302
+ },
303
+ "stack_2_right_group_1_2": {
304
+ "cls": "Drawer"
305
+ },
306
+ "stack_1_right_group_1_base": {
307
+ "cls": "Box"
308
+ },
309
+ "stack_1_right_group_1_1": {
310
+ "cls": "HingeCabinet"
311
+ },
312
+ "stack_1_right_group_1_2": {
313
+ "cls": "Drawer"
314
+ },
315
+ "plant_right_group_1": {
316
+ "cls": "Accessory"
317
+ },
318
+ "toaster_right_group_1": {
319
+ "cls": "Toaster"
320
+ },
321
+ "toaster_oven_right_group_1": {
322
+ "cls": "ToasterOven"
323
+ },
324
+ "sink_left_group_1": {
325
+ "cls": "Sink"
326
+ },
327
+ "counter_1_left_group_1": {
328
+ "cls": "Counter"
329
+ },
330
+ "hingecabinet_1_left_group_1": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "stack_1_left_group_1_base": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_1_left_group_1_1": {
337
+ "cls": "SingleCabinet"
338
+ },
339
+ "stack_1_left_group_1_2": {
340
+ "cls": "Drawer"
341
+ },
342
+ "cube_1_left_group_1": {
343
+ "cls": "Box"
344
+ },
345
+ "stack_2_left_group_1_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_2_left_group_1_1": {
349
+ "cls": "HingeCabinet"
350
+ },
351
+ "stack_2_left_group_1_2": {
352
+ "cls": "PanelCabinet"
353
+ },
354
+ "stack_3_left_group_1_base": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_3_left_group_1_1": {
358
+ "cls": "SingleCabinet"
359
+ },
360
+ "stack_3_left_group_1_2": {
361
+ "cls": "Drawer"
362
+ },
363
+ "dishwasher_1_left_group_1": {
364
+ "cls": "Dishwasher"
365
+ },
366
+ "coffee_machine_left_group_1": {
367
+ "cls": "CoffeeMachine"
368
+ }
369
+ },
370
+ "gen_textures": {},
371
+ "lang": "Turn on the sink faucet.",
372
+ "fixture_refs": {},
373
+ "cam_configs": {
374
+ "robot0_agentview_center": {
375
+ "pos": [
376
+ -0.6,
377
+ 0.0,
378
+ 1.15
379
+ ],
380
+ "quat": [
381
+ 0.636945903301239,
382
+ 0.3325185477733612,
383
+ -0.3199238181114197,
384
+ -0.6175596117973328
385
+ ],
386
+ "parent_body": "mobilebase0_support"
387
+ },
388
+ "robot0_agentview_left": {
389
+ "pos": [
390
+ -0.5,
391
+ 0.35,
392
+ 1.05
393
+ ],
394
+ "quat": [
395
+ 0.55623853,
396
+ 0.29935253,
397
+ -0.37678665,
398
+ -0.6775092
399
+ ],
400
+ "camera_attribs": {
401
+ "fovy": "60"
402
+ },
403
+ "parent_body": "mobilebase0_support"
404
+ },
405
+ "robot0_agentview_right": {
406
+ "pos": [
407
+ -0.5,
408
+ -0.35,
409
+ 1.05
410
+ ],
411
+ "quat": [
412
+ 0.6775091886520386,
413
+ 0.3767866790294647,
414
+ -0.2993525564670563,
415
+ -0.55623859167099
416
+ ],
417
+ "camera_attribs": {
418
+ "fovy": "60"
419
+ },
420
+ "parent_body": "mobilebase0_support"
421
+ },
422
+ "robot0_frontview": {
423
+ "pos": [
424
+ -0.5,
425
+ 0,
426
+ 0.95
427
+ ],
428
+ "quat": [
429
+ 0.6088936924934387,
430
+ 0.3814677894115448,
431
+ -0.3673907518386841,
432
+ -0.5905545353889465
433
+ ],
434
+ "camera_attribs": {
435
+ "fovy": "60"
436
+ },
437
+ "parent_body": "mobilebase0_support"
438
+ },
439
+ "robot0_eye_in_hand": {
440
+ "pos": [
441
+ 0.05,
442
+ 0,
443
+ 0
444
+ ],
445
+ "quat": [
446
+ 0,
447
+ 0.707107,
448
+ 0.707107,
449
+ 0
450
+ ],
451
+ "parent_body": "robot0_right_hand"
452
+ }
453
+ },
454
+ "init_robot_base_pos": [
455
+ 0.8406367002858575,
456
+ -1.770783666284516,
457
+ 0.0
458
+ ],
459
+ "init_robot_base_ori": [
460
+ 0.0,
461
+ 0.0,
462
+ 3.1415924507432367
463
+ ]
464
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000023/ep_meta.json ADDED
@@ -0,0 +1,400 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 41,
3
+ "style_id": 31,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_main_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.06985447087269717,
15
+ 0.2639999685287476,
16
+ 0.04467575376
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "spatula",
37
+ "utensil"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "spatula",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spatula/spatula_10/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 0.8399885188788467,
49
+ 0.650008
50
+ ],
51
+ "offset": [
52
+ 0.8894197405605768,
53
+ -3.469446951953614e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_0"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_sink",
61
+ "obj_groups": "all",
62
+ "washable": true,
63
+ "placement": {
64
+ "fixture": "sink_main_group_1",
65
+ "size": [
66
+ 0.3,
67
+ 0.4
68
+ ],
69
+ "pos": [
70
+ null,
71
+ -1.0
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "ladle",
79
+ "utensil"
80
+ ],
81
+ "groups": [
82
+ "all"
83
+ ],
84
+ "cat": "ladle",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_0/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "offset": [
90
+ -0.0038110736702231807,
91
+ -0.024734373509031543,
92
+ -0.20953974374125964
93
+ ],
94
+ "size": [
95
+ 0.6468094657780432,
96
+ 0.345544667275835
97
+ ],
98
+ "height": 0.2053193736978915,
99
+ "name": "basin"
100
+ }
101
+ }
102
+ ],
103
+ "fixtures": {
104
+ "wall_main_1_room": {
105
+ "cls": "Wall"
106
+ },
107
+ "wall_main_1_backing_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_right_1_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_right_1_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_right_2_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_right_2_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_3_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_3_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "floor_1_room": {
129
+ "cls": "Floor"
130
+ },
131
+ "floor_1_backing_room": {
132
+ "cls": "Floor"
133
+ },
134
+ "lightswitch_room": {
135
+ "cls": "WallAccessory"
136
+ },
137
+ "wallaccessory.003_room": {
138
+ "cls": "WallAccessory"
139
+ },
140
+ "wallaccessory.001_room": {
141
+ "cls": "WallAccessory"
142
+ },
143
+ "window_group_room": {
144
+ "cls": "Window"
145
+ },
146
+ "stool_1_room": {
147
+ "cls": "Stool"
148
+ },
149
+ "stool_2_room": {
150
+ "cls": "Stool"
151
+ },
152
+ "sink_main_group_1": {
153
+ "cls": "Sink"
154
+ },
155
+ "counter_1_main_group_1": {
156
+ "cls": "Counter"
157
+ },
158
+ "singlecabinet_1_main_group_1": {
159
+ "cls": "SingleCabinet"
160
+ },
161
+ "singlecabinet_2_main_group_1": {
162
+ "cls": "SingleCabinet"
163
+ },
164
+ "stack_1_main_group_1_base": {
165
+ "cls": "Box"
166
+ },
167
+ "stack_1_main_group_1_1": {
168
+ "cls": "HingeCabinet"
169
+ },
170
+ "stack_1_main_group_1_2": {
171
+ "cls": "Drawer"
172
+ },
173
+ "stack_2_main_group_1_base": {
174
+ "cls": "Box"
175
+ },
176
+ "stack_2_main_group_1_1": {
177
+ "cls": "HingeCabinet"
178
+ },
179
+ "stack_2_main_group_1_2": {
180
+ "cls": "PanelCabinet"
181
+ },
182
+ "cube_1_main_group_1": {
183
+ "cls": "Box"
184
+ },
185
+ "dishwasher_1_main_group_1": {
186
+ "cls": "Dishwasher"
187
+ },
188
+ "bottom_main_group_1_base": {
189
+ "cls": "Box"
190
+ },
191
+ "bottom_main_group_1_1": {
192
+ "cls": "Drawer"
193
+ },
194
+ "microwave_main_group_1": {
195
+ "cls": "Microwave"
196
+ },
197
+ "fridgesidebyside_main_group_1": {
198
+ "cls": "FridgeSideBySide"
199
+ },
200
+ "fridgesidebyside_housing_main_group_1": {
201
+ "cls": "HousingCabinet"
202
+ },
203
+ "oven_cabinet_main_group_1": {
204
+ "cls": "HingeCabinet"
205
+ },
206
+ "hingecabinet_1_main_group_1": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "microwave_housing_main_group_1": {
210
+ "cls": "HousingCabinet"
211
+ },
212
+ "top_main_group_1": {
213
+ "cls": "HingeCabinet"
214
+ },
215
+ "coffee_machine_main_group_1": {
216
+ "cls": "CoffeeMachine"
217
+ },
218
+ "knife_block_main_group_1": {
219
+ "cls": "Accessory"
220
+ },
221
+ "counter_1_right_group_1": {
222
+ "cls": "Counter"
223
+ },
224
+ "counter_2_right_group_1": {
225
+ "cls": "Counter"
226
+ },
227
+ "stove_right_group_1": {
228
+ "cls": "Stove"
229
+ },
230
+ "stove_hood_right_group_1": {
231
+ "cls": "Hood"
232
+ },
233
+ "singlecabinet_1_right_group_1": {
234
+ "cls": "SingleCabinet"
235
+ },
236
+ "singlecabinet_2_right_group_1": {
237
+ "cls": "SingleCabinet"
238
+ },
239
+ "stack_1_right_group_1_base": {
240
+ "cls": "Box"
241
+ },
242
+ "stack_1_right_group_1_1": {
243
+ "cls": "HingeCabinet"
244
+ },
245
+ "stack_1_right_group_1_2": {
246
+ "cls": "Drawer"
247
+ },
248
+ "stack_2_right_group_1_base": {
249
+ "cls": "Box"
250
+ },
251
+ "stack_2_right_group_1_1": {
252
+ "cls": "HingeCabinet"
253
+ },
254
+ "stack_2_right_group_1_2": {
255
+ "cls": "Drawer"
256
+ },
257
+ "toaster_right_group_1": {
258
+ "cls": "Toaster"
259
+ },
260
+ "stack_1_island_group_1_base": {
261
+ "cls": "Box"
262
+ },
263
+ "stack_1_island_group_1_1": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "stack_1_island_group_1_2": {
267
+ "cls": "Drawer"
268
+ },
269
+ "stack_2_island_group_1_base": {
270
+ "cls": "Box"
271
+ },
272
+ "stack_2_island_group_1_1": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "stack_2_island_group_1_2": {
276
+ "cls": "Drawer"
277
+ },
278
+ "stack_3_island_group_1_base": {
279
+ "cls": "Box"
280
+ },
281
+ "stack_3_island_group_1_1": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_3_island_group_1_2": {
285
+ "cls": "Drawer"
286
+ },
287
+ "island_island_group_2": {
288
+ "cls": "Counter"
289
+ },
290
+ "stack_4_island_group_2_base": {
291
+ "cls": "Box"
292
+ },
293
+ "stack_4_island_group_2_1": {
294
+ "cls": "SingleCabinet"
295
+ },
296
+ "stack_5_island_group_2_base": {
297
+ "cls": "Box"
298
+ },
299
+ "stack_5_island_group_2_1": {
300
+ "cls": "SingleCabinet"
301
+ },
302
+ "paper_towel_island_group_2": {
303
+ "cls": "Accessory"
304
+ }
305
+ },
306
+ "gen_textures": {},
307
+ "lang": "Turn on the sink faucet.",
308
+ "fixture_refs": {},
309
+ "cam_configs": {
310
+ "robot0_agentview_center": {
311
+ "pos": [
312
+ -0.6,
313
+ 0.0,
314
+ 1.15
315
+ ],
316
+ "quat": [
317
+ 0.636945903301239,
318
+ 0.3325185477733612,
319
+ -0.3199238181114197,
320
+ -0.6175596117973328
321
+ ],
322
+ "parent_body": "mobilebase0_support"
323
+ },
324
+ "robot0_agentview_left": {
325
+ "pos": [
326
+ -0.5,
327
+ 0.35,
328
+ 1.05
329
+ ],
330
+ "quat": [
331
+ 0.55623853,
332
+ 0.29935253,
333
+ -0.37678665,
334
+ -0.6775092
335
+ ],
336
+ "camera_attribs": {
337
+ "fovy": "60"
338
+ },
339
+ "parent_body": "mobilebase0_support"
340
+ },
341
+ "robot0_agentview_right": {
342
+ "pos": [
343
+ -0.5,
344
+ -0.35,
345
+ 1.05
346
+ ],
347
+ "quat": [
348
+ 0.6775091886520386,
349
+ 0.3767866790294647,
350
+ -0.2993525564670563,
351
+ -0.55623859167099
352
+ ],
353
+ "camera_attribs": {
354
+ "fovy": "60"
355
+ },
356
+ "parent_body": "mobilebase0_support"
357
+ },
358
+ "robot0_frontview": {
359
+ "pos": [
360
+ -0.5,
361
+ 0,
362
+ 0.95
363
+ ],
364
+ "quat": [
365
+ 0.6088936924934387,
366
+ 0.3814677894115448,
367
+ -0.3673907518386841,
368
+ -0.5905545353889465
369
+ ],
370
+ "camera_attribs": {
371
+ "fovy": "60"
372
+ },
373
+ "parent_body": "mobilebase0_support"
374
+ },
375
+ "robot0_eye_in_hand": {
376
+ "pos": [
377
+ 0.05,
378
+ 0,
379
+ 0
380
+ ],
381
+ "quat": [
382
+ 0,
383
+ 0.707107,
384
+ 0.707107,
385
+ 0
386
+ ],
387
+ "parent_body": "robot0_right_hand"
388
+ }
389
+ },
390
+ "init_robot_base_pos": [
391
+ 2.748079327069622,
392
+ -0.8211132905444231,
393
+ 0.0
394
+ ],
395
+ "init_robot_base_ori": [
396
+ 0.0,
397
+ 0.0,
398
+ 1.5707963267948966
399
+ ]
400
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000026/ep_meta.json ADDED
@@ -0,0 +1,569 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 17,
3
+ "style_id": 21,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_right_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.09974986,
15
+ 0.09975215,
16
+ 0.101826
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "glass_cup",
37
+ "stackable",
38
+ "receptacle"
39
+ ],
40
+ "groups": [
41
+ "all"
42
+ ],
43
+ "cat": "glass_cup",
44
+ "split": "train",
45
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup014/model.xml"
46
+ },
47
+ "reset_region": {
48
+ "size": [
49
+ 1.296000235895816,
50
+ 0.65
51
+ ],
52
+ "offset": [
53
+ 1.0269998820520916,
54
+ -3.469446951953614e-17,
55
+ 0.46
56
+ ],
57
+ "name": "geom_0"
58
+ }
59
+ },
60
+ {
61
+ "name": "distr_counter_1",
62
+ "obj_groups": "all",
63
+ "placement": {
64
+ "fixture": "counter_1_right_group_1",
65
+ "sample_region_kwargs": {
66
+ "ref": "sink_1_right_group_1",
67
+ "loc": "left_right",
68
+ "min_size": [
69
+ 0.100986012,
70
+ 0.142728,
71
+ 0.0357024
72
+ ]
73
+ },
74
+ "size": [
75
+ 0.3,
76
+ 0.3
77
+ ],
78
+ "pos": [
79
+ "ref",
80
+ -1.0
81
+ ],
82
+ "offset": [
83
+ 0.0,
84
+ 0.1
85
+ ]
86
+ },
87
+ "type": "object",
88
+ "info": {
89
+ "groups_containing_sampled_obj": [
90
+ "all",
91
+ "chicken_drumstick",
92
+ "meat",
93
+ "food",
94
+ "in_container",
95
+ "oven_ready"
96
+ ],
97
+ "groups": [
98
+ "all"
99
+ ],
100
+ "cat": "chicken_drumstick",
101
+ "split": "train",
102
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml"
103
+ },
104
+ "reset_region": {
105
+ "size": [
106
+ 1.296000235895816,
107
+ 0.65
108
+ ],
109
+ "offset": [
110
+ 1.0269998820520916,
111
+ -3.469446951953614e-17,
112
+ 0.46
113
+ ],
114
+ "name": "geom_0"
115
+ }
116
+ },
117
+ {
118
+ "name": "distr_sink",
119
+ "obj_groups": "all",
120
+ "washable": true,
121
+ "placement": {
122
+ "fixture": "sink_1_right_group_1",
123
+ "size": [
124
+ 0.3,
125
+ 0.4
126
+ ],
127
+ "pos": [
128
+ null,
129
+ -1.0
130
+ ]
131
+ },
132
+ "type": "object",
133
+ "info": {
134
+ "groups_containing_sampled_obj": [
135
+ "all",
136
+ "sponge",
137
+ "cleaner"
138
+ ],
139
+ "groups": [
140
+ "all"
141
+ ],
142
+ "cat": "sponge",
143
+ "split": "train",
144
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_0/model.xml"
145
+ },
146
+ "reset_region": {
147
+ "offset": [
148
+ -0.25375101875937456,
149
+ -0.032755945224704285,
150
+ -0.157664497132104
151
+ ],
152
+ "size": [
153
+ 0.22678006029742603,
154
+ 0.2815059225014469
155
+ ],
156
+ "height": 0.1610789725350931,
157
+ "name": "basin"
158
+ }
159
+ }
160
+ ],
161
+ "fixtures": {
162
+ "wall_left_1_room": {
163
+ "cls": "Wall"
164
+ },
165
+ "wall_left_1_backing_room": {
166
+ "cls": "Wall"
167
+ },
168
+ "wall_main_1_room": {
169
+ "cls": "Wall"
170
+ },
171
+ "wall_main_1_backing_room": {
172
+ "cls": "Wall"
173
+ },
174
+ "wall_right_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_right_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "window_group_room": {
181
+ "cls": "Window"
182
+ },
183
+ "floor_1_room": {
184
+ "cls": "Floor"
185
+ },
186
+ "floor_1_backing_room": {
187
+ "cls": "Floor"
188
+ },
189
+ "wall_accessory_1_room": {
190
+ "cls": "WallAccessory"
191
+ },
192
+ "wall_accessory_2_room": {
193
+ "cls": "WallAccessory"
194
+ },
195
+ "wall_accessory_3_room": {
196
+ "cls": "WallAccessory"
197
+ },
198
+ "wall_accessory_4_room": {
199
+ "cls": "WallAccessory"
200
+ },
201
+ "light_switch_1_room": {
202
+ "cls": "WallAccessory"
203
+ },
204
+ "wall_accessory_5_room": {
205
+ "cls": "WallAccessory"
206
+ },
207
+ "wall_accessory_6_room": {
208
+ "cls": "WallAccessory"
209
+ },
210
+ "stool_1_room": {
211
+ "cls": "Stool"
212
+ },
213
+ "stool_2_room": {
214
+ "cls": "Stool"
215
+ },
216
+ "stool_3_room": {
217
+ "cls": "Stool"
218
+ },
219
+ "counter_corner_1_main_group_1": {
220
+ "cls": "Counter"
221
+ },
222
+ "stovetop_main_group_1": {
223
+ "cls": "Stovetop"
224
+ },
225
+ "counter_1_main_group_1": {
226
+ "cls": "Counter"
227
+ },
228
+ "counter_corner_2_main_group_1": {
229
+ "cls": "Counter"
230
+ },
231
+ "box_1_main_group_1": {
232
+ "cls": "Box"
233
+ },
234
+ "stack_1_main_group_1_base": {
235
+ "cls": "Box"
236
+ },
237
+ "stack_1_main_group_1_1": {
238
+ "cls": "SingleCabinet"
239
+ },
240
+ "stack_2_main_group_1_base": {
241
+ "cls": "Box"
242
+ },
243
+ "stack_2_main_group_1_1": {
244
+ "cls": "Drawer"
245
+ },
246
+ "stack_2_main_group_1_2": {
247
+ "cls": "Drawer"
248
+ },
249
+ "stack_2_main_group_1_3": {
250
+ "cls": "Drawer"
251
+ },
252
+ "stack_3_main_group_1_base": {
253
+ "cls": "Box"
254
+ },
255
+ "stack_3_main_group_1_1": {
256
+ "cls": "SingleCabinet"
257
+ },
258
+ "stack_4_main_group_1_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_4_main_group_1_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "stack_5_main_group_1_base": {
265
+ "cls": "Box"
266
+ },
267
+ "stack_5_main_group_1_1": {
268
+ "cls": "SingleCabinet"
269
+ },
270
+ "stack_6_main_group_1_base": {
271
+ "cls": "Box"
272
+ },
273
+ "stack_6_main_group_1_1": {
274
+ "cls": "Drawer"
275
+ },
276
+ "stack_6_main_group_1_2": {
277
+ "cls": "Drawer"
278
+ },
279
+ "stack_6_main_group_1_3": {
280
+ "cls": "Drawer"
281
+ },
282
+ "stack_7_main_group_1_base": {
283
+ "cls": "Box"
284
+ },
285
+ "stack_7_main_group_1_1": {
286
+ "cls": "SingleCabinet"
287
+ },
288
+ "box_2_main_group_1": {
289
+ "cls": "Box"
290
+ },
291
+ "hood_main_group_1": {
292
+ "cls": "Hood"
293
+ },
294
+ "cab_corner_main_group_1": {
295
+ "cls": "Box"
296
+ },
297
+ "cab_1_main_group_1": {
298
+ "cls": "HingeCabinet"
299
+ },
300
+ "cab_2_main_group_1": {
301
+ "cls": "HingeCabinet"
302
+ },
303
+ "cab_3_main_group_1": {
304
+ "cls": "SingleCabinet"
305
+ },
306
+ "cab_4_main_group_1": {
307
+ "cls": "HingeCabinet"
308
+ },
309
+ "cab_5_main_group_1": {
310
+ "cls": "HingeCabinet"
311
+ },
312
+ "cab_6_main_group_1": {
313
+ "cls": "SingleCabinet"
314
+ },
315
+ "cab_corner_2_main_group_1": {
316
+ "cls": "Box"
317
+ },
318
+ "coffee_machine_main_group_1": {
319
+ "cls": "CoffeeMachine"
320
+ },
321
+ "toaster_main_group_1": {
322
+ "cls": "Toaster"
323
+ },
324
+ "paper_towel_main_group_1": {
325
+ "cls": "Accessory"
326
+ },
327
+ "knife_block_main_group_1": {
328
+ "cls": "Accessory"
329
+ },
330
+ "counter_1_left_group_1": {
331
+ "cls": "Counter"
332
+ },
333
+ "stack_1_left_group_1_base": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_1_left_group_1_1": {
337
+ "cls": "Drawer"
338
+ },
339
+ "stack_1_left_group_1_2": {
340
+ "cls": "Drawer"
341
+ },
342
+ "stack_1_left_group_1_3": {
343
+ "cls": "Drawer"
344
+ },
345
+ "box_left_group_1": {
346
+ "cls": "Box"
347
+ },
348
+ "bottom_left_group_1_base": {
349
+ "cls": "Box"
350
+ },
351
+ "bottom_left_group_1_1": {
352
+ "cls": "Drawer"
353
+ },
354
+ "oven_left_group_1": {
355
+ "cls": "Oven"
356
+ },
357
+ "oven_housing_left_group_1": {
358
+ "cls": "HousingCabinet"
359
+ },
360
+ "microwave_left_group_1": {
361
+ "cls": "Microwave"
362
+ },
363
+ "microwave_housing_left_group_1": {
364
+ "cls": "HousingCabinet"
365
+ },
366
+ "top_left_group_1": {
367
+ "cls": "HingeCabinet"
368
+ },
369
+ "fridge_1_left_group_1": {
370
+ "cls": "FridgeBottomFreezer"
371
+ },
372
+ "fridge_1_housing_left_group_1": {
373
+ "cls": "HousingCabinet"
374
+ },
375
+ "fridge_cabinet_left_group_1": {
376
+ "cls": "HingeCabinet"
377
+ },
378
+ "cab_1_left_group_1": {
379
+ "cls": "HingeCabinet"
380
+ },
381
+ "toaster_oven_left_group_1": {
382
+ "cls": "ToasterOven"
383
+ },
384
+ "box_right_group_1": {
385
+ "cls": "Box"
386
+ },
387
+ "stack_1_right_group_1_base": {
388
+ "cls": "Box"
389
+ },
390
+ "stack_1_right_group_1_1": {
391
+ "cls": "Drawer"
392
+ },
393
+ "stack_1_right_group_1_2": {
394
+ "cls": "Drawer"
395
+ },
396
+ "stack_1_right_group_1_3": {
397
+ "cls": "Drawer"
398
+ },
399
+ "stack_2_right_group_1_base": {
400
+ "cls": "Box"
401
+ },
402
+ "stack_2_right_group_1_1": {
403
+ "cls": "Drawer"
404
+ },
405
+ "stack_2_right_group_1_2": {
406
+ "cls": "Drawer"
407
+ },
408
+ "stack_2_right_group_1_3": {
409
+ "cls": "Drawer"
410
+ },
411
+ "stack_3_right_group_1_base": {
412
+ "cls": "Box"
413
+ },
414
+ "stack_3_right_group_1_1": {
415
+ "cls": "HingeCabinet"
416
+ },
417
+ "dishwasher_1_right_group_1": {
418
+ "cls": "Dishwasher"
419
+ },
420
+ "stack_4_right_group_1_base": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_4_right_group_1_1": {
424
+ "cls": "Drawer"
425
+ },
426
+ "stack_4_right_group_1_2": {
427
+ "cls": "Drawer"
428
+ },
429
+ "stack_4_right_group_1_3": {
430
+ "cls": "Drawer"
431
+ },
432
+ "sink_1_right_group_1": {
433
+ "cls": "Sink"
434
+ },
435
+ "counter_1_right_group_1": {
436
+ "cls": "Counter"
437
+ },
438
+ "cab_1_right_group_1": {
439
+ "cls": "OpenCabinet"
440
+ },
441
+ "cab_2_right_group_1": {
442
+ "cls": "OpenCabinet"
443
+ },
444
+ "island_island_group_1": {
445
+ "cls": "Counter"
446
+ },
447
+ "stack_1_island_group_1_base": {
448
+ "cls": "Box"
449
+ },
450
+ "stack_1_island_group_1_1": {
451
+ "cls": "Drawer"
452
+ },
453
+ "stack_1_island_group_1_2": {
454
+ "cls": "Drawer"
455
+ },
456
+ "stack_2_island_group_1_base": {
457
+ "cls": "Box"
458
+ },
459
+ "stack_2_island_group_1_1": {
460
+ "cls": "Drawer"
461
+ },
462
+ "stack_2_island_group_1_2": {
463
+ "cls": "Drawer"
464
+ },
465
+ "stack_3_island_group_1_base": {
466
+ "cls": "Box"
467
+ },
468
+ "stack_3_island_group_1_1": {
469
+ "cls": "Drawer"
470
+ },
471
+ "stack_3_island_group_1_2": {
472
+ "cls": "Drawer"
473
+ }
474
+ },
475
+ "gen_textures": {},
476
+ "lang": "Turn on the sink faucet.",
477
+ "fixture_refs": {},
478
+ "cam_configs": {
479
+ "robot0_agentview_center": {
480
+ "pos": [
481
+ -0.6,
482
+ 0.0,
483
+ 1.15
484
+ ],
485
+ "quat": [
486
+ 0.636945903301239,
487
+ 0.3325185477733612,
488
+ -0.3199238181114197,
489
+ -0.6175596117973328
490
+ ],
491
+ "parent_body": "mobilebase0_support"
492
+ },
493
+ "robot0_agentview_left": {
494
+ "pos": [
495
+ -0.5,
496
+ 0.35,
497
+ 1.05
498
+ ],
499
+ "quat": [
500
+ 0.55623853,
501
+ 0.29935253,
502
+ -0.37678665,
503
+ -0.6775092
504
+ ],
505
+ "camera_attribs": {
506
+ "fovy": "60"
507
+ },
508
+ "parent_body": "mobilebase0_support"
509
+ },
510
+ "robot0_agentview_right": {
511
+ "pos": [
512
+ -0.5,
513
+ -0.35,
514
+ 1.05
515
+ ],
516
+ "quat": [
517
+ 0.6775091886520386,
518
+ 0.3767866790294647,
519
+ -0.2993525564670563,
520
+ -0.55623859167099
521
+ ],
522
+ "camera_attribs": {
523
+ "fovy": "60"
524
+ },
525
+ "parent_body": "mobilebase0_support"
526
+ },
527
+ "robot0_frontview": {
528
+ "pos": [
529
+ -0.5,
530
+ 0,
531
+ 0.95
532
+ ],
533
+ "quat": [
534
+ 0.6088936924934387,
535
+ 0.3814677894115448,
536
+ -0.3673907518386841,
537
+ -0.5905545353889465
538
+ ],
539
+ "camera_attribs": {
540
+ "fovy": "60"
541
+ },
542
+ "parent_body": "mobilebase0_support"
543
+ },
544
+ "robot0_eye_in_hand": {
545
+ "pos": [
546
+ 0.05,
547
+ 0,
548
+ 0
549
+ ],
550
+ "quat": [
551
+ 0,
552
+ 0.707107,
553
+ 0.707107,
554
+ 0
555
+ ],
556
+ "parent_body": "robot0_right_hand"
557
+ }
558
+ },
559
+ "init_robot_base_pos": [
560
+ 4.872850894568853,
561
+ -2.1209242095815926,
562
+ 0.0
563
+ ],
564
+ "init_robot_base_ori": [
565
+ 0.0,
566
+ 0.0,
567
+ 3.422854288892552e-08
568
+ ]
569
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000029/ep_meta.json ADDED
@@ -0,0 +1,593 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 29,
3
+ "style_id": 31,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "island_island_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_island_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.055882318800000004,
15
+ 0.0558976506,
16
+ 0.1637222796
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "bottled_water",
37
+ "drink"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "bottled_water",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_12/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 1.4316393588788467,
49
+ 1.8
50
+ ],
51
+ "offset": [
52
+ -1.1066803205605766,
53
+ 2.0816681711721685e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_1"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_counter_1",
61
+ "obj_groups": "all",
62
+ "placement": {
63
+ "fixture": "island_island_group",
64
+ "sample_region_kwargs": {
65
+ "ref": "sink_island_group",
66
+ "loc": "left_right",
67
+ "min_size": [
68
+ 0.06146639700000002,
69
+ 0.062065140300000016,
70
+ 0.23090903272500002
71
+ ]
72
+ },
73
+ "size": [
74
+ 0.3,
75
+ 0.3
76
+ ],
77
+ "pos": [
78
+ "ref",
79
+ -1.0
80
+ ],
81
+ "offset": [
82
+ 0.0,
83
+ 0.1
84
+ ]
85
+ },
86
+ "type": "object",
87
+ "info": {
88
+ "groups_containing_sampled_obj": [
89
+ "all",
90
+ "water_bottle",
91
+ "drink"
92
+ ],
93
+ "groups": [
94
+ "all"
95
+ ],
96
+ "cat": "water_bottle",
97
+ "split": "train",
98
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_16/model.xml"
99
+ },
100
+ "reset_region": {
101
+ "size": [
102
+ 1.4316393588788467,
103
+ 1.8
104
+ ],
105
+ "offset": [
106
+ -1.1066803205605766,
107
+ 2.0816681711721685e-17,
108
+ 0.46
109
+ ],
110
+ "name": "geom_1"
111
+ }
112
+ },
113
+ {
114
+ "name": "distr_sink",
115
+ "obj_groups": "all",
116
+ "washable": true,
117
+ "placement": {
118
+ "fixture": "sink_island_group",
119
+ "size": [
120
+ 0.3,
121
+ 0.4
122
+ ],
123
+ "pos": [
124
+ null,
125
+ -1.0
126
+ ]
127
+ },
128
+ "type": "object",
129
+ "info": {
130
+ "groups_containing_sampled_obj": [
131
+ "all",
132
+ "carrot",
133
+ "vegetable",
134
+ "food",
135
+ "in_container",
136
+ "food_set1",
137
+ "group1"
138
+ ],
139
+ "groups": [
140
+ "all"
141
+ ],
142
+ "cat": "carrot",
143
+ "split": "train",
144
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml"
145
+ },
146
+ "reset_region": {
147
+ "offset": [
148
+ -0.0038110736702231807,
149
+ -0.024734373509031543,
150
+ -0.20953974374125964
151
+ ],
152
+ "size": [
153
+ 0.6468094657780432,
154
+ 0.345544667275835
155
+ ],
156
+ "height": 0.2053193736978915,
157
+ "name": "basin"
158
+ }
159
+ }
160
+ ],
161
+ "fixtures": {
162
+ "wall_main_1_room": {
163
+ "cls": "Wall"
164
+ },
165
+ "wall_main_1_backing_room": {
166
+ "cls": "Wall"
167
+ },
168
+ "wall_left_4_room": {
169
+ "cls": "Wall"
170
+ },
171
+ "wall_left_4_backing_room": {
172
+ "cls": "Wall"
173
+ },
174
+ "wall_right_1_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "wall_right_1_backing_room": {
178
+ "cls": "Wall"
179
+ },
180
+ "wall_left_1_room": {
181
+ "cls": "Wall"
182
+ },
183
+ "wall_left_1_backing_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_left_3_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_left_3_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_left_2_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_left_2_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_main_2_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "wall_main_2_backing_room": {
202
+ "cls": "Wall"
203
+ },
204
+ "wall_front_1_room": {
205
+ "cls": "Wall"
206
+ },
207
+ "wall_front_1_backing_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "floor_1_room": {
211
+ "cls": "Floor"
212
+ },
213
+ "floor_1_backing_room": {
214
+ "cls": "Floor"
215
+ },
216
+ "floor_2_room": {
217
+ "cls": "Floor"
218
+ },
219
+ "floor_2_backing_room": {
220
+ "cls": "Floor"
221
+ },
222
+ "light_switch_1_room": {
223
+ "cls": "WallAccessory"
224
+ },
225
+ "wall_accessory_1_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "light_switch_2_room": {
229
+ "cls": "WallAccessory"
230
+ },
231
+ "wall_accessory_2_room": {
232
+ "cls": "WallAccessory"
233
+ },
234
+ "stool_1_room": {
235
+ "cls": "Stool"
236
+ },
237
+ "stool_2_room": {
238
+ "cls": "Stool"
239
+ },
240
+ "stool_3_room": {
241
+ "cls": "Stool"
242
+ },
243
+ "stool_4_room": {
244
+ "cls": "Stool"
245
+ },
246
+ "bottom_main_group_base": {
247
+ "cls": "Box"
248
+ },
249
+ "bottom_main_group_1": {
250
+ "cls": "Drawer"
251
+ },
252
+ "oven_main_group": {
253
+ "cls": "Oven"
254
+ },
255
+ "oven_housing_main_group": {
256
+ "cls": "HousingCabinet"
257
+ },
258
+ "microwave_main_group": {
259
+ "cls": "Microwave"
260
+ },
261
+ "microwave_housing_main_group": {
262
+ "cls": "HousingCabinet"
263
+ },
264
+ "middle_main_group": {
265
+ "cls": "HingeCabinet"
266
+ },
267
+ "top_main_group": {
268
+ "cls": "HingeCabinet"
269
+ },
270
+ "fridge_main_group": {
271
+ "cls": "FridgeSideBySide"
272
+ },
273
+ "fridge_housing_main_group": {
274
+ "cls": "HousingCabinet"
275
+ },
276
+ "counter_1_main_group": {
277
+ "cls": "Counter"
278
+ },
279
+ "stack_1_main_group_base": {
280
+ "cls": "Box"
281
+ },
282
+ "stack_1_main_group_1": {
283
+ "cls": "Drawer"
284
+ },
285
+ "stack_1_main_group_2": {
286
+ "cls": "Drawer"
287
+ },
288
+ "stack_1_main_group_3": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_2_main_group_base": {
292
+ "cls": "Box"
293
+ },
294
+ "stack_2_main_group_1": {
295
+ "cls": "Drawer"
296
+ },
297
+ "stack_2_main_group_2": {
298
+ "cls": "Drawer"
299
+ },
300
+ "stack_2_main_group_3": {
301
+ "cls": "Drawer"
302
+ },
303
+ "stack_3_main_group_base": {
304
+ "cls": "Box"
305
+ },
306
+ "stack_3_main_group_1": {
307
+ "cls": "Drawer"
308
+ },
309
+ "stack_3_main_group_2": {
310
+ "cls": "Drawer"
311
+ },
312
+ "stack_3_main_group_3": {
313
+ "cls": "Drawer"
314
+ },
315
+ "dishwasher_main_group": {
316
+ "cls": "Dishwasher"
317
+ },
318
+ "panel_stack_main_group_base": {
319
+ "cls": "Box"
320
+ },
321
+ "panel_stack_main_group_1": {
322
+ "cls": "PanelCabinet"
323
+ },
324
+ "cab_1_main_group": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "cab_2_main_group": {
328
+ "cls": "HingeCabinet"
329
+ },
330
+ "cab_3_main_group": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "cab_4_main_group": {
334
+ "cls": "HingeCabinet"
335
+ },
336
+ "cab_5_main_group": {
337
+ "cls": "HingeCabinet"
338
+ },
339
+ "cab_6_main_group": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "toaster_oven_main_group": {
343
+ "cls": "ToasterOven"
344
+ },
345
+ "paper_towel_main_group": {
346
+ "cls": "Accessory"
347
+ },
348
+ "stovetop_left_group": {
349
+ "cls": "Stovetop"
350
+ },
351
+ "counter_1_left_group": {
352
+ "cls": "Counter"
353
+ },
354
+ "stack_1_left_group_base": {
355
+ "cls": "Box"
356
+ },
357
+ "stack_1_left_group_1": {
358
+ "cls": "Drawer"
359
+ },
360
+ "stack_1_left_group_2": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_1_left_group_3": {
364
+ "cls": "Drawer"
365
+ },
366
+ "stack_2_left_group_base": {
367
+ "cls": "Box"
368
+ },
369
+ "stack_2_left_group_1": {
370
+ "cls": "Drawer"
371
+ },
372
+ "stack_2_left_group_2": {
373
+ "cls": "Drawer"
374
+ },
375
+ "stack_2_left_group_3": {
376
+ "cls": "Drawer"
377
+ },
378
+ "stack_3_left_group_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_3_left_group_1": {
382
+ "cls": "Drawer"
383
+ },
384
+ "stack_3_left_group_2": {
385
+ "cls": "Drawer"
386
+ },
387
+ "stack_3_left_group_3": {
388
+ "cls": "PanelCabinet"
389
+ },
390
+ "stack_4_left_group_base": {
391
+ "cls": "Box"
392
+ },
393
+ "stack_4_left_group_1": {
394
+ "cls": "Drawer"
395
+ },
396
+ "stack_4_left_group_2": {
397
+ "cls": "Drawer"
398
+ },
399
+ "stack_4_left_group_3": {
400
+ "cls": "Drawer"
401
+ },
402
+ "stack_5_left_group_base": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_5_left_group_1": {
406
+ "cls": "Drawer"
407
+ },
408
+ "stack_5_left_group_2": {
409
+ "cls": "Drawer"
410
+ },
411
+ "stack_5_left_group_3": {
412
+ "cls": "Drawer"
413
+ },
414
+ "hood_left_group": {
415
+ "cls": "Hood"
416
+ },
417
+ "cab_1_left_group": {
418
+ "cls": "HingeCabinet"
419
+ },
420
+ "cab_2_left_group": {
421
+ "cls": "HingeCabinet"
422
+ },
423
+ "cab_3_left_group": {
424
+ "cls": "HingeCabinet"
425
+ },
426
+ "cab_4_left_group": {
427
+ "cls": "HingeCabinet"
428
+ },
429
+ "coffee_machine_left_group": {
430
+ "cls": "CoffeeMachine"
431
+ },
432
+ "toaster_left_group": {
433
+ "cls": "Toaster"
434
+ },
435
+ "sink_island_group": {
436
+ "cls": "Sink"
437
+ },
438
+ "island_island_group": {
439
+ "cls": "Counter"
440
+ },
441
+ "panel_box_1_island_group_base": {
442
+ "cls": "Box"
443
+ },
444
+ "panel_box_1_island_group_1": {
445
+ "cls": "PanelCabinet"
446
+ },
447
+ "stack_1_island_group_base": {
448
+ "cls": "Box"
449
+ },
450
+ "stack_1_island_group_1": {
451
+ "cls": "Drawer"
452
+ },
453
+ "stack_1_island_group_2": {
454
+ "cls": "Drawer"
455
+ },
456
+ "stack_1_island_group_3": {
457
+ "cls": "Drawer"
458
+ },
459
+ "stack_2_island_group_base": {
460
+ "cls": "Box"
461
+ },
462
+ "stack_2_island_group_1": {
463
+ "cls": "SingleCabinet"
464
+ },
465
+ "stack_3_island_group_base": {
466
+ "cls": "Box"
467
+ },
468
+ "stack_3_island_group_1": {
469
+ "cls": "HingeCabinet"
470
+ },
471
+ "stack_4_island_group_base": {
472
+ "cls": "Box"
473
+ },
474
+ "stack_4_island_group_1": {
475
+ "cls": "SingleCabinet"
476
+ },
477
+ "stack_5_island_group_base": {
478
+ "cls": "Box"
479
+ },
480
+ "stack_5_island_group_1": {
481
+ "cls": "Drawer"
482
+ },
483
+ "stack_5_island_group_2": {
484
+ "cls": "Drawer"
485
+ },
486
+ "stack_5_island_group_3": {
487
+ "cls": "Drawer"
488
+ },
489
+ "panel_cab_2_island_group_base": {
490
+ "cls": "Box"
491
+ },
492
+ "panel_cab_2_island_group_1": {
493
+ "cls": "PanelCabinet"
494
+ },
495
+ "box_island_group": {
496
+ "cls": "Box"
497
+ }
498
+ },
499
+ "gen_textures": {},
500
+ "lang": "Turn on the sink faucet.",
501
+ "fixture_refs": {},
502
+ "cam_configs": {
503
+ "robot0_agentview_center": {
504
+ "pos": [
505
+ -0.6,
506
+ 0.0,
507
+ 1.15
508
+ ],
509
+ "quat": [
510
+ 0.636945903301239,
511
+ 0.3325185477733612,
512
+ -0.3199238181114197,
513
+ -0.6175596117973328
514
+ ],
515
+ "parent_body": "mobilebase0_support"
516
+ },
517
+ "robot0_agentview_left": {
518
+ "pos": [
519
+ -0.5,
520
+ 0.35,
521
+ 1.05
522
+ ],
523
+ "quat": [
524
+ 0.55623853,
525
+ 0.29935253,
526
+ -0.37678665,
527
+ -0.6775092
528
+ ],
529
+ "camera_attribs": {
530
+ "fovy": "60"
531
+ },
532
+ "parent_body": "mobilebase0_support"
533
+ },
534
+ "robot0_agentview_right": {
535
+ "pos": [
536
+ -0.5,
537
+ -0.35,
538
+ 1.05
539
+ ],
540
+ "quat": [
541
+ 0.6775091886520386,
542
+ 0.3767866790294647,
543
+ -0.2993525564670563,
544
+ -0.55623859167099
545
+ ],
546
+ "camera_attribs": {
547
+ "fovy": "60"
548
+ },
549
+ "parent_body": "mobilebase0_support"
550
+ },
551
+ "robot0_frontview": {
552
+ "pos": [
553
+ -0.5,
554
+ 0,
555
+ 0.95
556
+ ],
557
+ "quat": [
558
+ 0.6088936924934387,
559
+ 0.3814677894115448,
560
+ -0.3673907518386841,
561
+ -0.5905545353889465
562
+ ],
563
+ "camera_attribs": {
564
+ "fovy": "60"
565
+ },
566
+ "parent_body": "mobilebase0_support"
567
+ },
568
+ "robot0_eye_in_hand": {
569
+ "pos": [
570
+ 0.05,
571
+ 0,
572
+ 0
573
+ ],
574
+ "quat": [
575
+ 0,
576
+ 0.707107,
577
+ 0.707107,
578
+ 0
579
+ ],
580
+ "parent_body": "robot0_right_hand"
581
+ }
582
+ },
583
+ "init_robot_base_pos": [
584
+ 1.2219935316182327,
585
+ -4.3578086237162115,
586
+ 0.0
587
+ ],
588
+ "init_robot_base_ori": [
589
+ 0.0,
590
+ 0.0,
591
+ 3.4228548662085245e-08
592
+ ]
593
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000030/ep_meta.json ADDED
@@ -0,0 +1,385 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 52,
3
+ "style_id": 29,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_4_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_right_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.045100281,
15
+ 0.272079354,
16
+ 0.034681308
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "tongs",
37
+ "tool",
38
+ "in_container"
39
+ ],
40
+ "groups": [
41
+ "all"
42
+ ],
43
+ "cat": "tongs",
44
+ "split": "train",
45
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs007/model.xml"
46
+ },
47
+ "reset_region": {
48
+ "size": [
49
+ 1.2650000000000001,
50
+ 0.65
51
+ ],
52
+ "offset": [
53
+ 0.4949999999999999,
54
+ -3.469446951953614e-17,
55
+ 0.46
56
+ ],
57
+ "name": "geom_0"
58
+ }
59
+ },
60
+ {
61
+ "name": "distr_sink",
62
+ "obj_groups": "all",
63
+ "washable": true,
64
+ "placement": {
65
+ "fixture": "sink_right_group_1",
66
+ "size": [
67
+ 0.3,
68
+ 0.4
69
+ ],
70
+ "pos": [
71
+ null,
72
+ -1.0
73
+ ]
74
+ },
75
+ "type": "object",
76
+ "info": {
77
+ "groups_containing_sampled_obj": [
78
+ "all",
79
+ "pear",
80
+ "fruit",
81
+ "food",
82
+ "in_container"
83
+ ],
84
+ "groups": [
85
+ "all"
86
+ ],
87
+ "cat": "pear",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml"
90
+ },
91
+ "reset_region": {
92
+ "offset": [
93
+ 0.1578835495764007,
94
+ 0.0010980436912306768,
95
+ -0.20044675476440443
96
+ ],
97
+ "size": [
98
+ 0.21828989404002394,
99
+ 0.4058285375737258
100
+ ],
101
+ "height": 0.22431633395858694,
102
+ "name": "basin_right"
103
+ }
104
+ }
105
+ ],
106
+ "fixtures": {
107
+ "wall_main_1_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_main_1_backing_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_right_1_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_right_1_backing_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_1_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_left_1_backing_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_front_1.001_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_front_1.001_backing_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_front_2.002_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_front_2.002_backing_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "wall_front_3.003_room": {
138
+ "cls": "Wall"
139
+ },
140
+ "wall_front_3.003_backing_room": {
141
+ "cls": "Wall"
142
+ },
143
+ "floor_1_room": {
144
+ "cls": "Floor"
145
+ },
146
+ "floor_1_backing_room": {
147
+ "cls": "Floor"
148
+ },
149
+ "wallaccessory_4_room": {
150
+ "cls": "WallAccessory"
151
+ },
152
+ "wallaccessory_3_room": {
153
+ "cls": "WallAccessory"
154
+ },
155
+ "wallaccessory_2_room": {
156
+ "cls": "WallAccessory"
157
+ },
158
+ "cube_4_main_group_1": {
159
+ "cls": "Box"
160
+ },
161
+ "cube_5_main_group_1": {
162
+ "cls": "Box"
163
+ },
164
+ "hingecabinet_2_main_group_1": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "singlecabinet_2_main_group_1": {
168
+ "cls": "SingleCabinet"
169
+ },
170
+ "hingecabinet_1_main_group_1": {
171
+ "cls": "HingeCabinet"
172
+ },
173
+ "counter_corner_1_main_group_1": {
174
+ "cls": "Counter"
175
+ },
176
+ "counter_corner_2_main_group_1": {
177
+ "cls": "Counter"
178
+ },
179
+ "counter_2_main_group_1": {
180
+ "cls": "Counter"
181
+ },
182
+ "counter_3_main_group_1": {
183
+ "cls": "Counter"
184
+ },
185
+ "stove_main_group_1": {
186
+ "cls": "Stove"
187
+ },
188
+ "stack_04_main_group_1_base": {
189
+ "cls": "Box"
190
+ },
191
+ "stack_04_main_group_1_1": {
192
+ "cls": "SingleCabinet"
193
+ },
194
+ "stack_03_main_group_1_base": {
195
+ "cls": "Box"
196
+ },
197
+ "stack_03_main_group_1_1": {
198
+ "cls": "SingleCabinet"
199
+ },
200
+ "coffee_machine_main_group_1": {
201
+ "cls": "CoffeeMachine"
202
+ },
203
+ "papertowel_main_group_1": {
204
+ "cls": "Accessory"
205
+ },
206
+ "hingecabinet_3_right_group_1": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "hingecabinet_4_right_group_1": {
210
+ "cls": "HingeCabinet"
211
+ },
212
+ "hingecabinet_5_right_group_1": {
213
+ "cls": "HingeCabinet"
214
+ },
215
+ "sink_right_group_1": {
216
+ "cls": "Sink"
217
+ },
218
+ "counter_4_right_group_1": {
219
+ "cls": "Counter"
220
+ },
221
+ "cube_1_right_group_1": {
222
+ "cls": "Box"
223
+ },
224
+ "stack_2_right_group_1_base": {
225
+ "cls": "Box"
226
+ },
227
+ "stack_2_right_group_1_1": {
228
+ "cls": "HingeCabinet"
229
+ },
230
+ "stack_2_right_group_1_2": {
231
+ "cls": "PanelCabinet"
232
+ },
233
+ "dishwasher_1_right_group_1": {
234
+ "cls": "Dishwasher"
235
+ },
236
+ "cube_2_right_group_1": {
237
+ "cls": "Box"
238
+ },
239
+ "stack_01_right_group_1_base": {
240
+ "cls": "Box"
241
+ },
242
+ "stack_01_right_group_1_1": {
243
+ "cls": "Drawer"
244
+ },
245
+ "stack_01_right_group_1_2": {
246
+ "cls": "Drawer"
247
+ },
248
+ "stack_01_right_group_1_3": {
249
+ "cls": "Drawer"
250
+ },
251
+ "toaster_right_group_1": {
252
+ "cls": "Toaster"
253
+ },
254
+ "counter_1_left_group_1": {
255
+ "cls": "Counter"
256
+ },
257
+ "stack_05_left_group_1_base": {
258
+ "cls": "Box"
259
+ },
260
+ "stack_05_left_group_1_1": {
261
+ "cls": "Drawer"
262
+ },
263
+ "stack_05_left_group_1_2": {
264
+ "cls": "Drawer"
265
+ },
266
+ "stack_05_left_group_1_3": {
267
+ "cls": "Drawer"
268
+ },
269
+ "cube_1_left_group_1": {
270
+ "cls": "Box"
271
+ },
272
+ "fridgebottomfreezer_left_group_1": {
273
+ "cls": "FridgeBottomFreezer"
274
+ },
275
+ "fridgebottomfreezer_housing_left_group_1": {
276
+ "cls": "HousingCabinet"
277
+ },
278
+ "hingecabinet_5_left_group_1": {
279
+ "cls": "HingeCabinet"
280
+ },
281
+ "singlecabinet_1_left_group_1": {
282
+ "cls": "SingleCabinet"
283
+ },
284
+ "microwave_left_group_1": {
285
+ "cls": "Microwave"
286
+ },
287
+ "cab_micro_left_group_1": {
288
+ "cls": "HingeCabinet"
289
+ }
290
+ },
291
+ "gen_textures": {},
292
+ "lang": "Turn on the sink faucet.",
293
+ "fixture_refs": {},
294
+ "cam_configs": {
295
+ "robot0_agentview_center": {
296
+ "pos": [
297
+ -0.6,
298
+ 0.0,
299
+ 1.15
300
+ ],
301
+ "quat": [
302
+ 0.636945903301239,
303
+ 0.3325185477733612,
304
+ -0.3199238181114197,
305
+ -0.6175596117973328
306
+ ],
307
+ "parent_body": "mobilebase0_support"
308
+ },
309
+ "robot0_agentview_left": {
310
+ "pos": [
311
+ -0.5,
312
+ 0.35,
313
+ 1.05
314
+ ],
315
+ "quat": [
316
+ 0.55623853,
317
+ 0.29935253,
318
+ -0.37678665,
319
+ -0.6775092
320
+ ],
321
+ "camera_attribs": {
322
+ "fovy": "60"
323
+ },
324
+ "parent_body": "mobilebase0_support"
325
+ },
326
+ "robot0_agentview_right": {
327
+ "pos": [
328
+ -0.5,
329
+ -0.35,
330
+ 1.05
331
+ ],
332
+ "quat": [
333
+ 0.6775091886520386,
334
+ 0.3767866790294647,
335
+ -0.2993525564670563,
336
+ -0.55623859167099
337
+ ],
338
+ "camera_attribs": {
339
+ "fovy": "60"
340
+ },
341
+ "parent_body": "mobilebase0_support"
342
+ },
343
+ "robot0_frontview": {
344
+ "pos": [
345
+ -0.5,
346
+ 0,
347
+ 0.95
348
+ ],
349
+ "quat": [
350
+ 0.6088936924934387,
351
+ 0.3814677894115448,
352
+ -0.3673907518386841,
353
+ -0.5905545353889465
354
+ ],
355
+ "camera_attribs": {
356
+ "fovy": "60"
357
+ },
358
+ "parent_body": "mobilebase0_support"
359
+ },
360
+ "robot0_eye_in_hand": {
361
+ "pos": [
362
+ 0.05,
363
+ 0,
364
+ 0
365
+ ],
366
+ "quat": [
367
+ 0,
368
+ 0.707107,
369
+ 0.707107,
370
+ 0
371
+ ],
372
+ "parent_body": "robot0_right_hand"
373
+ }
374
+ },
375
+ "init_robot_base_pos": [
376
+ 2.5056583996359096,
377
+ -1.1227805240274609,
378
+ 0.0
379
+ ],
380
+ "init_robot_base_ori": [
381
+ 0.0,
382
+ 0.0,
383
+ -1.8344647019441496e-05
384
+ ]
385
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000031/ep_meta.json ADDED
@@ -0,0 +1,611 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 22,
3
+ "style_id": 43,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_left_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.13911105,
15
+ 0.016237249999999998,
16
+ 0.016010975
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "cream_cheese_stick",
37
+ "dairy",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "cream_cheese_stick",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick003/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.7942660436254978,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 1.620366978187251,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_counter_1",
63
+ "obj_groups": "all",
64
+ "placement": {
65
+ "fixture": "counter_1_left_group",
66
+ "sample_region_kwargs": {
67
+ "ref": "sink_1_left_group",
68
+ "loc": "left_right",
69
+ "min_size": [
70
+ 0.063,
71
+ 0.063,
72
+ 0.0395256393
73
+ ]
74
+ },
75
+ "size": [
76
+ 0.3,
77
+ 0.3
78
+ ],
79
+ "pos": [
80
+ "ref",
81
+ -1.0
82
+ ],
83
+ "offset": [
84
+ 0.0,
85
+ 0.1
86
+ ]
87
+ },
88
+ "type": "object",
89
+ "info": {
90
+ "groups_containing_sampled_obj": [
91
+ "all",
92
+ "kiwi",
93
+ "fruit",
94
+ "food",
95
+ "in_container"
96
+ ],
97
+ "groups": [
98
+ "all"
99
+ ],
100
+ "cat": "kiwi",
101
+ "split": "train",
102
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml"
103
+ },
104
+ "reset_region": {
105
+ "size": [
106
+ 1.7942660436254978,
107
+ 0.65
108
+ ],
109
+ "offset": [
110
+ 1.620366978187251,
111
+ -3.469446951953614e-17,
112
+ 0.46
113
+ ],
114
+ "name": "geom_0"
115
+ }
116
+ },
117
+ {
118
+ "name": "distr_counter_2",
119
+ "obj_groups": "all",
120
+ "placement": {
121
+ "fixture": "counter_1_left_group",
122
+ "sample_region_kwargs": {
123
+ "ref": "sink_1_left_group",
124
+ "loc": "left_right",
125
+ "min_size": [
126
+ 0.04989618215999998,
127
+ 0.13199999735999995,
128
+ 0.07959800375999998
129
+ ]
130
+ },
131
+ "size": [
132
+ 0.3,
133
+ 0.3
134
+ ],
135
+ "pos": [
136
+ "ref",
137
+ -1.0
138
+ ],
139
+ "offset": [
140
+ 0.0,
141
+ 0.1
142
+ ]
143
+ },
144
+ "type": "object",
145
+ "info": {
146
+ "groups_containing_sampled_obj": [
147
+ "all",
148
+ "boxed_food",
149
+ "packaged_food"
150
+ ],
151
+ "groups": [
152
+ "all"
153
+ ],
154
+ "cat": "boxed_food",
155
+ "split": "train",
156
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_0/model.xml"
157
+ },
158
+ "reset_region": {
159
+ "size": [
160
+ 2.3481160436254984,
161
+ 0.65
162
+ ],
163
+ "offset": [
164
+ -1.3434419781872509,
165
+ -3.469446951953614e-17,
166
+ 0.46
167
+ ],
168
+ "name": "geom_1"
169
+ }
170
+ },
171
+ {
172
+ "name": "distr_sink",
173
+ "obj_groups": "all",
174
+ "washable": true,
175
+ "placement": {
176
+ "fixture": "sink_1_left_group",
177
+ "size": [
178
+ 0.3,
179
+ 0.4
180
+ ],
181
+ "pos": [
182
+ null,
183
+ -1.0
184
+ ]
185
+ },
186
+ "type": "object",
187
+ "info": {
188
+ "groups_containing_sampled_obj": [
189
+ "all",
190
+ "bottled_drink",
191
+ "drink"
192
+ ],
193
+ "groups": [
194
+ "all"
195
+ ],
196
+ "cat": "bottled_drink",
197
+ "split": "train",
198
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_drink/bottled_drink_0/model.xml"
199
+ },
200
+ "reset_region": {
201
+ "offset": [
202
+ -0.20564561673306772,
203
+ -0.00026283565737052206,
204
+ -0.24197012749003982
205
+ ],
206
+ "size": [
207
+ 0.3156186952191235,
208
+ 0.37582371792828684
209
+ ],
210
+ "height": 0.1974794886454183,
211
+ "name": "basin_left"
212
+ }
213
+ }
214
+ ],
215
+ "fixtures": {
216
+ "wall_front_1_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_front_1_backing_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_left_1_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_left_1_backing_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_main_1_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_main_1_backing_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_main_3_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "wall_main_3_backing_room": {
238
+ "cls": "Wall"
239
+ },
240
+ "wall_main_2_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "wall_main_2_backing_room": {
244
+ "cls": "Wall"
245
+ },
246
+ "wall_right_1_room": {
247
+ "cls": "Wall"
248
+ },
249
+ "wall_right_1_backing_room": {
250
+ "cls": "Wall"
251
+ },
252
+ "wall_right_2_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "wall_right_2_backing_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "wall_front_2_room": {
259
+ "cls": "Wall"
260
+ },
261
+ "wall_front_2_backing_room": {
262
+ "cls": "Wall"
263
+ },
264
+ "wall_main_4_room": {
265
+ "cls": "Wall"
266
+ },
267
+ "wall_main_4_backing_room": {
268
+ "cls": "Wall"
269
+ },
270
+ "floor_1_room": {
271
+ "cls": "Floor"
272
+ },
273
+ "floor_1_backing_room": {
274
+ "cls": "Floor"
275
+ },
276
+ "floor_2_room": {
277
+ "cls": "Floor"
278
+ },
279
+ "floor_2_backing_room": {
280
+ "cls": "Floor"
281
+ },
282
+ "floor_3_room": {
283
+ "cls": "Floor"
284
+ },
285
+ "floor_3_backing_room": {
286
+ "cls": "Floor"
287
+ },
288
+ "floor_4_room": {
289
+ "cls": "Floor"
290
+ },
291
+ "floor_4_backing_room": {
292
+ "cls": "Floor"
293
+ },
294
+ "wall_accessory_1_room": {
295
+ "cls": "WallAccessory"
296
+ },
297
+ "wall_accessory_2_room": {
298
+ "cls": "WallAccessory"
299
+ },
300
+ "wall_accessory_3_room": {
301
+ "cls": "WallAccessory"
302
+ },
303
+ "wall_accessory_4_room": {
304
+ "cls": "WallAccessory"
305
+ },
306
+ "light_switch_1_room": {
307
+ "cls": "WallAccessory"
308
+ },
309
+ "window_group_room": {
310
+ "cls": "Window"
311
+ },
312
+ "stool_1_room": {
313
+ "cls": "Stool"
314
+ },
315
+ "stool_2_room": {
316
+ "cls": "Stool"
317
+ },
318
+ "stool_3_room": {
319
+ "cls": "Stool"
320
+ },
321
+ "stool_4_room": {
322
+ "cls": "Stool"
323
+ },
324
+ "stool_5_room": {
325
+ "cls": "Stool"
326
+ },
327
+ "stool_6_room": {
328
+ "cls": "Stool"
329
+ },
330
+ "sink_1_left_group": {
331
+ "cls": "Sink"
332
+ },
333
+ "counter_1_left_group": {
334
+ "cls": "Counter"
335
+ },
336
+ "stack_1_left_group_base": {
337
+ "cls": "Box"
338
+ },
339
+ "stack_1_left_group_1": {
340
+ "cls": "SingleCabinet"
341
+ },
342
+ "stack_1_left_group_2": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_2_left_group_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_2_left_group_1": {
349
+ "cls": "HingeCabinet"
350
+ },
351
+ "stack_2_left_group_2": {
352
+ "cls": "Drawer"
353
+ },
354
+ "oven_left_group": {
355
+ "cls": "Oven"
356
+ },
357
+ "stack_3_left_group_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_3_left_group_1": {
361
+ "cls": "HingeCabinet"
362
+ },
363
+ "dishwasher_left_group": {
364
+ "cls": "Dishwasher"
365
+ },
366
+ "stack_4_left_group_base": {
367
+ "cls": "Box"
368
+ },
369
+ "stack_4_left_group_1": {
370
+ "cls": "HingeCabinet"
371
+ },
372
+ "stack_4_left_group_2": {
373
+ "cls": "Drawer"
374
+ },
375
+ "cab_1_left_group": {
376
+ "cls": "HingeCabinet"
377
+ },
378
+ "cab_2_left_group": {
379
+ "cls": "HingeCabinet"
380
+ },
381
+ "toaster_left_group": {
382
+ "cls": "Toaster"
383
+ },
384
+ "coffee_machine_left_group": {
385
+ "cls": "CoffeeMachine"
386
+ },
387
+ "paper_towel_left_group": {
388
+ "cls": "Accessory"
389
+ },
390
+ "knife_block_left_group": {
391
+ "cls": "Accessory"
392
+ },
393
+ "fridge_main_group": {
394
+ "cls": "FridgeFrenchDoor"
395
+ },
396
+ "fridge_housing_main_group": {
397
+ "cls": "HousingCabinet"
398
+ },
399
+ "counter_1_main_group": {
400
+ "cls": "Counter"
401
+ },
402
+ "stack_1_main_group_base": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_1_main_group_1": {
406
+ "cls": "HingeCabinet"
407
+ },
408
+ "stack_1_main_group_2": {
409
+ "cls": "Drawer"
410
+ },
411
+ "stack_1_main_group_3": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_2_main_group_base": {
415
+ "cls": "Box"
416
+ },
417
+ "stack_2_main_group_1": {
418
+ "cls": "HingeCabinet"
419
+ },
420
+ "stack_2_main_group_2": {
421
+ "cls": "Drawer"
422
+ },
423
+ "stack_2_main_group_3": {
424
+ "cls": "Drawer"
425
+ },
426
+ "cab_1_main_group": {
427
+ "cls": "HingeCabinet"
428
+ },
429
+ "cab_2_main_group": {
430
+ "cls": "HingeCabinet"
431
+ },
432
+ "cab_3_main_group": {
433
+ "cls": "HingeCabinet"
434
+ },
435
+ "toaster_oven_main_group": {
436
+ "cls": "ToasterOven"
437
+ },
438
+ "stovetop_dining_area_group_1": {
439
+ "cls": "Stovetop"
440
+ },
441
+ "dining_dining_area_group_1": {
442
+ "cls": "Counter"
443
+ },
444
+ "stack_1_dining_area_group_1_base": {
445
+ "cls": "Box"
446
+ },
447
+ "stack_1_dining_area_group_1_1": {
448
+ "cls": "SingleCabinet"
449
+ },
450
+ "stack_1_dining_area_group_1_2": {
451
+ "cls": "Drawer"
452
+ },
453
+ "stack_2_dining_area_group_1_base": {
454
+ "cls": "Box"
455
+ },
456
+ "stack_2_dining_area_group_1_1": {
457
+ "cls": "HingeCabinet"
458
+ },
459
+ "stack_3_dining_area_group_1_base": {
460
+ "cls": "Box"
461
+ },
462
+ "stack_3_dining_area_group_1_1": {
463
+ "cls": "SingleCabinet"
464
+ },
465
+ "stack_3_dining_area_group_1_2": {
466
+ "cls": "Drawer"
467
+ },
468
+ "dining_dining_area_group_2": {
469
+ "cls": "Counter"
470
+ },
471
+ "stack_1_dining_area_group_2_base": {
472
+ "cls": "Box"
473
+ },
474
+ "stack_1_dining_area_group_2_1": {
475
+ "cls": "SingleCabinet"
476
+ },
477
+ "stack_1_dining_area_group_2_2": {
478
+ "cls": "Drawer"
479
+ },
480
+ "stack_2_dining_area_group_2_base": {
481
+ "cls": "Box"
482
+ },
483
+ "stack_2_dining_area_group_2_1": {
484
+ "cls": "HingeCabinet"
485
+ },
486
+ "stack_2_dining_area_group_2_2": {
487
+ "cls": "Drawer"
488
+ },
489
+ "stack_3_dining_area_group_2_base": {
490
+ "cls": "Box"
491
+ },
492
+ "stack_3_dining_area_group_2_1": {
493
+ "cls": "SingleCabinet"
494
+ },
495
+ "stack_3_dining_area_group_2_2": {
496
+ "cls": "Drawer"
497
+ },
498
+ "bottom_front_group_base": {
499
+ "cls": "Box"
500
+ },
501
+ "bottom_front_group_1": {
502
+ "cls": "Drawer"
503
+ },
504
+ "middle_front_group": {
505
+ "cls": "HingeCabinet"
506
+ },
507
+ "microwave_front_group": {
508
+ "cls": "Microwave"
509
+ },
510
+ "microwave_housing_front_group": {
511
+ "cls": "HousingCabinet"
512
+ },
513
+ "top_front_group": {
514
+ "cls": "HingeCabinet"
515
+ }
516
+ },
517
+ "gen_textures": {},
518
+ "lang": "Turn on the sink faucet.",
519
+ "fixture_refs": {},
520
+ "cam_configs": {
521
+ "robot0_agentview_center": {
522
+ "pos": [
523
+ -0.6,
524
+ 0.0,
525
+ 1.15
526
+ ],
527
+ "quat": [
528
+ 0.636945903301239,
529
+ 0.3325185477733612,
530
+ -0.3199238181114197,
531
+ -0.6175596117973328
532
+ ],
533
+ "parent_body": "mobilebase0_support"
534
+ },
535
+ "robot0_agentview_left": {
536
+ "pos": [
537
+ -0.5,
538
+ 0.35,
539
+ 1.05
540
+ ],
541
+ "quat": [
542
+ 0.55623853,
543
+ 0.29935253,
544
+ -0.37678665,
545
+ -0.6775092
546
+ ],
547
+ "camera_attribs": {
548
+ "fovy": "60"
549
+ },
550
+ "parent_body": "mobilebase0_support"
551
+ },
552
+ "robot0_agentview_right": {
553
+ "pos": [
554
+ -0.5,
555
+ -0.35,
556
+ 1.05
557
+ ],
558
+ "quat": [
559
+ 0.6775091886520386,
560
+ 0.3767866790294647,
561
+ -0.2993525564670563,
562
+ -0.55623859167099
563
+ ],
564
+ "camera_attribs": {
565
+ "fovy": "60"
566
+ },
567
+ "parent_body": "mobilebase0_support"
568
+ },
569
+ "robot0_frontview": {
570
+ "pos": [
571
+ -0.5,
572
+ 0,
573
+ 0.95
574
+ ],
575
+ "quat": [
576
+ 0.6088936924934387,
577
+ 0.3814677894115448,
578
+ -0.3673907518386841,
579
+ -0.5905545353889465
580
+ ],
581
+ "camera_attribs": {
582
+ "fovy": "60"
583
+ },
584
+ "parent_body": "mobilebase0_support"
585
+ },
586
+ "robot0_eye_in_hand": {
587
+ "pos": [
588
+ 0.05,
589
+ 0,
590
+ 0
591
+ ],
592
+ "quat": [
593
+ 0,
594
+ 0.707107,
595
+ 0.707107,
596
+ 0
597
+ ],
598
+ "parent_body": "robot0_right_hand"
599
+ }
600
+ },
601
+ "init_robot_base_pos": [
602
+ 0.8315862931513306,
603
+ -2.1938576284867763,
604
+ 0.0
605
+ ],
606
+ "init_robot_base_ori": [
607
+ 0.0,
608
+ 0.0,
609
+ 3.1415926193612504
610
+ ]
611
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000032/ep_meta.json ADDED
@@ -0,0 +1,513 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 31,
3
+ "style_id": 32,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "island_island_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_island_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.057547025999999994,
15
+ 0.057547025999999994,
16
+ 0.18148389480000002
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "milk",
37
+ "dairy",
38
+ "drink",
39
+ "food",
40
+ "in_container"
41
+ ],
42
+ "groups": [
43
+ "all"
44
+ ],
45
+ "cat": "milk",
46
+ "split": "train",
47
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_0/model.xml"
48
+ },
49
+ "reset_region": {
50
+ "size": [
51
+ 1.6580327414390088,
52
+ 1.3
53
+ ],
54
+ "offset": [
55
+ -1.2209651292804955,
56
+ 2.0816681711721685e-17,
57
+ 0.46
58
+ ],
59
+ "name": "geom_0"
60
+ }
61
+ },
62
+ {
63
+ "name": "distr_counter_1",
64
+ "obj_groups": "all",
65
+ "placement": {
66
+ "fixture": "island_island_group_1",
67
+ "sample_region_kwargs": {
68
+ "ref": "sink_island_group_1",
69
+ "loc": "left_right",
70
+ "min_size": [
71
+ 0.04114545889507851,
72
+ 0.20999997916604876,
73
+ 0.027924216600000003
74
+ ]
75
+ },
76
+ "size": [
77
+ 0.3,
78
+ 0.3
79
+ ],
80
+ "pos": [
81
+ "ref",
82
+ -1.0
83
+ ],
84
+ "offset": [
85
+ 0.0,
86
+ 0.1
87
+ ]
88
+ },
89
+ "type": "object",
90
+ "info": {
91
+ "groups_containing_sampled_obj": [
92
+ "all",
93
+ "fork",
94
+ "utensil"
95
+ ],
96
+ "groups": [
97
+ "all"
98
+ ],
99
+ "cat": "fork",
100
+ "split": "train",
101
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_10/model.xml"
102
+ },
103
+ "reset_region": {
104
+ "size": [
105
+ 1.4940342214390085,
106
+ 1.3
107
+ ],
108
+ "offset": [
109
+ 1.3029643892804956,
110
+ 2.0816681711721685e-17,
111
+ 0.46
112
+ ],
113
+ "name": "geom_1"
114
+ }
115
+ },
116
+ {
117
+ "name": "distr_sink",
118
+ "obj_groups": "all",
119
+ "washable": true,
120
+ "placement": {
121
+ "fixture": "sink_island_group_1",
122
+ "size": [
123
+ 0.3,
124
+ 0.4
125
+ ],
126
+ "pos": [
127
+ null,
128
+ -1.0
129
+ ]
130
+ },
131
+ "type": "object",
132
+ "info": {
133
+ "groups_containing_sampled_obj": [
134
+ "all",
135
+ "mushroom",
136
+ "vegetable",
137
+ "food",
138
+ "in_container"
139
+ ],
140
+ "groups": [
141
+ "all"
142
+ ],
143
+ "cat": "mushroom",
144
+ "split": "train",
145
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml"
146
+ },
147
+ "reset_region": {
148
+ "offset": [
149
+ 0.003460048964932877,
150
+ -0.0008723823886534199,
151
+ -0.16866248303013545
152
+ ],
153
+ "size": [
154
+ 0.12239393350440114,
155
+ 0.2753279408235388
156
+ ],
157
+ "height": 0.12715116971289372,
158
+ "name": "basin_right"
159
+ }
160
+ }
161
+ ],
162
+ "fixtures": {
163
+ "wall_main_1_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_main_1_backing_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_right_1_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_right_1_backing_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_main_2_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_2_backing_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_left_1_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_left_1_backing_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_main_3_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_main_3_backing_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "floor_1_room": {
194
+ "cls": "Floor"
195
+ },
196
+ "floor_1_backing_room": {
197
+ "cls": "Floor"
198
+ },
199
+ "floor_2_room": {
200
+ "cls": "Floor"
201
+ },
202
+ "floor_2_backing_room": {
203
+ "cls": "Floor"
204
+ },
205
+ "stool_3_room": {
206
+ "cls": "Stool"
207
+ },
208
+ "stool_2_room": {
209
+ "cls": "Stool"
210
+ },
211
+ "stool_1_room": {
212
+ "cls": "Stool"
213
+ },
214
+ "stack_1_main_group_1_base": {
215
+ "cls": "Box"
216
+ },
217
+ "stack_1_main_group_1_1": {
218
+ "cls": "HingeCabinet"
219
+ },
220
+ "fridgebottomfreezer_main_group_1": {
221
+ "cls": "FridgeBottomFreezer"
222
+ },
223
+ "fridgebottomfreezer_housing_main_group_1": {
224
+ "cls": "HousingCabinet"
225
+ },
226
+ "bottom_main_group_1_base": {
227
+ "cls": "Box"
228
+ },
229
+ "bottom_main_group_1_1": {
230
+ "cls": "Drawer"
231
+ },
232
+ "oven_main_group_1": {
233
+ "cls": "Oven"
234
+ },
235
+ "microwave_main_group_1": {
236
+ "cls": "Microwave"
237
+ },
238
+ "hingecabinet_2_main_group_1": {
239
+ "cls": "HingeCabinet"
240
+ },
241
+ "hingecabinet_3_main_group_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "cube_2_main_group_1": {
245
+ "cls": "Box"
246
+ },
247
+ "cube_3_main_group_1": {
248
+ "cls": "Box"
249
+ },
250
+ "cube_1_main_group_1": {
251
+ "cls": "Box"
252
+ },
253
+ "oven_housing_main_group_1": {
254
+ "cls": "HousingCabinet"
255
+ },
256
+ "hingecabinet_1_main_group_1": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "microwave_housing_main_group_1": {
260
+ "cls": "HousingCabinet"
261
+ },
262
+ "top_main_group_1": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "stovetop_right_group_1": {
266
+ "cls": "Stovetop"
267
+ },
268
+ "counter_1_right_group_1": {
269
+ "cls": "Counter"
270
+ },
271
+ "hingecabinet_1_right_group_1": {
272
+ "cls": "HingeCabinet"
273
+ },
274
+ "hingecabinet_2_right_group_1": {
275
+ "cls": "HingeCabinet"
276
+ },
277
+ "hingecabinet_3_right_group_1": {
278
+ "cls": "HingeCabinet"
279
+ },
280
+ "hingecabinet_4_right_group_1": {
281
+ "cls": "HingeCabinet"
282
+ },
283
+ "hood_right_group_1": {
284
+ "cls": "Hood"
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
+ "stack_1_right_group_1_base": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_1_right_group_1_1": {
299
+ "cls": "HingeCabinet"
300
+ },
301
+ "stack_1_right_group_1_2": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_4_right_group_1_base": {
305
+ "cls": "Box"
306
+ },
307
+ "stack_4_right_group_1_1": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "stack_4_right_group_1_2": {
311
+ "cls": "Drawer"
312
+ },
313
+ "stack_3_right_group_1_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_3_right_group_1_1": {
317
+ "cls": "Drawer"
318
+ },
319
+ "stack_3_right_group_1_2": {
320
+ "cls": "Drawer"
321
+ },
322
+ "stack_3_right_group_1_3": {
323
+ "cls": "PanelCabinet"
324
+ },
325
+ "stack_5_right_group_1_base": {
326
+ "cls": "Box"
327
+ },
328
+ "stack_5_right_group_1_1": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "stack_5_right_group_1_2": {
332
+ "cls": "Drawer"
333
+ },
334
+ "coffee_machine_right_group_1": {
335
+ "cls": "CoffeeMachine"
336
+ },
337
+ "toaster_right_group_1": {
338
+ "cls": "Toaster"
339
+ },
340
+ "papertowel_right_group_1": {
341
+ "cls": "Accessory"
342
+ },
343
+ "toaster_oven_right_group_1": {
344
+ "cls": "ToasterOven"
345
+ },
346
+ "sink_island_group_1": {
347
+ "cls": "Sink"
348
+ },
349
+ "island_island_group_1": {
350
+ "cls": "Counter"
351
+ },
352
+ "cube_1_island_group_1": {
353
+ "cls": "Box"
354
+ },
355
+ "cube_2_island_group_1": {
356
+ "cls": "Box"
357
+ },
358
+ "cube_3_island_group_1": {
359
+ "cls": "Box"
360
+ },
361
+ "cube_4_island_group_1": {
362
+ "cls": "Box"
363
+ },
364
+ "cube_5_island_group_1": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_1_island_group_1_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_1_island_group_1_1": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_1_island_group_1_2": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_1_island_group_1_3": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_2_island_group_1_base": {
380
+ "cls": "Box"
381
+ },
382
+ "stack_2_island_group_1_1": {
383
+ "cls": "HingeCabinet"
384
+ },
385
+ "stack_3_island_group_1_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_3_island_group_1_1": {
389
+ "cls": "SingleCabinet"
390
+ },
391
+ "stack_4_island_group_1_base": {
392
+ "cls": "Box"
393
+ },
394
+ "stack_4_island_group_1_1": {
395
+ "cls": "SingleCabinet"
396
+ },
397
+ "stack_5_island_group_1_base": {
398
+ "cls": "Box"
399
+ },
400
+ "stack_5_island_group_1_1": {
401
+ "cls": "Drawer"
402
+ },
403
+ "stack_5_island_group_1_2": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_5_island_group_1_3": {
407
+ "cls": "Drawer"
408
+ },
409
+ "cube_6_island_group_1": {
410
+ "cls": "Box"
411
+ },
412
+ "cube_7_island_group_1": {
413
+ "cls": "Box"
414
+ },
415
+ "dishwasher_1_island_group_1": {
416
+ "cls": "Dishwasher"
417
+ }
418
+ },
419
+ "gen_textures": {},
420
+ "lang": "Turn on the sink faucet.",
421
+ "fixture_refs": {},
422
+ "cam_configs": {
423
+ "robot0_agentview_center": {
424
+ "pos": [
425
+ -0.6,
426
+ 0.0,
427
+ 1.15
428
+ ],
429
+ "quat": [
430
+ 0.636945903301239,
431
+ 0.3325185477733612,
432
+ -0.3199238181114197,
433
+ -0.6175596117973328
434
+ ],
435
+ "parent_body": "mobilebase0_support"
436
+ },
437
+ "robot0_agentview_left": {
438
+ "pos": [
439
+ -0.5,
440
+ 0.35,
441
+ 1.05
442
+ ],
443
+ "quat": [
444
+ 0.55623853,
445
+ 0.29935253,
446
+ -0.37678665,
447
+ -0.6775092
448
+ ],
449
+ "camera_attribs": {
450
+ "fovy": "60"
451
+ },
452
+ "parent_body": "mobilebase0_support"
453
+ },
454
+ "robot0_agentview_right": {
455
+ "pos": [
456
+ -0.5,
457
+ -0.35,
458
+ 1.05
459
+ ],
460
+ "quat": [
461
+ 0.6775091886520386,
462
+ 0.3767866790294647,
463
+ -0.2993525564670563,
464
+ -0.55623859167099
465
+ ],
466
+ "camera_attribs": {
467
+ "fovy": "60"
468
+ },
469
+ "parent_body": "mobilebase0_support"
470
+ },
471
+ "robot0_frontview": {
472
+ "pos": [
473
+ -0.5,
474
+ 0,
475
+ 0.95
476
+ ],
477
+ "quat": [
478
+ 0.6088936924934387,
479
+ 0.3814677894115448,
480
+ -0.3673907518386841,
481
+ -0.5905545353889465
482
+ ],
483
+ "camera_attribs": {
484
+ "fovy": "60"
485
+ },
486
+ "parent_body": "mobilebase0_support"
487
+ },
488
+ "robot0_eye_in_hand": {
489
+ "pos": [
490
+ 0.05,
491
+ 0,
492
+ 0
493
+ ],
494
+ "quat": [
495
+ 0,
496
+ 0.707107,
497
+ 0.707107,
498
+ 0
499
+ ],
500
+ "parent_body": "robot0_right_hand"
501
+ }
502
+ },
503
+ "init_robot_base_pos": [
504
+ 3.124415109227173,
505
+ -4.151149915610118,
506
+ 0.0
507
+ ],
508
+ "init_robot_base_ori": [
509
+ 0.0,
510
+ 0.0,
511
+ 3.14159329371052
512
+ ]
513
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000034/ep_meta.json ADDED
@@ -0,0 +1,529 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 38,
3
+ "style_id": 25,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_main_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.080576795,
15
+ 0.080843659,
16
+ 0.11237439199999999
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "turmeric",
37
+ "spice"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "turmeric",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turmeric/Turmeric002/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 1.5597400000000001,
49
+ 0.65
50
+ ],
51
+ "offset": [
52
+ 1.1491299999999998,
53
+ -3.469446951953614e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_1"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_counter_1",
61
+ "obj_groups": "all",
62
+ "placement": {
63
+ "fixture": "counter_1_main_group_1",
64
+ "sample_region_kwargs": {
65
+ "ref": "sink_main_group_1",
66
+ "loc": "left_right",
67
+ "min_size": [
68
+ 0.09143032799999999,
69
+ 0.09176517599999999,
70
+ 0.19690009199999997
71
+ ]
72
+ },
73
+ "size": [
74
+ 0.3,
75
+ 0.3
76
+ ],
77
+ "pos": [
78
+ "ref",
79
+ -1.0
80
+ ],
81
+ "offset": [
82
+ 0.0,
83
+ 0.1
84
+ ]
85
+ },
86
+ "type": "object",
87
+ "info": {
88
+ "groups_containing_sampled_obj": [
89
+ "all",
90
+ "paprika",
91
+ "spice"
92
+ ],
93
+ "groups": [
94
+ "all"
95
+ ],
96
+ "cat": "paprika",
97
+ "split": "train",
98
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/paprika/Paprika003/model.xml"
99
+ },
100
+ "reset_region": {
101
+ "size": [
102
+ 1.3282599999999998,
103
+ 0.65
104
+ ],
105
+ "offset": [
106
+ -1.2648700000000002,
107
+ -3.469446951953614e-17,
108
+ 0.46
109
+ ],
110
+ "name": "geom_0"
111
+ }
112
+ },
113
+ {
114
+ "name": "distr_counter_2",
115
+ "obj_groups": "all",
116
+ "placement": {
117
+ "fixture": "counter_1_main_group_1",
118
+ "sample_region_kwargs": {
119
+ "ref": "sink_main_group_1",
120
+ "loc": "left_right",
121
+ "min_size": [
122
+ 0.0748326375,
123
+ 0.05401265000000001,
124
+ 0.1498395375
125
+ ]
126
+ },
127
+ "size": [
128
+ 0.3,
129
+ 0.3
130
+ ],
131
+ "pos": [
132
+ "ref",
133
+ -1.0
134
+ ],
135
+ "offset": [
136
+ 0.0,
137
+ 0.1
138
+ ]
139
+ },
140
+ "type": "object",
141
+ "info": {
142
+ "groups_containing_sampled_obj": [
143
+ "all",
144
+ "mustard",
145
+ "condiment"
146
+ ],
147
+ "groups": [
148
+ "all"
149
+ ],
150
+ "cat": "mustard",
151
+ "split": "train",
152
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard005/model.xml"
153
+ },
154
+ "reset_region": {
155
+ "size": [
156
+ 1.5597400000000001,
157
+ 0.65
158
+ ],
159
+ "offset": [
160
+ 1.1491299999999998,
161
+ -3.469446951953614e-17,
162
+ 0.46
163
+ ],
164
+ "name": "geom_1"
165
+ }
166
+ },
167
+ {
168
+ "name": "distr_sink",
169
+ "obj_groups": "all",
170
+ "washable": true,
171
+ "placement": {
172
+ "fixture": "sink_main_group_1",
173
+ "size": [
174
+ 0.3,
175
+ 0.4
176
+ ],
177
+ "pos": [
178
+ null,
179
+ -1.0
180
+ ]
181
+ },
182
+ "type": "object",
183
+ "info": {
184
+ "groups_containing_sampled_obj": [
185
+ "all",
186
+ "spoon",
187
+ "utensil"
188
+ ],
189
+ "groups": [
190
+ "all"
191
+ ],
192
+ "cat": "spoon",
193
+ "split": "train",
194
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_15/model.xml"
195
+ },
196
+ "reset_region": {
197
+ "offset": [
198
+ -0.22429199209769493,
199
+ -0.00014532459531040043,
200
+ -0.2189082755166076
201
+ ],
202
+ "size": [
203
+ 0.4352338878968735,
204
+ 0.3993956227543508
205
+ ],
206
+ "height": 0.17172770383294583,
207
+ "name": "basin"
208
+ }
209
+ }
210
+ ],
211
+ "fixtures": {
212
+ "wall_main_1_room": {
213
+ "cls": "Wall"
214
+ },
215
+ "wall_main_1_backing_room": {
216
+ "cls": "Wall"
217
+ },
218
+ "wall_left_1_room": {
219
+ "cls": "Wall"
220
+ },
221
+ "wall_left_1_backing_room": {
222
+ "cls": "Wall"
223
+ },
224
+ "wall_left_2_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "wall_left_2_backing_room": {
228
+ "cls": "Wall"
229
+ },
230
+ "wall_left_3_room": {
231
+ "cls": "Wall"
232
+ },
233
+ "wall_left_3_backing_room": {
234
+ "cls": "Wall"
235
+ },
236
+ "floor_1_room": {
237
+ "cls": "Floor"
238
+ },
239
+ "floor_1_backing_room": {
240
+ "cls": "Floor"
241
+ },
242
+ "wallaccessory.001_room": {
243
+ "cls": "WallAccessory"
244
+ },
245
+ "wallaccessory.005_room": {
246
+ "cls": "WallAccessory"
247
+ },
248
+ "wallaccessory.003_room": {
249
+ "cls": "WallAccessory"
250
+ },
251
+ "wallaccessory.004_room": {
252
+ "cls": "WallAccessory"
253
+ },
254
+ "wallaccessory.007_room": {
255
+ "cls": "WallAccessory"
256
+ },
257
+ "stool_2_room": {
258
+ "cls": "Stool"
259
+ },
260
+ "stool_3_room": {
261
+ "cls": "Stool"
262
+ },
263
+ "stool_4_room": {
264
+ "cls": "Stool"
265
+ },
266
+ "stool_1_room": {
267
+ "cls": "Stool"
268
+ },
269
+ "sink_main_group_1": {
270
+ "cls": "Sink"
271
+ },
272
+ "counter_1_main_group_1": {
273
+ "cls": "Counter"
274
+ },
275
+ "opencabinet_1_main_group_1": {
276
+ "cls": "OpenCabinet"
277
+ },
278
+ "opencabinet_2_main_group_1": {
279
+ "cls": "OpenCabinet"
280
+ },
281
+ "stack_1_main_group_1_base": {
282
+ "cls": "Box"
283
+ },
284
+ "stack_1_main_group_1_1": {
285
+ "cls": "SingleCabinet"
286
+ },
287
+ "stack_1_main_group_1_2": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_2_main_group_1_base": {
291
+ "cls": "Box"
292
+ },
293
+ "stack_2_main_group_1_1": {
294
+ "cls": "SingleCabinet"
295
+ },
296
+ "stack_4_main_group_1_base": {
297
+ "cls": "Box"
298
+ },
299
+ "stack_4_main_group_1_1": {
300
+ "cls": "HingeCabinet"
301
+ },
302
+ "stack_4_main_group_1_2": {
303
+ "cls": "Drawer"
304
+ },
305
+ "dishwasher_1_main_group_1": {
306
+ "cls": "Dishwasher"
307
+ },
308
+ "stack_3_main_group_1_base": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_3_main_group_1_1": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "coffeemachine_main_group_1": {
315
+ "cls": "CoffeeMachine"
316
+ },
317
+ "paper_towel_main_group_1": {
318
+ "cls": "Accessory"
319
+ },
320
+ "toaster_main_group_1": {
321
+ "cls": "Toaster"
322
+ },
323
+ "bottom_main_group_1_base": {
324
+ "cls": "Box"
325
+ },
326
+ "bottom_main_group_1_1": {
327
+ "cls": "Drawer"
328
+ },
329
+ "oven_cabinet_main_group_1": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "microwave_main_group_1": {
333
+ "cls": "Microwave"
334
+ },
335
+ "microwave_housing_main_group_1": {
336
+ "cls": "HousingCabinet"
337
+ },
338
+ "top_main_group_1": {
339
+ "cls": "HingeCabinet"
340
+ },
341
+ "counter_1_left_group_1": {
342
+ "cls": "Counter"
343
+ },
344
+ "stove_left_group_1": {
345
+ "cls": "Stove"
346
+ },
347
+ "counter_2_left_group_1": {
348
+ "cls": "Counter"
349
+ },
350
+ "fridgesidebyside_left_group_1": {
351
+ "cls": "FridgeSideBySide"
352
+ },
353
+ "fridgesidebyside_housing_left_group_1": {
354
+ "cls": "HousingCabinet"
355
+ },
356
+ "hingecabinet_1_left_group_1": {
357
+ "cls": "HingeCabinet"
358
+ },
359
+ "hingecabinet_2_left_group_1": {
360
+ "cls": "HingeCabinet"
361
+ },
362
+ "hingecabinet_3_left_group_1": {
363
+ "cls": "HingeCabinet"
364
+ },
365
+ "hingecabinet_4_left_group_1": {
366
+ "cls": "HingeCabinet"
367
+ },
368
+ "stack_1_left_group_1_base": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_1_left_group_1_1": {
372
+ "cls": "SingleCabinet"
373
+ },
374
+ "stack_2_left_group_1_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_2_left_group_1_1": {
378
+ "cls": "HingeCabinet"
379
+ },
380
+ "stack_4_left_group_1_base": {
381
+ "cls": "Box"
382
+ },
383
+ "stack_4_left_group_1_1": {
384
+ "cls": "HingeCabinet"
385
+ },
386
+ "knifeblock_left_group_1": {
387
+ "cls": "Accessory"
388
+ },
389
+ "toaster_oven_left_group_1": {
390
+ "cls": "ToasterOven"
391
+ },
392
+ "island_island_group_1": {
393
+ "cls": "Counter"
394
+ },
395
+ "cube_3_island_group_1": {
396
+ "cls": "Box"
397
+ },
398
+ "stack_1_island_group_1_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_1_island_group_1_1": {
402
+ "cls": "SingleCabinet"
403
+ },
404
+ "stack_2_island_group_1_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_2_island_group_1_1": {
408
+ "cls": "HingeCabinet"
409
+ },
410
+ "stack_2_island_group_1_2": {
411
+ "cls": "Drawer"
412
+ },
413
+ "stack_3_island_group_1_base": {
414
+ "cls": "Box"
415
+ },
416
+ "stack_3_island_group_1_1": {
417
+ "cls": "HingeCabinet"
418
+ },
419
+ "stack_3_island_group_1_2": {
420
+ "cls": "Drawer"
421
+ },
422
+ "stack_4_island_group_1_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_4_island_group_1_1": {
426
+ "cls": "Drawer"
427
+ },
428
+ "stack_4_island_group_1_2": {
429
+ "cls": "Drawer"
430
+ },
431
+ "cube_2_island_group_1": {
432
+ "cls": "Box"
433
+ }
434
+ },
435
+ "gen_textures": {},
436
+ "lang": "Turn on the sink faucet.",
437
+ "fixture_refs": {},
438
+ "cam_configs": {
439
+ "robot0_agentview_center": {
440
+ "pos": [
441
+ -0.6,
442
+ 0.0,
443
+ 1.15
444
+ ],
445
+ "quat": [
446
+ 0.636945903301239,
447
+ 0.3325185477733612,
448
+ -0.3199238181114197,
449
+ -0.6175596117973328
450
+ ],
451
+ "parent_body": "mobilebase0_support"
452
+ },
453
+ "robot0_agentview_left": {
454
+ "pos": [
455
+ -0.5,
456
+ 0.35,
457
+ 1.05
458
+ ],
459
+ "quat": [
460
+ 0.55623853,
461
+ 0.29935253,
462
+ -0.37678665,
463
+ -0.6775092
464
+ ],
465
+ "camera_attribs": {
466
+ "fovy": "60"
467
+ },
468
+ "parent_body": "mobilebase0_support"
469
+ },
470
+ "robot0_agentview_right": {
471
+ "pos": [
472
+ -0.5,
473
+ -0.35,
474
+ 1.05
475
+ ],
476
+ "quat": [
477
+ 0.6775091886520386,
478
+ 0.3767866790294647,
479
+ -0.2993525564670563,
480
+ -0.55623859167099
481
+ ],
482
+ "camera_attribs": {
483
+ "fovy": "60"
484
+ },
485
+ "parent_body": "mobilebase0_support"
486
+ },
487
+ "robot0_frontview": {
488
+ "pos": [
489
+ -0.5,
490
+ 0,
491
+ 0.95
492
+ ],
493
+ "quat": [
494
+ 0.6088936924934387,
495
+ 0.3814677894115448,
496
+ -0.3673907518386841,
497
+ -0.5905545353889465
498
+ ],
499
+ "camera_attribs": {
500
+ "fovy": "60"
501
+ },
502
+ "parent_body": "mobilebase0_support"
503
+ },
504
+ "robot0_eye_in_hand": {
505
+ "pos": [
506
+ 0.05,
507
+ 0,
508
+ 0
509
+ ],
510
+ "quat": [
511
+ 0,
512
+ 0.707107,
513
+ 0.707107,
514
+ 0
515
+ ],
516
+ "parent_body": "robot0_right_hand"
517
+ }
518
+ },
519
+ "init_robot_base_pos": [
520
+ 1.7320572487884596,
521
+ -0.7768987690439738,
522
+ 0.0
523
+ ],
524
+ "init_robot_base_ori": [
525
+ 0.0,
526
+ 0.0,
527
+ 1.5707963267948966
528
+ ]
529
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000035/ep_meta.json ADDED
@@ -0,0 +1,397 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 44,
3
+ "style_id": 55,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_main_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.10721897999999999,
15
+ 0.10782328,
16
+ 0.25586802
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "juice",
37
+ "drink"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "juice",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/juice/Juice002/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 0.8586437019160476,
49
+ 0.650008
50
+ ],
51
+ "offset": [
52
+ 0.4912806490419761,
53
+ -3.469446951953614e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_0"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_sink",
61
+ "obj_groups": "all",
62
+ "washable": true,
63
+ "placement": {
64
+ "fixture": "sink_main_group_1",
65
+ "size": [
66
+ 0.3,
67
+ 0.4
68
+ ],
69
+ "pos": [
70
+ null,
71
+ -1.0
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "broccoli",
79
+ "vegetable",
80
+ "food",
81
+ "in_container",
82
+ "oven_ready"
83
+ ],
84
+ "groups": [
85
+ "all"
86
+ ],
87
+ "cat": "broccoli",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml"
90
+ },
91
+ "reset_region": {
92
+ "offset": [
93
+ -0.16428449956722066,
94
+ -0.03902629220261322,
95
+ -0.22800612393871678
96
+ ],
97
+ "size": [
98
+ 0.384537337814347,
99
+ 0.37019680339105854
100
+ ],
101
+ "height": 0.12750776516385834,
102
+ "name": "basin_left"
103
+ }
104
+ }
105
+ ],
106
+ "fixtures": {
107
+ "wall_main_1_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_main_1_backing_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_right_1_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_right_1_backing_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_1_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_left_1_backing_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_main_2_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_main_2_backing_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_right_2_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_right_2_backing_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "wall_right_3_room": {
138
+ "cls": "Wall"
139
+ },
140
+ "wall_right_3_backing_room": {
141
+ "cls": "Wall"
142
+ },
143
+ "floor_1_room": {
144
+ "cls": "Floor"
145
+ },
146
+ "floor_1_backing_room": {
147
+ "cls": "Floor"
148
+ },
149
+ "floor_2_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_2_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "wallaccessory.001_room": {
156
+ "cls": "WallAccessory"
157
+ },
158
+ "wallaccessory.005_room": {
159
+ "cls": "WallAccessory"
160
+ },
161
+ "wallaccessory_room": {
162
+ "cls": "WallAccessory"
163
+ },
164
+ "wallaccessory.003_room": {
165
+ "cls": "WallAccessory"
166
+ },
167
+ "wallaccessory.004_room": {
168
+ "cls": "WallAccessory"
169
+ },
170
+ "wallaccessory.002_room": {
171
+ "cls": "WallAccessory"
172
+ },
173
+ "window_group_1_room": {
174
+ "cls": "Window"
175
+ },
176
+ "window_group_2_room": {
177
+ "cls": "Window"
178
+ },
179
+ "stool_1_room": {
180
+ "cls": "Stool"
181
+ },
182
+ "stool_2_room": {
183
+ "cls": "Stool"
184
+ },
185
+ "stool_3_room": {
186
+ "cls": "Stool"
187
+ },
188
+ "counter_corner_1_main_group_1": {
189
+ "cls": "Counter"
190
+ },
191
+ "sink_main_group_1": {
192
+ "cls": "Sink"
193
+ },
194
+ "counter_1_main_group_1": {
195
+ "cls": "Counter"
196
+ },
197
+ "singlecabinet_1_main_group_1": {
198
+ "cls": "SingleCabinet"
199
+ },
200
+ "cube_main_group_1": {
201
+ "cls": "Box"
202
+ },
203
+ "singlecabinet_2_main_group_1": {
204
+ "cls": "SingleCabinet"
205
+ },
206
+ "hingecabinet_1_main_group_1": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "stack_1_main_group_1_base": {
210
+ "cls": "Box"
211
+ },
212
+ "stack_1_main_group_1_1": {
213
+ "cls": "HingeCabinet"
214
+ },
215
+ "cube_1_main_group_1": {
216
+ "cls": "Box"
217
+ },
218
+ "dishwasher_1_main_group_1": {
219
+ "cls": "Dishwasher"
220
+ },
221
+ "fridgesidebyside_main_group_1": {
222
+ "cls": "FridgeSideBySide"
223
+ },
224
+ "fridgesidebyside_housing_main_group_1": {
225
+ "cls": "HousingCabinet"
226
+ },
227
+ "toaster_main_group_1": {
228
+ "cls": "Toaster"
229
+ },
230
+ "papertowel_main_group_1": {
231
+ "cls": "Accessory"
232
+ },
233
+ "counter_1_left_group_1": {
234
+ "cls": "Counter"
235
+ },
236
+ "stove_left_group_1": {
237
+ "cls": "Stove"
238
+ },
239
+ "microwave_left_group_1": {
240
+ "cls": "Microwave"
241
+ },
242
+ "micro_cab_left_group_1": {
243
+ "cls": "HingeCabinet"
244
+ },
245
+ "counter_2_left_group_1": {
246
+ "cls": "Counter"
247
+ },
248
+ "singlecabinet_1_left_group_1": {
249
+ "cls": "SingleCabinet"
250
+ },
251
+ "hingecabinet_1_left_group_1": {
252
+ "cls": "HingeCabinet"
253
+ },
254
+ "cube_3_left_group_1": {
255
+ "cls": "Box"
256
+ },
257
+ "cube_4_left_group_1": {
258
+ "cls": "Box"
259
+ },
260
+ "stack_1_left_group_1_base": {
261
+ "cls": "Box"
262
+ },
263
+ "stack_1_left_group_1_1": {
264
+ "cls": "SingleCabinet"
265
+ },
266
+ "stack_1_left_group_1_2": {
267
+ "cls": "Drawer"
268
+ },
269
+ "stack_2_left_group_1_base": {
270
+ "cls": "Box"
271
+ },
272
+ "stack_2_left_group_1_1": {
273
+ "cls": "SingleCabinet"
274
+ },
275
+ "stack_2_left_group_1_2": {
276
+ "cls": "Drawer"
277
+ },
278
+ "cube_1_left_group_1": {
279
+ "cls": "Box"
280
+ },
281
+ "cube_2_left_group_1": {
282
+ "cls": "Box"
283
+ },
284
+ "coffee_machine_left_group_1": {
285
+ "cls": "CoffeeMachine"
286
+ },
287
+ "island_island_group_1": {
288
+ "cls": "Counter"
289
+ },
290
+ "cube_island_group_1": {
291
+ "cls": "Box"
292
+ },
293
+ "cube_2_island_group_1": {
294
+ "cls": "Box"
295
+ },
296
+ "cube_3_island_group_1": {
297
+ "cls": "Box"
298
+ },
299
+ "cube_4_island_group_1": {
300
+ "cls": "Box"
301
+ }
302
+ },
303
+ "gen_textures": {},
304
+ "lang": "Turn on the sink faucet.",
305
+ "fixture_refs": {},
306
+ "cam_configs": {
307
+ "robot0_agentview_center": {
308
+ "pos": [
309
+ -0.6,
310
+ 0.0,
311
+ 1.15
312
+ ],
313
+ "quat": [
314
+ 0.636945903301239,
315
+ 0.3325185477733612,
316
+ -0.3199238181114197,
317
+ -0.6175596117973328
318
+ ],
319
+ "parent_body": "mobilebase0_support"
320
+ },
321
+ "robot0_agentview_left": {
322
+ "pos": [
323
+ -0.5,
324
+ 0.35,
325
+ 1.05
326
+ ],
327
+ "quat": [
328
+ 0.55623853,
329
+ 0.29935253,
330
+ -0.37678665,
331
+ -0.6775092
332
+ ],
333
+ "camera_attribs": {
334
+ "fovy": "60"
335
+ },
336
+ "parent_body": "mobilebase0_support"
337
+ },
338
+ "robot0_agentview_right": {
339
+ "pos": [
340
+ -0.5,
341
+ -0.35,
342
+ 1.05
343
+ ],
344
+ "quat": [
345
+ 0.6775091886520386,
346
+ 0.3767866790294647,
347
+ -0.2993525564670563,
348
+ -0.55623859167099
349
+ ],
350
+ "camera_attribs": {
351
+ "fovy": "60"
352
+ },
353
+ "parent_body": "mobilebase0_support"
354
+ },
355
+ "robot0_frontview": {
356
+ "pos": [
357
+ -0.5,
358
+ 0,
359
+ 0.95
360
+ ],
361
+ "quat": [
362
+ 0.6088936924934387,
363
+ 0.3814677894115448,
364
+ -0.3673907518386841,
365
+ -0.5905545353889465
366
+ ],
367
+ "camera_attribs": {
368
+ "fovy": "60"
369
+ },
370
+ "parent_body": "mobilebase0_support"
371
+ },
372
+ "robot0_eye_in_hand": {
373
+ "pos": [
374
+ 0.05,
375
+ 0,
376
+ 0
377
+ ],
378
+ "quat": [
379
+ 0,
380
+ 0.707107,
381
+ 0.707107,
382
+ 0
383
+ ],
384
+ "parent_body": "robot0_right_hand"
385
+ }
386
+ },
387
+ "init_robot_base_pos": [
388
+ 2.847457324002058,
389
+ -0.8368183533934176,
390
+ 0.0
391
+ ],
392
+ "init_robot_base_ori": [
393
+ 0.0,
394
+ 0.0,
395
+ 1.5707963267948966
396
+ ]
397
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000036/ep_meta.json ADDED
@@ -0,0 +1,647 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 29,
3
+ "style_id": 36,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "island_island_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_island_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.06902307935999999,
15
+ 0.14168519711999997,
16
+ 0.049903595999999995
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "croissant",
37
+ "pastry",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "croissant",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_3/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.5467262259761805,
51
+ 1.8
52
+ ],
53
+ "offset": [
54
+ 1.0491368870119098,
55
+ 2.0816681711721685e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_1"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_counter_1",
63
+ "obj_groups": "all",
64
+ "placement": {
65
+ "fixture": "island_island_group",
66
+ "sample_region_kwargs": {
67
+ "ref": "sink_island_group",
68
+ "loc": "left_right",
69
+ "min_size": [
70
+ 0.120814265,
71
+ 0.10930387600000001,
72
+ 0.114549622
73
+ ]
74
+ },
75
+ "size": [
76
+ 0.3,
77
+ 0.3
78
+ ],
79
+ "pos": [
80
+ "ref",
81
+ -1.0
82
+ ],
83
+ "offset": [
84
+ 0.0,
85
+ 0.1
86
+ ]
87
+ },
88
+ "type": "object",
89
+ "info": {
90
+ "groups_containing_sampled_obj": [
91
+ "all",
92
+ "pancake",
93
+ "sweets",
94
+ "food",
95
+ "in_container"
96
+ ],
97
+ "groups": [
98
+ "all"
99
+ ],
100
+ "cat": "pancake",
101
+ "split": "train",
102
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes002/model.xml"
103
+ },
104
+ "reset_region": {
105
+ "size": [
106
+ 1.5467262259761805,
107
+ 1.8
108
+ ],
109
+ "offset": [
110
+ 1.0491368870119098,
111
+ 2.0816681711721685e-17,
112
+ 0.46
113
+ ],
114
+ "name": "geom_1"
115
+ }
116
+ },
117
+ {
118
+ "name": "distr_counter_2",
119
+ "obj_groups": "all",
120
+ "placement": {
121
+ "fixture": "island_island_group",
122
+ "sample_region_kwargs": {
123
+ "ref": "sink_island_group",
124
+ "loc": "left_right",
125
+ "min_size": [
126
+ 0.10801194209999997,
127
+ 0.13579003349999996,
128
+ 0.03332020319999999
129
+ ]
130
+ },
131
+ "size": [
132
+ 0.3,
133
+ 0.3
134
+ ],
135
+ "pos": [
136
+ "ref",
137
+ -1.0
138
+ ],
139
+ "offset": [
140
+ 0.0,
141
+ 0.1
142
+ ]
143
+ },
144
+ "type": "object",
145
+ "info": {
146
+ "groups_containing_sampled_obj": [
147
+ "all",
148
+ "bagged_food",
149
+ "packaged_food"
150
+ ],
151
+ "groups": [
152
+ "all"
153
+ ],
154
+ "cat": "bagged_food",
155
+ "split": "train",
156
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagged_food/bagged_food_4/model.xml"
157
+ },
158
+ "reset_region": {
159
+ "size": [
160
+ 1.5467262259761805,
161
+ 1.8
162
+ ],
163
+ "offset": [
164
+ -1.0491368870119098,
165
+ 2.0816681711721685e-17,
166
+ 0.46
167
+ ],
168
+ "name": "geom_0"
169
+ }
170
+ },
171
+ {
172
+ "name": "distr_sink",
173
+ "obj_groups": "all",
174
+ "washable": true,
175
+ "placement": {
176
+ "fixture": "sink_island_group",
177
+ "size": [
178
+ 0.3,
179
+ 0.4
180
+ ],
181
+ "pos": [
182
+ null,
183
+ -1.0
184
+ ]
185
+ },
186
+ "type": "object",
187
+ "info": {
188
+ "groups_containing_sampled_obj": [
189
+ "all",
190
+ "ice_cube_tray",
191
+ "receptacle"
192
+ ],
193
+ "groups": [
194
+ "all"
195
+ ],
196
+ "cat": "ice_cube_tray",
197
+ "split": "train",
198
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray002/model.xml"
199
+ },
200
+ "reset_region": {
201
+ "offset": [
202
+ 0.00013712464552104175,
203
+ -0.024069908043178587,
204
+ -0.22387841800324237
205
+ ],
206
+ "size": [
207
+ 0.40355167428678823,
208
+ 0.2950312392401234
209
+ ],
210
+ "height": 0.18995636849192682,
211
+ "name": "basin"
212
+ }
213
+ }
214
+ ],
215
+ "fixtures": {
216
+ "wall_main_1_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_main_1_backing_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_left_4_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_left_4_backing_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_right_1_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_right_1_backing_room": {
232
+ "cls": "Wall"
233
+ },
234
+ "wall_left_1_room": {
235
+ "cls": "Wall"
236
+ },
237
+ "wall_left_1_backing_room": {
238
+ "cls": "Wall"
239
+ },
240
+ "wall_left_3_room": {
241
+ "cls": "Wall"
242
+ },
243
+ "wall_left_3_backing_room": {
244
+ "cls": "Wall"
245
+ },
246
+ "wall_left_2_room": {
247
+ "cls": "Wall"
248
+ },
249
+ "wall_left_2_backing_room": {
250
+ "cls": "Wall"
251
+ },
252
+ "wall_main_2_room": {
253
+ "cls": "Wall"
254
+ },
255
+ "wall_main_2_backing_room": {
256
+ "cls": "Wall"
257
+ },
258
+ "wall_front_1_room": {
259
+ "cls": "Wall"
260
+ },
261
+ "wall_front_1_backing_room": {
262
+ "cls": "Wall"
263
+ },
264
+ "floor_1_room": {
265
+ "cls": "Floor"
266
+ },
267
+ "floor_1_backing_room": {
268
+ "cls": "Floor"
269
+ },
270
+ "floor_2_room": {
271
+ "cls": "Floor"
272
+ },
273
+ "floor_2_backing_room": {
274
+ "cls": "Floor"
275
+ },
276
+ "light_switch_1_room": {
277
+ "cls": "WallAccessory"
278
+ },
279
+ "wall_accessory_1_room": {
280
+ "cls": "WallAccessory"
281
+ },
282
+ "light_switch_2_room": {
283
+ "cls": "WallAccessory"
284
+ },
285
+ "wall_accessory_2_room": {
286
+ "cls": "WallAccessory"
287
+ },
288
+ "stool_1_room": {
289
+ "cls": "Stool"
290
+ },
291
+ "stool_2_room": {
292
+ "cls": "Stool"
293
+ },
294
+ "stool_3_room": {
295
+ "cls": "Stool"
296
+ },
297
+ "stool_4_room": {
298
+ "cls": "Stool"
299
+ },
300
+ "bottom_main_group_base": {
301
+ "cls": "Box"
302
+ },
303
+ "bottom_main_group_1": {
304
+ "cls": "Drawer"
305
+ },
306
+ "oven_main_group": {
307
+ "cls": "Oven"
308
+ },
309
+ "oven_housing_main_group": {
310
+ "cls": "HousingCabinet"
311
+ },
312
+ "microwave_main_group": {
313
+ "cls": "Microwave"
314
+ },
315
+ "microwave_housing_main_group": {
316
+ "cls": "HousingCabinet"
317
+ },
318
+ "middle_main_group": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "top_main_group": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "fridge_main_group": {
325
+ "cls": "FridgeSideBySide"
326
+ },
327
+ "fridge_housing_main_group": {
328
+ "cls": "HousingCabinet"
329
+ },
330
+ "counter_1_main_group": {
331
+ "cls": "Counter"
332
+ },
333
+ "stack_1_main_group_base": {
334
+ "cls": "Box"
335
+ },
336
+ "stack_1_main_group_1": {
337
+ "cls": "Drawer"
338
+ },
339
+ "stack_1_main_group_2": {
340
+ "cls": "Drawer"
341
+ },
342
+ "stack_1_main_group_3": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_2_main_group_base": {
346
+ "cls": "Box"
347
+ },
348
+ "stack_2_main_group_1": {
349
+ "cls": "Drawer"
350
+ },
351
+ "stack_2_main_group_2": {
352
+ "cls": "Drawer"
353
+ },
354
+ "stack_2_main_group_3": {
355
+ "cls": "Drawer"
356
+ },
357
+ "stack_3_main_group_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_3_main_group_1": {
361
+ "cls": "Drawer"
362
+ },
363
+ "stack_3_main_group_2": {
364
+ "cls": "Drawer"
365
+ },
366
+ "stack_3_main_group_3": {
367
+ "cls": "Drawer"
368
+ },
369
+ "dishwasher_main_group": {
370
+ "cls": "Dishwasher"
371
+ },
372
+ "panel_stack_main_group_base": {
373
+ "cls": "Box"
374
+ },
375
+ "panel_stack_main_group_1": {
376
+ "cls": "PanelCabinet"
377
+ },
378
+ "cab_1_main_group": {
379
+ "cls": "HingeCabinet"
380
+ },
381
+ "cab_2_main_group": {
382
+ "cls": "HingeCabinet"
383
+ },
384
+ "cab_3_main_group": {
385
+ "cls": "HingeCabinet"
386
+ },
387
+ "cab_4_main_group": {
388
+ "cls": "HingeCabinet"
389
+ },
390
+ "cab_5_main_group": {
391
+ "cls": "HingeCabinet"
392
+ },
393
+ "cab_6_main_group": {
394
+ "cls": "HingeCabinet"
395
+ },
396
+ "toaster_oven_main_group": {
397
+ "cls": "ToasterOven"
398
+ },
399
+ "paper_towel_main_group": {
400
+ "cls": "Accessory"
401
+ },
402
+ "stovetop_left_group": {
403
+ "cls": "Stovetop"
404
+ },
405
+ "counter_1_left_group": {
406
+ "cls": "Counter"
407
+ },
408
+ "stack_1_left_group_base": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_1_left_group_1": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_1_left_group_2": {
415
+ "cls": "Drawer"
416
+ },
417
+ "stack_1_left_group_3": {
418
+ "cls": "Drawer"
419
+ },
420
+ "stack_2_left_group_base": {
421
+ "cls": "Box"
422
+ },
423
+ "stack_2_left_group_1": {
424
+ "cls": "Drawer"
425
+ },
426
+ "stack_2_left_group_2": {
427
+ "cls": "Drawer"
428
+ },
429
+ "stack_2_left_group_3": {
430
+ "cls": "Drawer"
431
+ },
432
+ "stack_3_left_group_base": {
433
+ "cls": "Box"
434
+ },
435
+ "stack_3_left_group_1": {
436
+ "cls": "Drawer"
437
+ },
438
+ "stack_3_left_group_2": {
439
+ "cls": "Drawer"
440
+ },
441
+ "stack_3_left_group_3": {
442
+ "cls": "PanelCabinet"
443
+ },
444
+ "stack_4_left_group_base": {
445
+ "cls": "Box"
446
+ },
447
+ "stack_4_left_group_1": {
448
+ "cls": "Drawer"
449
+ },
450
+ "stack_4_left_group_2": {
451
+ "cls": "Drawer"
452
+ },
453
+ "stack_4_left_group_3": {
454
+ "cls": "Drawer"
455
+ },
456
+ "stack_5_left_group_base": {
457
+ "cls": "Box"
458
+ },
459
+ "stack_5_left_group_1": {
460
+ "cls": "Drawer"
461
+ },
462
+ "stack_5_left_group_2": {
463
+ "cls": "Drawer"
464
+ },
465
+ "stack_5_left_group_3": {
466
+ "cls": "Drawer"
467
+ },
468
+ "hood_left_group": {
469
+ "cls": "Hood"
470
+ },
471
+ "cab_1_left_group": {
472
+ "cls": "HingeCabinet"
473
+ },
474
+ "cab_2_left_group": {
475
+ "cls": "HingeCabinet"
476
+ },
477
+ "cab_3_left_group": {
478
+ "cls": "HingeCabinet"
479
+ },
480
+ "cab_4_left_group": {
481
+ "cls": "HingeCabinet"
482
+ },
483
+ "coffee_machine_left_group": {
484
+ "cls": "CoffeeMachine"
485
+ },
486
+ "toaster_left_group": {
487
+ "cls": "Toaster"
488
+ },
489
+ "sink_island_group": {
490
+ "cls": "Sink"
491
+ },
492
+ "island_island_group": {
493
+ "cls": "Counter"
494
+ },
495
+ "panel_box_1_island_group_base": {
496
+ "cls": "Box"
497
+ },
498
+ "panel_box_1_island_group_1": {
499
+ "cls": "PanelCabinet"
500
+ },
501
+ "stack_1_island_group_base": {
502
+ "cls": "Box"
503
+ },
504
+ "stack_1_island_group_1": {
505
+ "cls": "Drawer"
506
+ },
507
+ "stack_1_island_group_2": {
508
+ "cls": "Drawer"
509
+ },
510
+ "stack_1_island_group_3": {
511
+ "cls": "Drawer"
512
+ },
513
+ "stack_2_island_group_base": {
514
+ "cls": "Box"
515
+ },
516
+ "stack_2_island_group_1": {
517
+ "cls": "SingleCabinet"
518
+ },
519
+ "stack_3_island_group_base": {
520
+ "cls": "Box"
521
+ },
522
+ "stack_3_island_group_1": {
523
+ "cls": "HingeCabinet"
524
+ },
525
+ "stack_4_island_group_base": {
526
+ "cls": "Box"
527
+ },
528
+ "stack_4_island_group_1": {
529
+ "cls": "SingleCabinet"
530
+ },
531
+ "stack_5_island_group_base": {
532
+ "cls": "Box"
533
+ },
534
+ "stack_5_island_group_1": {
535
+ "cls": "Drawer"
536
+ },
537
+ "stack_5_island_group_2": {
538
+ "cls": "Drawer"
539
+ },
540
+ "stack_5_island_group_3": {
541
+ "cls": "Drawer"
542
+ },
543
+ "panel_cab_2_island_group_base": {
544
+ "cls": "Box"
545
+ },
546
+ "panel_cab_2_island_group_1": {
547
+ "cls": "PanelCabinet"
548
+ },
549
+ "box_island_group": {
550
+ "cls": "Box"
551
+ }
552
+ },
553
+ "gen_textures": {},
554
+ "lang": "Turn on the sink faucet.",
555
+ "fixture_refs": {},
556
+ "cam_configs": {
557
+ "robot0_agentview_center": {
558
+ "pos": [
559
+ -0.6,
560
+ 0.0,
561
+ 1.15
562
+ ],
563
+ "quat": [
564
+ 0.636945903301239,
565
+ 0.3325185477733612,
566
+ -0.3199238181114197,
567
+ -0.6175596117973328
568
+ ],
569
+ "parent_body": "mobilebase0_support"
570
+ },
571
+ "robot0_agentview_left": {
572
+ "pos": [
573
+ -0.5,
574
+ 0.35,
575
+ 1.05
576
+ ],
577
+ "quat": [
578
+ 0.55623853,
579
+ 0.29935253,
580
+ -0.37678665,
581
+ -0.6775092
582
+ ],
583
+ "camera_attribs": {
584
+ "fovy": "60"
585
+ },
586
+ "parent_body": "mobilebase0_support"
587
+ },
588
+ "robot0_agentview_right": {
589
+ "pos": [
590
+ -0.5,
591
+ -0.35,
592
+ 1.05
593
+ ],
594
+ "quat": [
595
+ 0.6775091886520386,
596
+ 0.3767866790294647,
597
+ -0.2993525564670563,
598
+ -0.55623859167099
599
+ ],
600
+ "camera_attribs": {
601
+ "fovy": "60"
602
+ },
603
+ "parent_body": "mobilebase0_support"
604
+ },
605
+ "robot0_frontview": {
606
+ "pos": [
607
+ -0.5,
608
+ 0,
609
+ 0.95
610
+ ],
611
+ "quat": [
612
+ 0.6088936924934387,
613
+ 0.3814677894115448,
614
+ -0.3673907518386841,
615
+ -0.5905545353889465
616
+ ],
617
+ "camera_attribs": {
618
+ "fovy": "60"
619
+ },
620
+ "parent_body": "mobilebase0_support"
621
+ },
622
+ "robot0_eye_in_hand": {
623
+ "pos": [
624
+ 0.05,
625
+ 0,
626
+ 0
627
+ ],
628
+ "quat": [
629
+ 0,
630
+ 0.707107,
631
+ 0.707107,
632
+ 0
633
+ ],
634
+ "parent_body": "robot0_right_hand"
635
+ }
636
+ },
637
+ "init_robot_base_pos": [
638
+ 1.2589360386291442,
639
+ -4.113112248274131,
640
+ 0.0
641
+ ],
642
+ "init_robot_base_ori": [
643
+ 0.0,
644
+ 0.0,
645
+ 3.4228548662085245e-08
646
+ ]
647
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000038/ep_meta.json ADDED
@@ -0,0 +1,463 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 33,
3
+ "style_id": 36,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "island_island_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_island_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.12197397995999995,
15
+ 0.12169279064249995,
16
+ 0.047697226867499984
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "donut",
37
+ "pastry",
38
+ "sweets",
39
+ "food",
40
+ "in_container"
41
+ ],
42
+ "groups": [
43
+ "all"
44
+ ],
45
+ "cat": "donut",
46
+ "split": "train",
47
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_1/model.xml"
48
+ },
49
+ "reset_region": {
50
+ "size": [
51
+ 1.8142262259761803,
52
+ 1.1661
53
+ ],
54
+ "offset": [
55
+ -0.9928868870119097,
56
+ 2.0816681711721685e-17,
57
+ 0.46
58
+ ],
59
+ "name": "geom_1"
60
+ }
61
+ },
62
+ {
63
+ "name": "distr_sink",
64
+ "obj_groups": "all",
65
+ "washable": true,
66
+ "placement": {
67
+ "fixture": "sink_island_group_1",
68
+ "size": [
69
+ 0.3,
70
+ 0.4
71
+ ],
72
+ "pos": [
73
+ null,
74
+ -1.0
75
+ ]
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "sweet_potato",
82
+ "vegetable",
83
+ "food",
84
+ "in_container",
85
+ "oven_ready"
86
+ ],
87
+ "groups": [
88
+ "all"
89
+ ],
90
+ "cat": "sweet_potato",
91
+ "split": "train",
92
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml"
93
+ },
94
+ "reset_region": {
95
+ "offset": [
96
+ 0.00013712464552104175,
97
+ -0.024069908043178587,
98
+ -0.22387841800324237
99
+ ],
100
+ "size": [
101
+ 0.40355167428678823,
102
+ 0.2950312392401234
103
+ ],
104
+ "height": 0.18995636849192682,
105
+ "name": "basin"
106
+ }
107
+ }
108
+ ],
109
+ "fixtures": {
110
+ "wall_main_1_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_main_1_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_left_1_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_1_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_1_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_1_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_main_2_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_main_2_backing_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_main_3.001_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "wall_main_3.001_backing_room": {
138
+ "cls": "Wall"
139
+ },
140
+ "floor_1_room": {
141
+ "cls": "Floor"
142
+ },
143
+ "floor_1_backing_room": {
144
+ "cls": "Floor"
145
+ },
146
+ "floor_2.001_room": {
147
+ "cls": "Floor"
148
+ },
149
+ "floor_2.001_backing_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "stool_1_room": {
153
+ "cls": "Stool"
154
+ },
155
+ "stool_2_room": {
156
+ "cls": "Stool"
157
+ },
158
+ "stool_3_room": {
159
+ "cls": "Stool"
160
+ },
161
+ "stool_4_room": {
162
+ "cls": "Stool"
163
+ },
164
+ "counter_2_right_group_1": {
165
+ "cls": "Counter"
166
+ },
167
+ "hingecabinet_1_right_group_1": {
168
+ "cls": "HingeCabinet"
169
+ },
170
+ "hingecabinet_2_right_group_1": {
171
+ "cls": "HingeCabinet"
172
+ },
173
+ "hingecabinet_3_right_group_1": {
174
+ "cls": "HingeCabinet"
175
+ },
176
+ "stack_1_right_group_1_base": {
177
+ "cls": "Box"
178
+ },
179
+ "stack_1_right_group_1_1": {
180
+ "cls": "HingeCabinet"
181
+ },
182
+ "stack_1_right_group_1_2": {
183
+ "cls": "Drawer"
184
+ },
185
+ "stack_2_right_group_1_base": {
186
+ "cls": "Box"
187
+ },
188
+ "stack_2_right_group_1_1": {
189
+ "cls": "HingeCabinet"
190
+ },
191
+ "stack_2_right_group_1_2": {
192
+ "cls": "Drawer"
193
+ },
194
+ "stack_3_right_group_1_base": {
195
+ "cls": "Box"
196
+ },
197
+ "stack_3_right_group_1_1": {
198
+ "cls": "HingeCabinet"
199
+ },
200
+ "stack_3_right_group_1_2": {
201
+ "cls": "Drawer"
202
+ },
203
+ "counter_1_right_group_1": {
204
+ "cls": "Counter"
205
+ },
206
+ "fridgefrenchdoor_right_group_1": {
207
+ "cls": "FridgeFrenchDoor"
208
+ },
209
+ "fridgefrenchdoor_housing_right_group_1": {
210
+ "cls": "HousingCabinet"
211
+ },
212
+ "hingecabinet_4_right_group_1": {
213
+ "cls": "HingeCabinet"
214
+ },
215
+ "bottom_right_group_1_base": {
216
+ "cls": "Box"
217
+ },
218
+ "bottom_right_group_1_1": {
219
+ "cls": "Drawer"
220
+ },
221
+ "microwave_right_group_1": {
222
+ "cls": "Microwave"
223
+ },
224
+ "oven_cabinet_right_group_1": {
225
+ "cls": "HingeCabinet"
226
+ },
227
+ "microwave_housing_right_group_1": {
228
+ "cls": "HousingCabinet"
229
+ },
230
+ "top_right_group_1": {
231
+ "cls": "HingeCabinet"
232
+ },
233
+ "coffee_machine_right_group_1": {
234
+ "cls": "CoffeeMachine"
235
+ },
236
+ "toaster_right_group_1": {
237
+ "cls": "Toaster"
238
+ },
239
+ "hingecabinet_1_main_group_1": {
240
+ "cls": "HingeCabinet"
241
+ },
242
+ "hingecabinet_2_main_group_1": {
243
+ "cls": "HingeCabinet"
244
+ },
245
+ "singlecabinet_1_main_group_1": {
246
+ "cls": "SingleCabinet"
247
+ },
248
+ "singlecabinet_2_main_group_1": {
249
+ "cls": "SingleCabinet"
250
+ },
251
+ "counter_1_main_group_1": {
252
+ "cls": "Counter"
253
+ },
254
+ "counter_2_main_group_1": {
255
+ "cls": "Counter"
256
+ },
257
+ "widestove_main_group_1": {
258
+ "cls": "Stove"
259
+ },
260
+ "widestove_hood_main_group_1": {
261
+ "cls": "Hood"
262
+ },
263
+ "stack_1_main_group_1_base": {
264
+ "cls": "Box"
265
+ },
266
+ "stack_1_main_group_1_1": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "stack_1_main_group_1_2": {
270
+ "cls": "Drawer"
271
+ },
272
+ "stack_4_main_group_1_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_4_main_group_1_1": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "stack_4_main_group_1_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_2_main_group_1_base": {
282
+ "cls": "Box"
283
+ },
284
+ "stack_2_main_group_1_1": {
285
+ "cls": "Drawer"
286
+ },
287
+ "stack_2_main_group_1_2": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_2_main_group_1_3": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_3_main_group_1_base": {
294
+ "cls": "Box"
295
+ },
296
+ "stack_3_main_group_1_1": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_3_main_group_1_2": {
300
+ "cls": "Drawer"
301
+ },
302
+ "stack_3_main_group_1_3": {
303
+ "cls": "Drawer"
304
+ },
305
+ "knife_block_main_group_1": {
306
+ "cls": "Accessory"
307
+ },
308
+ "paper_towel_main_group_1": {
309
+ "cls": "Accessory"
310
+ },
311
+ "toaster_oven_main_group_1": {
312
+ "cls": "ToasterOven"
313
+ },
314
+ "sink_island_group_1": {
315
+ "cls": "Sink"
316
+ },
317
+ "island_island_group_1": {
318
+ "cls": "Counter"
319
+ },
320
+ "stack_2_island_group_1_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_2_island_group_1_1": {
324
+ "cls": "SingleCabinet"
325
+ },
326
+ "stack_2_island_group_1_2": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_1_island_group_1_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_1_island_group_1_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "stack_1_island_group_1_2": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_3_island_group_1_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_3_island_group_1_1": {
342
+ "cls": "HingeCabinet"
343
+ },
344
+ "stack_3_island_group_1_2": {
345
+ "cls": "PanelCabinet"
346
+ },
347
+ "stack_4_island_group_1_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_4_island_group_1_1": {
351
+ "cls": "SingleCabinet"
352
+ },
353
+ "stack_4_island_group_1_2": {
354
+ "cls": "Drawer"
355
+ },
356
+ "cube_1_island_group_1": {
357
+ "cls": "Box"
358
+ },
359
+ "cube_2_island_group_1": {
360
+ "cls": "Box"
361
+ },
362
+ "cube_3_island_group_1": {
363
+ "cls": "Box"
364
+ },
365
+ "dishwasher_1_island_group_1": {
366
+ "cls": "Dishwasher"
367
+ }
368
+ },
369
+ "gen_textures": {},
370
+ "lang": "Turn on the sink faucet.",
371
+ "fixture_refs": {},
372
+ "cam_configs": {
373
+ "robot0_agentview_center": {
374
+ "pos": [
375
+ -0.6,
376
+ 0.0,
377
+ 1.15
378
+ ],
379
+ "quat": [
380
+ 0.636945903301239,
381
+ 0.3325185477733612,
382
+ -0.3199238181114197,
383
+ -0.6175596117973328
384
+ ],
385
+ "parent_body": "mobilebase0_support"
386
+ },
387
+ "robot0_agentview_left": {
388
+ "pos": [
389
+ -0.5,
390
+ 0.35,
391
+ 1.05
392
+ ],
393
+ "quat": [
394
+ 0.55623853,
395
+ 0.29935253,
396
+ -0.37678665,
397
+ -0.6775092
398
+ ],
399
+ "camera_attribs": {
400
+ "fovy": "60"
401
+ },
402
+ "parent_body": "mobilebase0_support"
403
+ },
404
+ "robot0_agentview_right": {
405
+ "pos": [
406
+ -0.5,
407
+ -0.35,
408
+ 1.05
409
+ ],
410
+ "quat": [
411
+ 0.6775091886520386,
412
+ 0.3767866790294647,
413
+ -0.2993525564670563,
414
+ -0.55623859167099
415
+ ],
416
+ "camera_attribs": {
417
+ "fovy": "60"
418
+ },
419
+ "parent_body": "mobilebase0_support"
420
+ },
421
+ "robot0_frontview": {
422
+ "pos": [
423
+ -0.5,
424
+ 0,
425
+ 0.95
426
+ ],
427
+ "quat": [
428
+ 0.6088936924934387,
429
+ 0.3814677894115448,
430
+ -0.3673907518386841,
431
+ -0.5905545353889465
432
+ ],
433
+ "camera_attribs": {
434
+ "fovy": "60"
435
+ },
436
+ "parent_body": "mobilebase0_support"
437
+ },
438
+ "robot0_eye_in_hand": {
439
+ "pos": [
440
+ 0.05,
441
+ 0,
442
+ 0
443
+ ],
444
+ "quat": [
445
+ 0,
446
+ 0.707107,
447
+ 0.707107,
448
+ 0
449
+ ],
450
+ "parent_body": "robot0_right_hand"
451
+ }
452
+ },
453
+ "init_robot_base_pos": [
454
+ 2.2741000538402423,
455
+ -1.7918699051389824,
456
+ 0.0
457
+ ],
458
+ "init_robot_base_ori": [
459
+ 0.0,
460
+ 0.0,
461
+ -1.5706453736350774
462
+ ]
463
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000039/ep_meta.json ADDED
@@ -0,0 +1,652 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 12,
3
+ "style_id": 22,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_main_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.08040939360000002,
15
+ 0.08081546320000002,
16
+ 0.05186704160000002
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "squash",
37
+ "vegetable",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "squash",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.2815440000000002,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ -1.296228,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_1"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_counter_1",
63
+ "obj_groups": "all",
64
+ "placement": {
65
+ "fixture": "counter_1_main_group",
66
+ "sample_region_kwargs": {
67
+ "ref": "sink_1_main_group",
68
+ "loc": "left_right",
69
+ "min_size": [
70
+ 0.06363695099999997,
71
+ 0.07499999549999996,
72
+ 0.061309115999999976
73
+ ]
74
+ },
75
+ "size": [
76
+ 0.3,
77
+ 0.3
78
+ ],
79
+ "pos": [
80
+ "ref",
81
+ -1.0
82
+ ],
83
+ "offset": [
84
+ 0.0,
85
+ 0.1
86
+ ]
87
+ },
88
+ "type": "object",
89
+ "info": {
90
+ "groups_containing_sampled_obj": [
91
+ "all",
92
+ "lime",
93
+ "vegetable",
94
+ "food",
95
+ "in_container"
96
+ ],
97
+ "groups": [
98
+ "all"
99
+ ],
100
+ "cat": "lime",
101
+ "split": "train",
102
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml"
103
+ },
104
+ "reset_region": {
105
+ "size": [
106
+ 1.6224560000000001,
107
+ 0.65
108
+ ],
109
+ "offset": [
110
+ 1.1257719999999998,
111
+ -3.469446951953614e-17,
112
+ 0.46
113
+ ],
114
+ "name": "geom_0"
115
+ }
116
+ },
117
+ {
118
+ "name": "distr_counter_2",
119
+ "obj_groups": "all",
120
+ "placement": {
121
+ "fixture": "counter_1_main_group",
122
+ "sample_region_kwargs": {
123
+ "ref": "sink_1_main_group",
124
+ "loc": "left_right",
125
+ "min_size": [
126
+ 0.058000006959999996,
127
+ 0.11599999999999998,
128
+ 0.006766679039999998
129
+ ]
130
+ },
131
+ "size": [
132
+ 0.3,
133
+ 0.3
134
+ ],
135
+ "pos": [
136
+ "ref",
137
+ -1.0
138
+ ],
139
+ "offset": [
140
+ 0.0,
141
+ 0.1
142
+ ]
143
+ },
144
+ "type": "object",
145
+ "info": {
146
+ "groups_containing_sampled_obj": [
147
+ "all",
148
+ "chocolate",
149
+ "sweets",
150
+ "food",
151
+ "in_container"
152
+ ],
153
+ "groups": [
154
+ "all"
155
+ ],
156
+ "cat": "chocolate",
157
+ "split": "train",
158
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/chocolate/chocolate_1/model.xml"
159
+ },
160
+ "reset_region": {
161
+ "size": [
162
+ 1.2815440000000002,
163
+ 0.65
164
+ ],
165
+ "offset": [
166
+ -1.296228,
167
+ -3.469446951953614e-17,
168
+ 0.46
169
+ ],
170
+ "name": "geom_1"
171
+ }
172
+ },
173
+ {
174
+ "name": "distr_sink",
175
+ "obj_groups": "all",
176
+ "washable": true,
177
+ "placement": {
178
+ "fixture": "sink_1_main_group",
179
+ "size": [
180
+ 0.3,
181
+ 0.4
182
+ ],
183
+ "pos": [
184
+ null,
185
+ -1.0
186
+ ]
187
+ },
188
+ "type": "object",
189
+ "info": {
190
+ "groups_containing_sampled_obj": [
191
+ "all",
192
+ "corn",
193
+ "vegetable",
194
+ "food",
195
+ "in_container",
196
+ "oven_ready"
197
+ ],
198
+ "groups": [
199
+ "all"
200
+ ],
201
+ "cat": "corn",
202
+ "split": "train",
203
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml"
204
+ },
205
+ "reset_region": {
206
+ "offset": [
207
+ -0.2234266545150822,
208
+ -0.001252357618651917,
209
+ -0.25239914471674074
210
+ ],
211
+ "size": [
212
+ 0.4068430785212167,
213
+ 0.38341415728354855
214
+ ],
215
+ "height": 0.19991324859598003,
216
+ "name": "basin"
217
+ }
218
+ }
219
+ ],
220
+ "fixtures": {
221
+ "wall_left_1_room": {
222
+ "cls": "Wall"
223
+ },
224
+ "wall_left_1_backing_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "wall_main_1_room": {
228
+ "cls": "Wall"
229
+ },
230
+ "wall_main_1_backing_room": {
231
+ "cls": "Wall"
232
+ },
233
+ "wall_right_1_room": {
234
+ "cls": "Wall"
235
+ },
236
+ "wall_right_1_backing_room": {
237
+ "cls": "Wall"
238
+ },
239
+ "wall_right_2_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_right_2_backing_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_right_3_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_right_3_backing_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "floor_1_room": {
252
+ "cls": "Floor"
253
+ },
254
+ "floor_1_backing_room": {
255
+ "cls": "Floor"
256
+ },
257
+ "wall_accessory_1_room": {
258
+ "cls": "WallAccessory"
259
+ },
260
+ "wall_accessory_2_room": {
261
+ "cls": "WallAccessory"
262
+ },
263
+ "wall_accessory_3_room": {
264
+ "cls": "WallAccessory"
265
+ },
266
+ "light_switch_1_room": {
267
+ "cls": "WallAccessory"
268
+ },
269
+ "wall_accessory_4_room": {
270
+ "cls": "WallAccessory"
271
+ },
272
+ "wall_accessory_5_room": {
273
+ "cls": "WallAccessory"
274
+ },
275
+ "window_group_room": {
276
+ "cls": "Window"
277
+ },
278
+ "stool_1_room": {
279
+ "cls": "Stool"
280
+ },
281
+ "stool_2_room": {
282
+ "cls": "Stool"
283
+ },
284
+ "stool_3_room": {
285
+ "cls": "Stool"
286
+ },
287
+ "stool_4_room": {
288
+ "cls": "Stool"
289
+ },
290
+ "stool_5_room": {
291
+ "cls": "Stool"
292
+ },
293
+ "stool_6_room": {
294
+ "cls": "Stool"
295
+ },
296
+ "counter_corner_1_main_group": {
297
+ "cls": "Counter"
298
+ },
299
+ "sink_1_main_group": {
300
+ "cls": "Sink"
301
+ },
302
+ "counter_1_main_group": {
303
+ "cls": "Counter"
304
+ },
305
+ "counter_corner_2_main_group": {
306
+ "cls": "Counter"
307
+ },
308
+ "box_1_main_group": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_1_main_group_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_1_main_group_1": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_1_main_group_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_1_main_group_3": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_2_main_group_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_2_main_group_1": {
327
+ "cls": "SingleCabinet"
328
+ },
329
+ "stack_2_main_group_2": {
330
+ "cls": "Drawer"
331
+ },
332
+ "stack_3_main_group_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_3_main_group_1": {
336
+ "cls": "HingeCabinet"
337
+ },
338
+ "dishwasher_1_main_group": {
339
+ "cls": "Dishwasher"
340
+ },
341
+ "stack_4_main_group_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_4_main_group_1": {
345
+ "cls": "SingleCabinet"
346
+ },
347
+ "stack_4_main_group_2": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_5_main_group_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_5_main_group_1": {
354
+ "cls": "SingleCabinet"
355
+ },
356
+ "box_2_main_group": {
357
+ "cls": "Box"
358
+ },
359
+ "top_corner_1_main_group": {
360
+ "cls": "Box"
361
+ },
362
+ "cab_1_main_group": {
363
+ "cls": "HingeCabinet"
364
+ },
365
+ "cab_2_main_group": {
366
+ "cls": "HingeCabinet"
367
+ },
368
+ "top_corner_2_main_group": {
369
+ "cls": "Box"
370
+ },
371
+ "paper_towel_main_group": {
372
+ "cls": "Accessory"
373
+ },
374
+ "coffee_machine_main_group": {
375
+ "cls": "CoffeeMachine"
376
+ },
377
+ "toaster_main_group": {
378
+ "cls": "Toaster"
379
+ },
380
+ "knife_block_main_group": {
381
+ "cls": "Accessory"
382
+ },
383
+ "stovetop_left_group": {
384
+ "cls": "Stovetop"
385
+ },
386
+ "counter_1_left_group": {
387
+ "cls": "Counter"
388
+ },
389
+ "box_1_left_group": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_1_left_group_base": {
393
+ "cls": "Box"
394
+ },
395
+ "stack_1_left_group_1": {
396
+ "cls": "SingleCabinet"
397
+ },
398
+ "stack_2_left_group_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_2_left_group_1": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_2_left_group_2": {
405
+ "cls": "Drawer"
406
+ },
407
+ "stack_2_left_group_3": {
408
+ "cls": "PanelCabinet"
409
+ },
410
+ "box_3_left_group": {
411
+ "cls": "Box"
412
+ },
413
+ "stack_3_left_group_base": {
414
+ "cls": "Box"
415
+ },
416
+ "stack_3_left_group_1": {
417
+ "cls": "Drawer"
418
+ },
419
+ "stack_3_left_group_2": {
420
+ "cls": "Drawer"
421
+ },
422
+ "stack_3_left_group_3": {
423
+ "cls": "Drawer"
424
+ },
425
+ "box_2_left_group": {
426
+ "cls": "Box"
427
+ },
428
+ "fridge_1_left_group": {
429
+ "cls": "FridgeFrenchDoor"
430
+ },
431
+ "fridge_1_housing_left_group": {
432
+ "cls": "HousingCabinet"
433
+ },
434
+ "hood_left_group": {
435
+ "cls": "Hood"
436
+ },
437
+ "cab_1_left_group": {
438
+ "cls": "HingeCabinet"
439
+ },
440
+ "cab_2_left_group": {
441
+ "cls": "SingleCabinet"
442
+ },
443
+ "cab_3_left_group": {
444
+ "cls": "HingeCabinet"
445
+ },
446
+ "toaster_oven_left_group": {
447
+ "cls": "ToasterOven"
448
+ },
449
+ "bottom_right_group_1_base": {
450
+ "cls": "Box"
451
+ },
452
+ "bottom_right_group_1_1": {
453
+ "cls": "Drawer"
454
+ },
455
+ "oven_right_group_1": {
456
+ "cls": "Oven"
457
+ },
458
+ "oven_housing_right_group_1": {
459
+ "cls": "HousingCabinet"
460
+ },
461
+ "microwave_right_group_1": {
462
+ "cls": "Microwave"
463
+ },
464
+ "microwave_housing_right_group_1": {
465
+ "cls": "HousingCabinet"
466
+ },
467
+ "top_right_group_1": {
468
+ "cls": "HingeCabinet"
469
+ },
470
+ "stack_1_right_group_1_base": {
471
+ "cls": "Box"
472
+ },
473
+ "stack_1_right_group_1_1": {
474
+ "cls": "HingeCabinet"
475
+ },
476
+ "stack_2_right_group_1_base": {
477
+ "cls": "Box"
478
+ },
479
+ "stack_2_right_group_1_1": {
480
+ "cls": "PanelCabinet"
481
+ },
482
+ "box_right_group_1": {
483
+ "cls": "Box"
484
+ },
485
+ "stack_3_right_group_1_base": {
486
+ "cls": "Box"
487
+ },
488
+ "stack_3_right_group_1_1": {
489
+ "cls": "HingeCabinet"
490
+ },
491
+ "counter_1_right_group_1": {
492
+ "cls": "Counter"
493
+ },
494
+ "cab_1_right_group_1": {
495
+ "cls": "HingeCabinet"
496
+ },
497
+ "cab_2_right_group_1": {
498
+ "cls": "SingleCabinet"
499
+ },
500
+ "cab_3_right_group_1": {
501
+ "cls": "HingeCabinet"
502
+ },
503
+ "island_island_group": {
504
+ "cls": "Counter"
505
+ },
506
+ "panel_stack_1_island_group_base": {
507
+ "cls": "Box"
508
+ },
509
+ "panel_stack_1_island_group_1": {
510
+ "cls": "PanelCabinet"
511
+ },
512
+ "stack_1_island_group_base": {
513
+ "cls": "Box"
514
+ },
515
+ "stack_1_island_group_1": {
516
+ "cls": "HingeCabinet"
517
+ },
518
+ "stack_1_island_group_2": {
519
+ "cls": "Drawer"
520
+ },
521
+ "stack_2_island_group_base": {
522
+ "cls": "Box"
523
+ },
524
+ "stack_2_island_group_1": {
525
+ "cls": "HingeCabinet"
526
+ },
527
+ "stack_2_island_group_2": {
528
+ "cls": "Drawer"
529
+ },
530
+ "stack_3_island_group_base": {
531
+ "cls": "Box"
532
+ },
533
+ "stack_3_island_group_1": {
534
+ "cls": "HingeCabinet"
535
+ },
536
+ "stack_3_island_group_2": {
537
+ "cls": "Drawer"
538
+ },
539
+ "stack_4_island_group_base": {
540
+ "cls": "Box"
541
+ },
542
+ "stack_4_island_group_1": {
543
+ "cls": "HingeCabinet"
544
+ },
545
+ "stack_4_island_group_2": {
546
+ "cls": "Drawer"
547
+ },
548
+ "panel_stack_2_island_group_base": {
549
+ "cls": "Box"
550
+ },
551
+ "panel_stack_2_island_group_1": {
552
+ "cls": "PanelCabinet"
553
+ },
554
+ "box_1_island_group": {
555
+ "cls": "Box"
556
+ }
557
+ },
558
+ "gen_textures": {},
559
+ "lang": "Turn on the sink faucet.",
560
+ "fixture_refs": {},
561
+ "cam_configs": {
562
+ "robot0_agentview_center": {
563
+ "pos": [
564
+ -0.6,
565
+ 0.0,
566
+ 1.15
567
+ ],
568
+ "quat": [
569
+ 0.636945903301239,
570
+ 0.3325185477733612,
571
+ -0.3199238181114197,
572
+ -0.6175596117973328
573
+ ],
574
+ "parent_body": "mobilebase0_support"
575
+ },
576
+ "robot0_agentview_left": {
577
+ "pos": [
578
+ -0.5,
579
+ 0.35,
580
+ 1.05
581
+ ],
582
+ "quat": [
583
+ 0.55623853,
584
+ 0.29935253,
585
+ -0.37678665,
586
+ -0.6775092
587
+ ],
588
+ "camera_attribs": {
589
+ "fovy": "60"
590
+ },
591
+ "parent_body": "mobilebase0_support"
592
+ },
593
+ "robot0_agentview_right": {
594
+ "pos": [
595
+ -0.5,
596
+ -0.35,
597
+ 1.05
598
+ ],
599
+ "quat": [
600
+ 0.6775091886520386,
601
+ 0.3767866790294647,
602
+ -0.2993525564670563,
603
+ -0.55623859167099
604
+ ],
605
+ "camera_attribs": {
606
+ "fovy": "60"
607
+ },
608
+ "parent_body": "mobilebase0_support"
609
+ },
610
+ "robot0_frontview": {
611
+ "pos": [
612
+ -0.5,
613
+ 0,
614
+ 0.95
615
+ ],
616
+ "quat": [
617
+ 0.6088936924934387,
618
+ 0.3814677894115448,
619
+ -0.3673907518386841,
620
+ -0.5905545353889465
621
+ ],
622
+ "camera_attribs": {
623
+ "fovy": "60"
624
+ },
625
+ "parent_body": "mobilebase0_support"
626
+ },
627
+ "robot0_eye_in_hand": {
628
+ "pos": [
629
+ 0.05,
630
+ 0,
631
+ 0
632
+ ],
633
+ "quat": [
634
+ 0,
635
+ 0.707107,
636
+ 0.707107,
637
+ 0
638
+ ],
639
+ "parent_body": "robot0_right_hand"
640
+ }
641
+ },
642
+ "init_robot_base_pos": [
643
+ 2.546129638658731,
644
+ -0.8385792966424813,
645
+ 0.0
646
+ ],
647
+ "init_robot_base_ori": [
648
+ 0.0,
649
+ 0.0,
650
+ 1.5707963267948966
651
+ ]
652
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000040/ep_meta.json ADDED
@@ -0,0 +1,554 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 24,
3
+ "style_id": 39,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "island_island_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_island_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.07273767599999997,
15
+ 0.09999999999999996,
16
+ 0.07202737999999997
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "onion",
37
+ "vegetable",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "onion",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_0/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.4306243019160476,
51
+ 1.95
52
+ ],
53
+ "offset": [
54
+ 1.184687849041976,
55
+ 2.0816681711721685e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_counter_1",
63
+ "obj_groups": "all",
64
+ "placement": {
65
+ "fixture": "island_island_group_1",
66
+ "sample_region_kwargs": {
67
+ "ref": "sink_1_island_group_1",
68
+ "loc": "left_right",
69
+ "min_size": [
70
+ 0.12110807,
71
+ 0.17017862,
72
+ 0.1569531
73
+ ]
74
+ },
75
+ "size": [
76
+ 0.3,
77
+ 0.3
78
+ ],
79
+ "pos": [
80
+ "ref",
81
+ -1.0
82
+ ],
83
+ "offset": [
84
+ 0.0,
85
+ 0.1
86
+ ]
87
+ },
88
+ "type": "object",
89
+ "info": {
90
+ "groups_containing_sampled_obj": [
91
+ "all",
92
+ "reamer",
93
+ "tool",
94
+ "in_container"
95
+ ],
96
+ "groups": [
97
+ "all"
98
+ ],
99
+ "cat": "reamer",
100
+ "split": "train",
101
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer002/model.xml"
102
+ },
103
+ "reset_region": {
104
+ "size": [
105
+ 1.5826243019160477,
106
+ 1.95
107
+ ],
108
+ "offset": [
109
+ -1.108687849041976,
110
+ 2.0816681711721685e-17,
111
+ 0.46
112
+ ],
113
+ "name": "geom_1"
114
+ }
115
+ },
116
+ {
117
+ "name": "distr_sink",
118
+ "obj_groups": "all",
119
+ "washable": true,
120
+ "placement": {
121
+ "fixture": "sink_1_island_group_1",
122
+ "size": [
123
+ 0.3,
124
+ 0.4
125
+ ],
126
+ "pos": [
127
+ null,
128
+ -1.0
129
+ ]
130
+ },
131
+ "type": "object",
132
+ "info": {
133
+ "groups_containing_sampled_obj": [
134
+ "all",
135
+ "potato",
136
+ "vegetable",
137
+ "food",
138
+ "in_container",
139
+ "food_set1",
140
+ "oven_ready"
141
+ ],
142
+ "groups": [
143
+ "all"
144
+ ],
145
+ "cat": "potato",
146
+ "split": "train",
147
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_17/model.xml"
148
+ },
149
+ "reset_region": {
150
+ "offset": [
151
+ -0.16428449956722066,
152
+ -0.03902629220261322,
153
+ -0.22800612393871678
154
+ ],
155
+ "size": [
156
+ 0.384537337814347,
157
+ 0.37019680339105854
158
+ ],
159
+ "height": 0.12750776516385834,
160
+ "name": "basin_left"
161
+ }
162
+ }
163
+ ],
164
+ "fixtures": {
165
+ "wall_right_1_room": {
166
+ "cls": "Wall"
167
+ },
168
+ "wall_right_1_backing_room": {
169
+ "cls": "Wall"
170
+ },
171
+ "wall_main_1_room": {
172
+ "cls": "Wall"
173
+ },
174
+ "wall_main_1_backing_room": {
175
+ "cls": "Wall"
176
+ },
177
+ "floor_1_room": {
178
+ "cls": "Floor"
179
+ },
180
+ "floor_1_backing_room": {
181
+ "cls": "Floor"
182
+ },
183
+ "floor_2_room": {
184
+ "cls": "Floor"
185
+ },
186
+ "floor_2_backing_room": {
187
+ "cls": "Floor"
188
+ },
189
+ "wall_accessory_1_room": {
190
+ "cls": "WallAccessory"
191
+ },
192
+ "wall_accessory_2_room": {
193
+ "cls": "WallAccessory"
194
+ },
195
+ "wall_accessory_3_room": {
196
+ "cls": "WallAccessory"
197
+ },
198
+ "wall_accessory_4_room": {
199
+ "cls": "WallAccessory"
200
+ },
201
+ "wall_accessory_5_room": {
202
+ "cls": "WallAccessory"
203
+ },
204
+ "wall_accessory_6_room": {
205
+ "cls": "WallAccessory"
206
+ },
207
+ "window_group_1_room": {
208
+ "cls": "Window"
209
+ },
210
+ "window_group_2_room": {
211
+ "cls": "Window"
212
+ },
213
+ "stool_1_room": {
214
+ "cls": "Stool"
215
+ },
216
+ "stool_2_room": {
217
+ "cls": "Stool"
218
+ },
219
+ "stool_3_room": {
220
+ "cls": "Stool"
221
+ },
222
+ "counter_1_main_group": {
223
+ "cls": "Counter"
224
+ },
225
+ "stove_main_group": {
226
+ "cls": "Stove"
227
+ },
228
+ "counter_2_main_group": {
229
+ "cls": "Counter"
230
+ },
231
+ "stack_1_main_group_base": {
232
+ "cls": "Box"
233
+ },
234
+ "stack_1_main_group_1": {
235
+ "cls": "Drawer"
236
+ },
237
+ "stack_1_main_group_2": {
238
+ "cls": "Drawer"
239
+ },
240
+ "stack_1_main_group_3": {
241
+ "cls": "Drawer"
242
+ },
243
+ "stack_2_main_group_base": {
244
+ "cls": "Box"
245
+ },
246
+ "stack_2_main_group_1": {
247
+ "cls": "SingleCabinet"
248
+ },
249
+ "dishwasher_main_group": {
250
+ "cls": "Dishwasher"
251
+ },
252
+ "stack_3_main_group_base": {
253
+ "cls": "Box"
254
+ },
255
+ "stack_3_main_group_1": {
256
+ "cls": "Drawer"
257
+ },
258
+ "stack_3_main_group_2": {
259
+ "cls": "Drawer"
260
+ },
261
+ "stack_3_main_group_3": {
262
+ "cls": "Drawer"
263
+ },
264
+ "stack_3_main_group_4": {
265
+ "cls": "Drawer"
266
+ },
267
+ "stack_3_main_group_5": {
268
+ "cls": "Drawer"
269
+ },
270
+ "stack_3_main_group_6": {
271
+ "cls": "Drawer"
272
+ },
273
+ "stack_4_main_group_base": {
274
+ "cls": "Box"
275
+ },
276
+ "stack_4_main_group_1": {
277
+ "cls": "Drawer"
278
+ },
279
+ "stack_4_main_group_2": {
280
+ "cls": "Drawer"
281
+ },
282
+ "stack_4_main_group_3": {
283
+ "cls": "Drawer"
284
+ },
285
+ "stack_5_main_group_base": {
286
+ "cls": "Box"
287
+ },
288
+ "stack_5_main_group_1": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_5_main_group_2": {
292
+ "cls": "Drawer"
293
+ },
294
+ "stack_6_main_group_base": {
295
+ "cls": "Box"
296
+ },
297
+ "stack_6_main_group_1": {
298
+ "cls": "Drawer"
299
+ },
300
+ "stack_6_main_group_2": {
301
+ "cls": "Drawer"
302
+ },
303
+ "stack_7_main_group_base": {
304
+ "cls": "Box"
305
+ },
306
+ "stack_7_main_group_1": {
307
+ "cls": "Drawer"
308
+ },
309
+ "stack_7_main_group_2": {
310
+ "cls": "Drawer"
311
+ },
312
+ "stack_7_main_group_3": {
313
+ "cls": "Drawer"
314
+ },
315
+ "wall_stack_main_group_base": {
316
+ "cls": "Box"
317
+ },
318
+ "wall_stack_main_group_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "wall_stack_main_group_2": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "hood_main_group": {
325
+ "cls": "Hood"
326
+ },
327
+ "cab_1_main_group": {
328
+ "cls": "SingleCabinet"
329
+ },
330
+ "cab_2_main_group": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "cab_3_main_group": {
334
+ "cls": "SingleCabinet"
335
+ },
336
+ "cab_4_main_group": {
337
+ "cls": "SingleCabinet"
338
+ },
339
+ "cab_5_main_group": {
340
+ "cls": "HingeCabinet"
341
+ },
342
+ "cab_6_main_group": {
343
+ "cls": "SingleCabinet"
344
+ },
345
+ "coffee_machine_main_group": {
346
+ "cls": "CoffeeMachine"
347
+ },
348
+ "paper_towel_main_group": {
349
+ "cls": "Accessory"
350
+ },
351
+ "toaster_main_group": {
352
+ "cls": "Toaster"
353
+ },
354
+ "toaster_oven_main_group": {
355
+ "cls": "ToasterOven"
356
+ },
357
+ "bottom_right_group_base": {
358
+ "cls": "Box"
359
+ },
360
+ "bottom_right_group_1": {
361
+ "cls": "Drawer"
362
+ },
363
+ "cab_1_right_group": {
364
+ "cls": "HingeCabinet"
365
+ },
366
+ "microwave_right_group": {
367
+ "cls": "Microwave"
368
+ },
369
+ "microwave_housing_right_group": {
370
+ "cls": "HousingCabinet"
371
+ },
372
+ "top_right_group": {
373
+ "cls": "HingeCabinet"
374
+ },
375
+ "fridge_right_group": {
376
+ "cls": "FridgeSideBySide"
377
+ },
378
+ "fridge_housing_right_group": {
379
+ "cls": "HousingCabinet"
380
+ },
381
+ "fridge_top_cabinet_right_group": {
382
+ "cls": "HingeCabinet"
383
+ },
384
+ "sink_1_island_group_1": {
385
+ "cls": "Sink"
386
+ },
387
+ "island_island_group_1": {
388
+ "cls": "Counter"
389
+ },
390
+ "box_island_group_1": {
391
+ "cls": "Box"
392
+ },
393
+ "panel_box_1_island_group_1_base": {
394
+ "cls": "Box"
395
+ },
396
+ "panel_box_1_island_group_1_1": {
397
+ "cls": "PanelCabinet"
398
+ },
399
+ "stack_1_island_group_1_base": {
400
+ "cls": "Box"
401
+ },
402
+ "stack_1_island_group_1_1": {
403
+ "cls": "Drawer"
404
+ },
405
+ "stack_1_island_group_1_2": {
406
+ "cls": "Drawer"
407
+ },
408
+ "stack_1_island_group_1_3": {
409
+ "cls": "Drawer"
410
+ },
411
+ "stack_2_island_group_1_base": {
412
+ "cls": "Box"
413
+ },
414
+ "stack_2_island_group_1_1": {
415
+ "cls": "SingleCabinet"
416
+ },
417
+ "stack_3_island_group_1_base": {
418
+ "cls": "Box"
419
+ },
420
+ "stack_3_island_group_1_1": {
421
+ "cls": "HingeCabinet"
422
+ },
423
+ "stack_3_island_group_1_2": {
424
+ "cls": "PanelCabinet"
425
+ },
426
+ "stack_4_island_group_1_base": {
427
+ "cls": "Box"
428
+ },
429
+ "stack_4_island_group_1_1": {
430
+ "cls": "SingleCabinet"
431
+ },
432
+ "stack_5_island_group_1_base": {
433
+ "cls": "Box"
434
+ },
435
+ "stack_5_island_group_1_1": {
436
+ "cls": "Drawer"
437
+ },
438
+ "stack_5_island_group_1_2": {
439
+ "cls": "Drawer"
440
+ },
441
+ "stack_5_island_group_1_3": {
442
+ "cls": "Drawer"
443
+ },
444
+ "plant_island_group_1": {
445
+ "cls": "Accessory"
446
+ },
447
+ "stack_1_island_group_2_base": {
448
+ "cls": "Box"
449
+ },
450
+ "stack_1_island_group_2_1": {
451
+ "cls": "SingleCabinet"
452
+ },
453
+ "stack_2_island_group_2_base": {
454
+ "cls": "Box"
455
+ },
456
+ "stack_2_island_group_2_1": {
457
+ "cls": "SingleCabinet"
458
+ }
459
+ },
460
+ "gen_textures": {},
461
+ "lang": "Turn on the sink faucet.",
462
+ "fixture_refs": {},
463
+ "cam_configs": {
464
+ "robot0_agentview_center": {
465
+ "pos": [
466
+ -0.6,
467
+ 0.0,
468
+ 1.15
469
+ ],
470
+ "quat": [
471
+ 0.636945903301239,
472
+ 0.3325185477733612,
473
+ -0.3199238181114197,
474
+ -0.6175596117973328
475
+ ],
476
+ "parent_body": "mobilebase0_support"
477
+ },
478
+ "robot0_agentview_left": {
479
+ "pos": [
480
+ -0.5,
481
+ 0.35,
482
+ 1.05
483
+ ],
484
+ "quat": [
485
+ 0.55623853,
486
+ 0.29935253,
487
+ -0.37678665,
488
+ -0.6775092
489
+ ],
490
+ "camera_attribs": {
491
+ "fovy": "60"
492
+ },
493
+ "parent_body": "mobilebase0_support"
494
+ },
495
+ "robot0_agentview_right": {
496
+ "pos": [
497
+ -0.5,
498
+ -0.35,
499
+ 1.05
500
+ ],
501
+ "quat": [
502
+ 0.6775091886520386,
503
+ 0.3767866790294647,
504
+ -0.2993525564670563,
505
+ -0.55623859167099
506
+ ],
507
+ "camera_attribs": {
508
+ "fovy": "60"
509
+ },
510
+ "parent_body": "mobilebase0_support"
511
+ },
512
+ "robot0_frontview": {
513
+ "pos": [
514
+ -0.5,
515
+ 0,
516
+ 0.95
517
+ ],
518
+ "quat": [
519
+ 0.6088936924934387,
520
+ 0.3814677894115448,
521
+ -0.3673907518386841,
522
+ -0.5905545353889465
523
+ ],
524
+ "camera_attribs": {
525
+ "fovy": "60"
526
+ },
527
+ "parent_body": "mobilebase0_support"
528
+ },
529
+ "robot0_eye_in_hand": {
530
+ "pos": [
531
+ 0.05,
532
+ 0,
533
+ 0
534
+ ],
535
+ "quat": [
536
+ 0,
537
+ 0.707107,
538
+ 0.707107,
539
+ 0
540
+ ],
541
+ "parent_body": "robot0_right_hand"
542
+ }
543
+ },
544
+ "init_robot_base_pos": [
545
+ 3.18773963529943,
546
+ -1.8095322939496576,
547
+ 0.0
548
+ ],
549
+ "init_robot_base_ori": [
550
+ 0.0,
551
+ 0.0,
552
+ 4.712388892961913
553
+ ]
554
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000041/ep_meta.json ADDED
@@ -0,0 +1,573 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 50,
3
+ "style_id": 43,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_main_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.059581373399999964,
15
+ 0.06091159859999996,
16
+ 0.08999999459999994
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "canned_food",
37
+ "packaged_food"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "canned_food",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 0.8283763436254983,
49
+ 0.65
50
+ ],
51
+ "offset": [
52
+ 1.103294328187251,
53
+ -3.469446951953614e-17,
54
+ 0.4600005
55
+ ],
56
+ "name": "geom_0"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_counter_1",
61
+ "obj_groups": "all",
62
+ "placement": {
63
+ "fixture": "counter_1_main_group_1",
64
+ "sample_region_kwargs": {
65
+ "ref": "sink_main_group_1",
66
+ "loc": "left_right",
67
+ "min_size": [
68
+ 0.08252690495999998,
69
+ 0.09592070783999997,
70
+ 0.03860648447999998
71
+ ]
72
+ },
73
+ "size": [
74
+ 0.3,
75
+ 0.3
76
+ ],
77
+ "pos": [
78
+ "ref",
79
+ -1.0
80
+ ],
81
+ "offset": [
82
+ 0.0,
83
+ 0.1
84
+ ]
85
+ },
86
+ "type": "object",
87
+ "info": {
88
+ "groups_containing_sampled_obj": [
89
+ "all",
90
+ "cake",
91
+ "sweets",
92
+ "food",
93
+ "in_container"
94
+ ],
95
+ "groups": [
96
+ "all"
97
+ ],
98
+ "cat": "cake",
99
+ "split": "train",
100
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml"
101
+ },
102
+ "reset_region": {
103
+ "size": [
104
+ 1.313970743625498,
105
+ 0.65
106
+ ],
107
+ "offset": [
108
+ -0.8604971281872511,
109
+ -3.469446951953614e-17,
110
+ 0.4600005
111
+ ],
112
+ "name": "geom_1"
113
+ }
114
+ },
115
+ {
116
+ "name": "distr_counter_2",
117
+ "obj_groups": "all",
118
+ "placement": {
119
+ "fixture": "counter_1_main_group_1",
120
+ "sample_region_kwargs": {
121
+ "ref": "sink_main_group_1",
122
+ "loc": "left_right",
123
+ "min_size": [
124
+ 0.134634794625,
125
+ 0.19722881099249998,
126
+ 0.189199927035
127
+ ]
128
+ },
129
+ "size": [
130
+ 0.3,
131
+ 0.3
132
+ ],
133
+ "pos": [
134
+ "ref",
135
+ -1.0
136
+ ],
137
+ "offset": [
138
+ 0.0,
139
+ 0.1
140
+ ]
141
+ },
142
+ "type": "object",
143
+ "info": {
144
+ "groups_containing_sampled_obj": [
145
+ "all",
146
+ "kettle_non_electric",
147
+ "receptacle",
148
+ "kettle",
149
+ "cookware"
150
+ ],
151
+ "groups": [
152
+ "all"
153
+ ],
154
+ "cat": "kettle_non_electric",
155
+ "split": "train",
156
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_10/model.xml"
157
+ },
158
+ "reset_region": {
159
+ "size": [
160
+ 1.313970743625498,
161
+ 0.65
162
+ ],
163
+ "offset": [
164
+ -0.8604971281872511,
165
+ -3.469446951953614e-17,
166
+ 0.4600005
167
+ ],
168
+ "name": "geom_1"
169
+ }
170
+ },
171
+ {
172
+ "name": "distr_sink",
173
+ "obj_groups": "all",
174
+ "washable": true,
175
+ "placement": {
176
+ "fixture": "sink_main_group_1",
177
+ "size": [
178
+ 0.3,
179
+ 0.4
180
+ ],
181
+ "pos": [
182
+ null,
183
+ -1.0
184
+ ]
185
+ },
186
+ "type": "object",
187
+ "info": {
188
+ "groups_containing_sampled_obj": [
189
+ "all",
190
+ "can",
191
+ "drink",
192
+ "group1"
193
+ ],
194
+ "groups": [
195
+ "all"
196
+ ],
197
+ "cat": "can",
198
+ "split": "train",
199
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/can/can_15/model.xml"
200
+ },
201
+ "reset_region": {
202
+ "offset": [
203
+ 0.11478240089641434,
204
+ -0.0007300063745019764,
205
+ -0.1675019812749004
206
+ ],
207
+ "size": [
208
+ 0.1421919579681275,
209
+ 0.2691281932270917
210
+ ],
211
+ "height": 0.12263414501992032,
212
+ "name": "basin_right"
213
+ }
214
+ }
215
+ ],
216
+ "fixtures": {
217
+ "wall_main_1_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "wall_main_1_backing_room": {
221
+ "cls": "Wall"
222
+ },
223
+ "wall_right_1_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "wall_right_1_backing_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_left_1_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "wall_left_1_backing_room": {
233
+ "cls": "Wall"
234
+ },
235
+ "wall_main_2_room": {
236
+ "cls": "Wall"
237
+ },
238
+ "wall_main_2_backing_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "wall_left_2_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_left_2_backing_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_main_3_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_main_3_backing_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_main_3.001_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "wall_main_3.001_backing_room": {
257
+ "cls": "Wall"
258
+ },
259
+ "floor_1_room": {
260
+ "cls": "Floor"
261
+ },
262
+ "floor_1_backing_room": {
263
+ "cls": "Floor"
264
+ },
265
+ "floor_2_room": {
266
+ "cls": "Floor"
267
+ },
268
+ "floor_2_backing_room": {
269
+ "cls": "Floor"
270
+ },
271
+ "window_group_1_room": {
272
+ "cls": "Window"
273
+ },
274
+ "window_group_2_room": {
275
+ "cls": "Window"
276
+ },
277
+ "window_group_3_room": {
278
+ "cls": "Window"
279
+ },
280
+ "sink_main_group_1": {
281
+ "cls": "Sink"
282
+ },
283
+ "counter_1_main_group_1": {
284
+ "cls": "Counter"
285
+ },
286
+ "counter_corner_1_main_group_1": {
287
+ "cls": "Counter"
288
+ },
289
+ "stack_02_main_group_1_base": {
290
+ "cls": "Box"
291
+ },
292
+ "stack_02_main_group_1_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "stack_02_main_group_1_2": {
296
+ "cls": "PanelCabinet"
297
+ },
298
+ "stack_01_main_group_1_base": {
299
+ "cls": "Box"
300
+ },
301
+ "stack_01_main_group_1_1": {
302
+ "cls": "SingleCabinet"
303
+ },
304
+ "stack_01_main_group_1_2": {
305
+ "cls": "Drawer"
306
+ },
307
+ "stack_03_main_group_1_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_03_main_group_1_1": {
311
+ "cls": "SingleCabinet"
312
+ },
313
+ "stack_03_main_group_1_2": {
314
+ "cls": "Drawer"
315
+ },
316
+ "cube_09_main_group_1": {
317
+ "cls": "Box"
318
+ },
319
+ "dishwasher_1_main_group_1": {
320
+ "cls": "Dishwasher"
321
+ },
322
+ "papertowel_main_group_1": {
323
+ "cls": "Accessory"
324
+ },
325
+ "island_island_group_1": {
326
+ "cls": "Counter"
327
+ },
328
+ "cube_01_island_group_1": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_10_island_group_1_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_10_island_group_1_1": {
335
+ "cls": "HingeCabinet"
336
+ },
337
+ "stack_10_island_group_1_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "cube_07_island_group_1": {
341
+ "cls": "Box"
342
+ },
343
+ "cube_08_island_group_1": {
344
+ "cls": "Box"
345
+ },
346
+ "plant_island_group_1": {
347
+ "cls": "Accessory"
348
+ },
349
+ "hingecabinet_5_left_group_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "counter_2_left_group_1": {
353
+ "cls": "Counter"
354
+ },
355
+ "stack_13_left_group_1_base": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_13_left_group_1_1": {
359
+ "cls": "SingleCabinet"
360
+ },
361
+ "stack_13_left_group_1_2": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_12_left_group_1_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_12_left_group_1_1": {
368
+ "cls": "SingleCabinet"
369
+ },
370
+ "stack_12_left_group_1_2": {
371
+ "cls": "Drawer"
372
+ },
373
+ "fridgefrenchdoor_left_group_1": {
374
+ "cls": "FridgeFrenchDoor"
375
+ },
376
+ "fridgefrenchdoor_housing_left_group_1": {
377
+ "cls": "HousingCabinet"
378
+ },
379
+ "bottom_left_group_1_base": {
380
+ "cls": "Box"
381
+ },
382
+ "bottom_left_group_1_1": {
383
+ "cls": "Drawer"
384
+ },
385
+ "microwave_left_group_1": {
386
+ "cls": "Microwave"
387
+ },
388
+ "oven_cabinet_left_group_1": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "hingecabinet_4_left_group_1": {
392
+ "cls": "HingeCabinet"
393
+ },
394
+ "microwave_housing_left_group_1": {
395
+ "cls": "HousingCabinet"
396
+ },
397
+ "top_left_group_1": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "toaster_oven_left_group_1": {
401
+ "cls": "ToasterOven"
402
+ },
403
+ "hingecabinet_2_right_group_1": {
404
+ "cls": "HingeCabinet"
405
+ },
406
+ "hingecabinet_1_right_group_1": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "hingecabinet_3_right_group_1": {
410
+ "cls": "HingeCabinet"
411
+ },
412
+ "singlecabinet_1_right_group_1": {
413
+ "cls": "SingleCabinet"
414
+ },
415
+ "counter_4_right_group_1": {
416
+ "cls": "Counter"
417
+ },
418
+ "counter_3_right_group_1": {
419
+ "cls": "Counter"
420
+ },
421
+ "stove_right_group_1": {
422
+ "cls": "Stove"
423
+ },
424
+ "stove_hood_right_group_1": {
425
+ "cls": "Hood"
426
+ },
427
+ "stack_06_right_group_1_base": {
428
+ "cls": "Box"
429
+ },
430
+ "stack_06_right_group_1_1": {
431
+ "cls": "SingleCabinet"
432
+ },
433
+ "stack_06_right_group_1_2": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_04_right_group_1_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_04_right_group_1_1": {
440
+ "cls": "SingleCabinet"
441
+ },
442
+ "stack_04_right_group_1_2": {
443
+ "cls": "Drawer"
444
+ },
445
+ "stack_05_right_group_1_base": {
446
+ "cls": "Box"
447
+ },
448
+ "stack_05_right_group_1_1": {
449
+ "cls": "Drawer"
450
+ },
451
+ "stack_05_right_group_1_2": {
452
+ "cls": "Drawer"
453
+ },
454
+ "stack_05_right_group_1_3": {
455
+ "cls": "Drawer"
456
+ },
457
+ "stack_07_right_group_1_base": {
458
+ "cls": "Box"
459
+ },
460
+ "stack_07_right_group_1_1": {
461
+ "cls": "HingeCabinet"
462
+ },
463
+ "stack_07_right_group_1_2": {
464
+ "cls": "Drawer"
465
+ },
466
+ "cube_02_right_group_1": {
467
+ "cls": "Box"
468
+ },
469
+ "cube_11_right_group_1": {
470
+ "cls": "Box"
471
+ },
472
+ "coffee_machine_right_group_1": {
473
+ "cls": "CoffeeMachine"
474
+ },
475
+ "toaster_right_group_1": {
476
+ "cls": "Toaster"
477
+ }
478
+ },
479
+ "gen_textures": {},
480
+ "lang": "Turn on the sink faucet.",
481
+ "fixture_refs": {},
482
+ "cam_configs": {
483
+ "robot0_agentview_center": {
484
+ "pos": [
485
+ -0.6,
486
+ 0.0,
487
+ 1.15
488
+ ],
489
+ "quat": [
490
+ 0.636945903301239,
491
+ 0.3325185477733612,
492
+ -0.3199238181114197,
493
+ -0.6175596117973328
494
+ ],
495
+ "parent_body": "mobilebase0_support"
496
+ },
497
+ "robot0_agentview_left": {
498
+ "pos": [
499
+ -0.5,
500
+ 0.35,
501
+ 1.05
502
+ ],
503
+ "quat": [
504
+ 0.55623853,
505
+ 0.29935253,
506
+ -0.37678665,
507
+ -0.6775092
508
+ ],
509
+ "camera_attribs": {
510
+ "fovy": "60"
511
+ },
512
+ "parent_body": "mobilebase0_support"
513
+ },
514
+ "robot0_agentview_right": {
515
+ "pos": [
516
+ -0.5,
517
+ -0.35,
518
+ 1.05
519
+ ],
520
+ "quat": [
521
+ 0.6775091886520386,
522
+ 0.3767866790294647,
523
+ -0.2993525564670563,
524
+ -0.55623859167099
525
+ ],
526
+ "camera_attribs": {
527
+ "fovy": "60"
528
+ },
529
+ "parent_body": "mobilebase0_support"
530
+ },
531
+ "robot0_frontview": {
532
+ "pos": [
533
+ -0.5,
534
+ 0,
535
+ 0.95
536
+ ],
537
+ "quat": [
538
+ 0.6088936924934387,
539
+ 0.3814677894115448,
540
+ -0.3673907518386841,
541
+ -0.5905545353889465
542
+ ],
543
+ "camera_attribs": {
544
+ "fovy": "60"
545
+ },
546
+ "parent_body": "mobilebase0_support"
547
+ },
548
+ "robot0_eye_in_hand": {
549
+ "pos": [
550
+ 0.05,
551
+ 0,
552
+ 0
553
+ ],
554
+ "quat": [
555
+ 0,
556
+ 0.707107,
557
+ 0.707107,
558
+ 0
559
+ ],
560
+ "parent_body": "robot0_right_hand"
561
+ }
562
+ },
563
+ "init_robot_base_pos": [
564
+ 4.415526909891896,
565
+ -0.8015250827146302,
566
+ 0.0
567
+ ],
568
+ "init_robot_base_ori": [
569
+ 0.0,
570
+ 0.0,
571
+ 1.5707959135307359
572
+ ]
573
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000042/ep_meta.json ADDED
@@ -0,0 +1,529 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 18,
3
+ "style_id": 60,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_right_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_right_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.06408269139999999,
15
+ 0.06382025779999997,
16
+ 0.06412384874999996
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "peach",
37
+ "fruit",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "peach",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 0.8930466106143343,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 1.5034766946928324,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_counter_1",
63
+ "obj_groups": "all",
64
+ "placement": {
65
+ "fixture": "counter_1_right_group",
66
+ "sample_region_kwargs": {
67
+ "ref": "sink_1_right_group",
68
+ "loc": "left_right",
69
+ "min_size": [
70
+ 0.1219750099575,
71
+ 0.12197962381500001,
72
+ 0.042194092710000006
73
+ ]
74
+ },
75
+ "size": [
76
+ 0.3,
77
+ 0.3
78
+ ],
79
+ "pos": [
80
+ "ref",
81
+ -1.0
82
+ ],
83
+ "offset": [
84
+ 0.0,
85
+ 0.1
86
+ ]
87
+ },
88
+ "type": "object",
89
+ "info": {
90
+ "groups_containing_sampled_obj": [
91
+ "all",
92
+ "donut",
93
+ "sweets",
94
+ "pastry",
95
+ "food",
96
+ "in_container"
97
+ ],
98
+ "groups": [
99
+ "all"
100
+ ],
101
+ "cat": "donut",
102
+ "split": "train",
103
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_10/model.xml"
104
+ },
105
+ "reset_region": {
106
+ "size": [
107
+ 2.1800466106143346,
108
+ 0.65
109
+ ],
110
+ "offset": [
111
+ -0.8599766946928327,
112
+ -3.469446951953614e-17,
113
+ 0.46
114
+ ],
115
+ "name": "geom_1"
116
+ }
117
+ },
118
+ {
119
+ "name": "distr_sink",
120
+ "obj_groups": "all",
121
+ "washable": true,
122
+ "placement": {
123
+ "fixture": "sink_1_right_group",
124
+ "size": [
125
+ 0.3,
126
+ 0.4
127
+ ],
128
+ "pos": [
129
+ null,
130
+ -1.0
131
+ ]
132
+ },
133
+ "type": "object",
134
+ "info": {
135
+ "groups_containing_sampled_obj": [
136
+ "all",
137
+ "cheese_grater",
138
+ "tool",
139
+ "in_container"
140
+ ],
141
+ "groups": [
142
+ "all"
143
+ ],
144
+ "cat": "cheese_grater",
145
+ "split": "train",
146
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cheese_grater/CheeseGrater001/model.xml"
147
+ },
148
+ "reset_region": {
149
+ "offset": [
150
+ -0.11659964548121332,
151
+ -0.04359979581849083,
152
+ -0.30001439324862383
153
+ ],
154
+ "size": [
155
+ 0.5202381756598345,
156
+ 0.35118815745587006
157
+ ],
158
+ "height": 0.25718018866726644,
159
+ "name": "basin"
160
+ }
161
+ }
162
+ ],
163
+ "fixtures": {
164
+ "wall_main_room": {
165
+ "cls": "Wall"
166
+ },
167
+ "wall_main_backing_room": {
168
+ "cls": "Wall"
169
+ },
170
+ "wall_right_1_room": {
171
+ "cls": "Wall"
172
+ },
173
+ "wall_right_1_backing_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_left_1_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_left_1_backing_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_left_3_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_left_3_backing_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_left_2_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_left_2_backing_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "floor_1_room": {
195
+ "cls": "Floor"
196
+ },
197
+ "floor_1_backing_room": {
198
+ "cls": "Floor"
199
+ },
200
+ "light_switch_1_room": {
201
+ "cls": "WallAccessory"
202
+ },
203
+ "light_switch_2_room": {
204
+ "cls": "WallAccessory"
205
+ },
206
+ "light_switch_3_room": {
207
+ "cls": "WallAccessory"
208
+ },
209
+ "light_switch_4_room": {
210
+ "cls": "WallAccessory"
211
+ },
212
+ "wall_accessory_1_room": {
213
+ "cls": "WallAccessory"
214
+ },
215
+ "light_switch_5_room": {
216
+ "cls": "WallAccessory"
217
+ },
218
+ "light_switch_6_room": {
219
+ "cls": "WallAccessory"
220
+ },
221
+ "light_switch_7_room": {
222
+ "cls": "WallAccessory"
223
+ },
224
+ "window_group_1_room": {
225
+ "cls": "Window"
226
+ },
227
+ "window_group_2_room": {
228
+ "cls": "Window"
229
+ },
230
+ "bottom_main_group_base": {
231
+ "cls": "Box"
232
+ },
233
+ "bottom_main_group_1": {
234
+ "cls": "Drawer"
235
+ },
236
+ "oven_main_group": {
237
+ "cls": "Oven"
238
+ },
239
+ "oven_housing_main_group": {
240
+ "cls": "HousingCabinet"
241
+ },
242
+ "microwave_main_group": {
243
+ "cls": "Microwave"
244
+ },
245
+ "microwave_housing_main_group": {
246
+ "cls": "HousingCabinet"
247
+ },
248
+ "top_main_group": {
249
+ "cls": "HingeCabinet"
250
+ },
251
+ "fridge_main_group": {
252
+ "cls": "FridgeSideBySide"
253
+ },
254
+ "fridge_housing_main_group": {
255
+ "cls": "HousingCabinet"
256
+ },
257
+ "counter_1_main_group": {
258
+ "cls": "Counter"
259
+ },
260
+ "counter_corner_main_group": {
261
+ "cls": "Counter"
262
+ },
263
+ "stack_1_main_group_base": {
264
+ "cls": "Box"
265
+ },
266
+ "stack_1_main_group_1": {
267
+ "cls": "SingleCabinet"
268
+ },
269
+ "box_1_main_group": {
270
+ "cls": "Box"
271
+ },
272
+ "cab_1_main_group": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "cab_2_main_group": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "toaster_oven_main_group": {
279
+ "cls": "ToasterOven"
280
+ },
281
+ "plant_main_group": {
282
+ "cls": "Accessory"
283
+ },
284
+ "stovetop_left_group": {
285
+ "cls": "Stovetop"
286
+ },
287
+ "counter_1_left_group": {
288
+ "cls": "Counter"
289
+ },
290
+ "stack_1_left_group_base": {
291
+ "cls": "Box"
292
+ },
293
+ "stack_1_left_group_1": {
294
+ "cls": "SingleCabinet"
295
+ },
296
+ "stack_2_left_group_base": {
297
+ "cls": "Box"
298
+ },
299
+ "stack_2_left_group_1": {
300
+ "cls": "Drawer"
301
+ },
302
+ "stack_2_left_group_2": {
303
+ "cls": "Drawer"
304
+ },
305
+ "stack_2_left_group_3": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_2_left_group_4": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_2_left_group_5": {
312
+ "cls": "Drawer"
313
+ },
314
+ "stack_2_left_group_6": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_3_left_group_base": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_3_left_group_1": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_3_left_group_2": {
324
+ "cls": "Drawer"
325
+ },
326
+ "stack_3_left_group_3": {
327
+ "cls": "PanelCabinet"
328
+ },
329
+ "stack_4_left_group_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_4_left_group_1": {
333
+ "cls": "Drawer"
334
+ },
335
+ "stack_4_left_group_2": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_4_left_group_3": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_4_left_group_4": {
342
+ "cls": "Drawer"
343
+ },
344
+ "stack_4_left_group_5": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_4_left_group_6": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_5_left_group_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_5_left_group_1": {
354
+ "cls": "SingleCabinet"
355
+ },
356
+ "hood_left_group": {
357
+ "cls": "Hood"
358
+ },
359
+ "cab_1_left_group": {
360
+ "cls": "HingeCabinet"
361
+ },
362
+ "cab_2_left_group": {
363
+ "cls": "HingeCabinet"
364
+ },
365
+ "paper_towel_left_group": {
366
+ "cls": "Accessory"
367
+ },
368
+ "coffee_machine_left_group": {
369
+ "cls": "CoffeeMachine"
370
+ },
371
+ "sink_1_right_group": {
372
+ "cls": "Sink"
373
+ },
374
+ "counter_1_right_group": {
375
+ "cls": "Counter"
376
+ },
377
+ "box_1_right_group": {
378
+ "cls": "Box"
379
+ },
380
+ "stack_1_right_group_base": {
381
+ "cls": "Box"
382
+ },
383
+ "stack_1_right_group_1": {
384
+ "cls": "SingleCabinet"
385
+ },
386
+ "stack_2_right_group_base": {
387
+ "cls": "Box"
388
+ },
389
+ "stack_2_right_group_1": {
390
+ "cls": "Drawer"
391
+ },
392
+ "stack_2_right_group_2": {
393
+ "cls": "Drawer"
394
+ },
395
+ "stack_2_right_group_3": {
396
+ "cls": "Drawer"
397
+ },
398
+ "stack_3_right_group_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_3_right_group_1": {
402
+ "cls": "SingleCabinet"
403
+ },
404
+ "stack_4_right_group_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_4_right_group_1": {
408
+ "cls": "SingleCabinet"
409
+ },
410
+ "stack_5_right_group_base": {
411
+ "cls": "Box"
412
+ },
413
+ "stack_5_right_group_1": {
414
+ "cls": "HingeCabinet"
415
+ },
416
+ "dishwasher_1_right_group": {
417
+ "cls": "Dishwasher"
418
+ },
419
+ "panel_stack_right_group_base": {
420
+ "cls": "Box"
421
+ },
422
+ "panel_stack_right_group_1": {
423
+ "cls": "PanelCabinet"
424
+ },
425
+ "wall_stack_right_group_base": {
426
+ "cls": "Box"
427
+ },
428
+ "wall_stack_right_group_1": {
429
+ "cls": "HingeCabinet"
430
+ },
431
+ "toaster_right_group": {
432
+ "cls": "Toaster"
433
+ }
434
+ },
435
+ "gen_textures": {},
436
+ "lang": "Turn on the sink faucet.",
437
+ "fixture_refs": {},
438
+ "cam_configs": {
439
+ "robot0_agentview_center": {
440
+ "pos": [
441
+ -0.6,
442
+ 0.0,
443
+ 1.15
444
+ ],
445
+ "quat": [
446
+ 0.636945903301239,
447
+ 0.3325185477733612,
448
+ -0.3199238181114197,
449
+ -0.6175596117973328
450
+ ],
451
+ "parent_body": "mobilebase0_support"
452
+ },
453
+ "robot0_agentview_left": {
454
+ "pos": [
455
+ -0.5,
456
+ 0.35,
457
+ 1.05
458
+ ],
459
+ "quat": [
460
+ 0.55623853,
461
+ 0.29935253,
462
+ -0.37678665,
463
+ -0.6775092
464
+ ],
465
+ "camera_attribs": {
466
+ "fovy": "60"
467
+ },
468
+ "parent_body": "mobilebase0_support"
469
+ },
470
+ "robot0_agentview_right": {
471
+ "pos": [
472
+ -0.5,
473
+ -0.35,
474
+ 1.05
475
+ ],
476
+ "quat": [
477
+ 0.6775091886520386,
478
+ 0.3767866790294647,
479
+ -0.2993525564670563,
480
+ -0.55623859167099
481
+ ],
482
+ "camera_attribs": {
483
+ "fovy": "60"
484
+ },
485
+ "parent_body": "mobilebase0_support"
486
+ },
487
+ "robot0_frontview": {
488
+ "pos": [
489
+ -0.5,
490
+ 0,
491
+ 0.95
492
+ ],
493
+ "quat": [
494
+ 0.6088936924934387,
495
+ 0.3814677894115448,
496
+ -0.3673907518386841,
497
+ -0.5905545353889465
498
+ ],
499
+ "camera_attribs": {
500
+ "fovy": "60"
501
+ },
502
+ "parent_body": "mobilebase0_support"
503
+ },
504
+ "robot0_eye_in_hand": {
505
+ "pos": [
506
+ 0.05,
507
+ 0,
508
+ 0
509
+ ],
510
+ "quat": [
511
+ 0,
512
+ 0.707107,
513
+ 0.707107,
514
+ 0
515
+ ],
516
+ "parent_body": "robot0_right_hand"
517
+ }
518
+ },
519
+ "init_robot_base_pos": [
520
+ 2.2190432616698805,
521
+ -3.3621377126927245,
522
+ 0.0
523
+ ],
524
+ "init_robot_base_ori": [
525
+ 0.0,
526
+ 0.0,
527
+ 3.422854288892552e-08
528
+ ]
529
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000043/ep_meta.json ADDED
@@ -0,0 +1,452 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 21,
3
+ "style_id": 47,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_main_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.088952637,
15
+ 0.1,
16
+ 0.028448250000000005
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "bagel",
37
+ "bread_food",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "bagel",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_5/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.3111664140281643,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 0.494416792985918,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_sink",
63
+ "obj_groups": "all",
64
+ "washable": true,
65
+ "placement": {
66
+ "fixture": "sink_main_group",
67
+ "size": [
68
+ 0.3,
69
+ 0.4
70
+ ],
71
+ "pos": [
72
+ null,
73
+ -1.0
74
+ ]
75
+ },
76
+ "type": "object",
77
+ "info": {
78
+ "groups_containing_sampled_obj": [
79
+ "all",
80
+ "lettuce",
81
+ "vegetable",
82
+ "food",
83
+ "in_container"
84
+ ],
85
+ "groups": [
86
+ "all"
87
+ ],
88
+ "cat": "lettuce",
89
+ "split": "train",
90
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce005/model.xml"
91
+ },
92
+ "reset_region": {
93
+ "offset": [
94
+ 0.0017258748743120556,
95
+ -0.026202676890061102,
96
+ -0.20963700655324127
97
+ ],
98
+ "size": [
99
+ 0.6316569528405427,
100
+ 0.34406333379046383
101
+ ],
102
+ "height": 0.22013193381808002,
103
+ "name": "basin"
104
+ }
105
+ }
106
+ ],
107
+ "fixtures": {
108
+ "wall_left_1_room": {
109
+ "cls": "Wall"
110
+ },
111
+ "wall_left_1_backing_room": {
112
+ "cls": "Wall"
113
+ },
114
+ "wall_main_1_room": {
115
+ "cls": "Wall"
116
+ },
117
+ "wall_main_1_backing_room": {
118
+ "cls": "Wall"
119
+ },
120
+ "wall_right_1_room": {
121
+ "cls": "Wall"
122
+ },
123
+ "wall_right_1_backing_room": {
124
+ "cls": "Wall"
125
+ },
126
+ "wall_front_1_room": {
127
+ "cls": "Wall"
128
+ },
129
+ "wall_front_1_backing_room": {
130
+ "cls": "Wall"
131
+ },
132
+ "wall_right_2_room": {
133
+ "cls": "Wall"
134
+ },
135
+ "wall_right_2_backing_room": {
136
+ "cls": "Wall"
137
+ },
138
+ "wall_main_2_room": {
139
+ "cls": "Wall"
140
+ },
141
+ "wall_main_2_backing_room": {
142
+ "cls": "Wall"
143
+ },
144
+ "wall_main_3_room": {
145
+ "cls": "Wall"
146
+ },
147
+ "wall_main_3_backing_room": {
148
+ "cls": "Wall"
149
+ },
150
+ "floor_1_room": {
151
+ "cls": "Floor"
152
+ },
153
+ "floor_1_backing_room": {
154
+ "cls": "Floor"
155
+ },
156
+ "floor_2_room": {
157
+ "cls": "Floor"
158
+ },
159
+ "floor_2_backing_room": {
160
+ "cls": "Floor"
161
+ },
162
+ "wall_accessory_1_room": {
163
+ "cls": "WallAccessory"
164
+ },
165
+ "wall_accessory_2_room": {
166
+ "cls": "WallAccessory"
167
+ },
168
+ "wall_accessory_3_room": {
169
+ "cls": "WallAccessory"
170
+ },
171
+ "wall_accessory_4_room": {
172
+ "cls": "WallAccessory"
173
+ },
174
+ "wall_accessory_5_room": {
175
+ "cls": "WallAccessory"
176
+ },
177
+ "light_switch_1_room": {
178
+ "cls": "WallAccessory"
179
+ },
180
+ "wall_accessory_6_room": {
181
+ "cls": "WallAccessory"
182
+ },
183
+ "wall_accessory_7_room": {
184
+ "cls": "WallAccessory"
185
+ },
186
+ "window_group_room": {
187
+ "cls": "Window"
188
+ },
189
+ "stool_1_room": {
190
+ "cls": "Stool"
191
+ },
192
+ "stool_2_room": {
193
+ "cls": "Stool"
194
+ },
195
+ "counter_corner_main_group": {
196
+ "cls": "Counter"
197
+ },
198
+ "sink_main_group": {
199
+ "cls": "Sink"
200
+ },
201
+ "counter_1_main_group": {
202
+ "cls": "Counter"
203
+ },
204
+ "box_main_group": {
205
+ "cls": "Box"
206
+ },
207
+ "stack_1_main_group_base": {
208
+ "cls": "Box"
209
+ },
210
+ "stack_1_main_group_1": {
211
+ "cls": "HingeCabinet"
212
+ },
213
+ "dishwasher_main_group": {
214
+ "cls": "Dishwasher"
215
+ },
216
+ "stack_2_main_group_base": {
217
+ "cls": "Box"
218
+ },
219
+ "stack_2_main_group_1": {
220
+ "cls": "SingleCabinet"
221
+ },
222
+ "stack_2_main_group_2": {
223
+ "cls": "Drawer"
224
+ },
225
+ "cab_1_main_group": {
226
+ "cls": "SingleCabinet"
227
+ },
228
+ "paper_towel_main_group": {
229
+ "cls": "Accessory"
230
+ },
231
+ "toaster_main_group": {
232
+ "cls": "Toaster"
233
+ },
234
+ "counter_1_left_group": {
235
+ "cls": "Counter"
236
+ },
237
+ "stove_left_group": {
238
+ "cls": "Stove"
239
+ },
240
+ "counter_2_left_group": {
241
+ "cls": "Counter"
242
+ },
243
+ "hood_left_group": {
244
+ "cls": "Hood"
245
+ },
246
+ "stack_1_left_group_base": {
247
+ "cls": "Box"
248
+ },
249
+ "stack_1_left_group_1": {
250
+ "cls": "HingeCabinet"
251
+ },
252
+ "stack_1_left_group_2": {
253
+ "cls": "Drawer"
254
+ },
255
+ "stack_2_left_group_base": {
256
+ "cls": "Box"
257
+ },
258
+ "stack_2_left_group_1": {
259
+ "cls": "SingleCabinet"
260
+ },
261
+ "stack_2_left_group_2": {
262
+ "cls": "Drawer"
263
+ },
264
+ "stack_3_left_group_base": {
265
+ "cls": "Box"
266
+ },
267
+ "stack_3_left_group_1": {
268
+ "cls": "SingleCabinet"
269
+ },
270
+ "box_left_group": {
271
+ "cls": "Box"
272
+ },
273
+ "fridge_left_group": {
274
+ "cls": "FridgeSideBySide"
275
+ },
276
+ "fridge_housing_left_group": {
277
+ "cls": "HousingCabinet"
278
+ },
279
+ "stack_4_left_group_base": {
280
+ "cls": "Box"
281
+ },
282
+ "stack_4_left_group_1": {
283
+ "cls": "SingleCabinet"
284
+ },
285
+ "stack_4_left_group_2": {
286
+ "cls": "Drawer"
287
+ },
288
+ "counter_3_left_group": {
289
+ "cls": "Counter"
290
+ },
291
+ "cab_1_left_group": {
292
+ "cls": "HingeCabinet"
293
+ },
294
+ "cab_2_left_group": {
295
+ "cls": "HingeCabinet"
296
+ },
297
+ "cab_3_left_group": {
298
+ "cls": "HingeCabinet"
299
+ },
300
+ "cab_4_left_group": {
301
+ "cls": "SingleCabinet"
302
+ },
303
+ "coffee_machine_left_group": {
304
+ "cls": "CoffeeMachine"
305
+ },
306
+ "toaster_oven_left_group": {
307
+ "cls": "ToasterOven"
308
+ },
309
+ "counter_1_right_group": {
310
+ "cls": "Counter"
311
+ },
312
+ "stack_1_right_group_base": {
313
+ "cls": "Box"
314
+ },
315
+ "stack_1_right_group_1": {
316
+ "cls": "HingeCabinet"
317
+ },
318
+ "stack_1_right_group_2": {
319
+ "cls": "Drawer"
320
+ },
321
+ "stack_2_right_group_base": {
322
+ "cls": "Box"
323
+ },
324
+ "stack_2_right_group_1": {
325
+ "cls": "SingleCabinet"
326
+ },
327
+ "cab_1_right_group": {
328
+ "cls": "HingeCabinet"
329
+ },
330
+ "cab_2_right_group": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "microwave_right_group": {
334
+ "cls": "Microwave"
335
+ },
336
+ "island_island_group": {
337
+ "cls": "Counter"
338
+ },
339
+ "stack_1_island_group_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_1_island_group_1": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "stack_1_island_group_2": {
346
+ "cls": "Drawer"
347
+ },
348
+ "stack_2_island_group_base": {
349
+ "cls": "Box"
350
+ },
351
+ "stack_2_island_group_1": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "stack_2_island_group_2": {
355
+ "cls": "Drawer"
356
+ }
357
+ },
358
+ "gen_textures": {},
359
+ "lang": "Turn on the sink faucet.",
360
+ "fixture_refs": {},
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
+ 1.3656880029385825,
444
+ -0.8495091108720136,
445
+ 0.0
446
+ ],
447
+ "init_robot_base_ori": [
448
+ 0.0,
449
+ 0.0,
450
+ 1.5707963267948966
451
+ ]
452
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000044/ep_meta.json ADDED
@@ -0,0 +1,535 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 29,
3
+ "style_id": 21,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "island_island_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_island_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.06427166399999999,
15
+ 0.03698743039999999,
16
+ 0.15998434079999996
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "ketchup",
37
+ "condiment"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "ketchup",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_1/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 1.3597502358958162,
49
+ 1.8
50
+ ],
51
+ "offset": [
52
+ 1.1426248820520921,
53
+ 2.0816681711721685e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_1"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_sink",
61
+ "obj_groups": "all",
62
+ "washable": true,
63
+ "placement": {
64
+ "fixture": "sink_island_group",
65
+ "size": [
66
+ 0.3,
67
+ 0.4
68
+ ],
69
+ "pos": [
70
+ null,
71
+ -1.0
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "sponge",
79
+ "cleaner"
80
+ ],
81
+ "groups": [
82
+ "all"
83
+ ],
84
+ "cat": "sponge",
85
+ "split": "train",
86
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_3/model.xml"
87
+ },
88
+ "reset_region": {
89
+ "offset": [
90
+ -0.25375101875937456,
91
+ -0.032755945224704285,
92
+ -0.157664497132104
93
+ ],
94
+ "size": [
95
+ 0.22678006029742603,
96
+ 0.2815059225014469
97
+ ],
98
+ "height": 0.1610789725350931,
99
+ "name": "basin"
100
+ }
101
+ }
102
+ ],
103
+ "fixtures": {
104
+ "wall_main_1_room": {
105
+ "cls": "Wall"
106
+ },
107
+ "wall_main_1_backing_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_left_4_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_left_4_backing_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_right_1_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_right_1_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_left_1_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_left_1_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_left_3_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_left_3_backing_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_left_2_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "wall_left_2_backing_room": {
138
+ "cls": "Wall"
139
+ },
140
+ "wall_main_2_room": {
141
+ "cls": "Wall"
142
+ },
143
+ "wall_main_2_backing_room": {
144
+ "cls": "Wall"
145
+ },
146
+ "wall_front_1_room": {
147
+ "cls": "Wall"
148
+ },
149
+ "wall_front_1_backing_room": {
150
+ "cls": "Wall"
151
+ },
152
+ "floor_1_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "floor_1_backing_room": {
156
+ "cls": "Floor"
157
+ },
158
+ "floor_2_room": {
159
+ "cls": "Floor"
160
+ },
161
+ "floor_2_backing_room": {
162
+ "cls": "Floor"
163
+ },
164
+ "light_switch_1_room": {
165
+ "cls": "WallAccessory"
166
+ },
167
+ "wall_accessory_1_room": {
168
+ "cls": "WallAccessory"
169
+ },
170
+ "light_switch_2_room": {
171
+ "cls": "WallAccessory"
172
+ },
173
+ "wall_accessory_2_room": {
174
+ "cls": "WallAccessory"
175
+ },
176
+ "stool_1_room": {
177
+ "cls": "Stool"
178
+ },
179
+ "stool_2_room": {
180
+ "cls": "Stool"
181
+ },
182
+ "stool_3_room": {
183
+ "cls": "Stool"
184
+ },
185
+ "stool_4_room": {
186
+ "cls": "Stool"
187
+ },
188
+ "bottom_main_group_base": {
189
+ "cls": "Box"
190
+ },
191
+ "bottom_main_group_1": {
192
+ "cls": "Drawer"
193
+ },
194
+ "oven_main_group": {
195
+ "cls": "Oven"
196
+ },
197
+ "oven_housing_main_group": {
198
+ "cls": "HousingCabinet"
199
+ },
200
+ "microwave_main_group": {
201
+ "cls": "Microwave"
202
+ },
203
+ "microwave_housing_main_group": {
204
+ "cls": "HousingCabinet"
205
+ },
206
+ "middle_main_group": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "top_main_group": {
210
+ "cls": "HingeCabinet"
211
+ },
212
+ "fridge_main_group": {
213
+ "cls": "FridgeSideBySide"
214
+ },
215
+ "fridge_housing_main_group": {
216
+ "cls": "HousingCabinet"
217
+ },
218
+ "counter_1_main_group": {
219
+ "cls": "Counter"
220
+ },
221
+ "stack_1_main_group_base": {
222
+ "cls": "Box"
223
+ },
224
+ "stack_1_main_group_1": {
225
+ "cls": "Drawer"
226
+ },
227
+ "stack_1_main_group_2": {
228
+ "cls": "Drawer"
229
+ },
230
+ "stack_1_main_group_3": {
231
+ "cls": "Drawer"
232
+ },
233
+ "stack_2_main_group_base": {
234
+ "cls": "Box"
235
+ },
236
+ "stack_2_main_group_1": {
237
+ "cls": "Drawer"
238
+ },
239
+ "stack_2_main_group_2": {
240
+ "cls": "Drawer"
241
+ },
242
+ "stack_2_main_group_3": {
243
+ "cls": "Drawer"
244
+ },
245
+ "stack_3_main_group_base": {
246
+ "cls": "Box"
247
+ },
248
+ "stack_3_main_group_1": {
249
+ "cls": "Drawer"
250
+ },
251
+ "stack_3_main_group_2": {
252
+ "cls": "Drawer"
253
+ },
254
+ "stack_3_main_group_3": {
255
+ "cls": "Drawer"
256
+ },
257
+ "dishwasher_main_group": {
258
+ "cls": "Dishwasher"
259
+ },
260
+ "panel_stack_main_group_base": {
261
+ "cls": "Box"
262
+ },
263
+ "panel_stack_main_group_1": {
264
+ "cls": "PanelCabinet"
265
+ },
266
+ "cab_1_main_group": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "cab_2_main_group": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "cab_3_main_group": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "cab_4_main_group": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "cab_5_main_group": {
279
+ "cls": "HingeCabinet"
280
+ },
281
+ "cab_6_main_group": {
282
+ "cls": "HingeCabinet"
283
+ },
284
+ "toaster_oven_main_group": {
285
+ "cls": "ToasterOven"
286
+ },
287
+ "paper_towel_main_group": {
288
+ "cls": "Accessory"
289
+ },
290
+ "stovetop_left_group": {
291
+ "cls": "Stovetop"
292
+ },
293
+ "counter_1_left_group": {
294
+ "cls": "Counter"
295
+ },
296
+ "stack_1_left_group_base": {
297
+ "cls": "Box"
298
+ },
299
+ "stack_1_left_group_1": {
300
+ "cls": "Drawer"
301
+ },
302
+ "stack_1_left_group_2": {
303
+ "cls": "Drawer"
304
+ },
305
+ "stack_1_left_group_3": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_2_left_group_base": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_2_left_group_1": {
312
+ "cls": "Drawer"
313
+ },
314
+ "stack_2_left_group_2": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_2_left_group_3": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_3_left_group_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_3_left_group_1": {
324
+ "cls": "Drawer"
325
+ },
326
+ "stack_3_left_group_2": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_3_left_group_3": {
330
+ "cls": "PanelCabinet"
331
+ },
332
+ "stack_4_left_group_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_4_left_group_1": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_4_left_group_2": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_4_left_group_3": {
342
+ "cls": "Drawer"
343
+ },
344
+ "stack_5_left_group_base": {
345
+ "cls": "Box"
346
+ },
347
+ "stack_5_left_group_1": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_5_left_group_2": {
351
+ "cls": "Drawer"
352
+ },
353
+ "stack_5_left_group_3": {
354
+ "cls": "Drawer"
355
+ },
356
+ "hood_left_group": {
357
+ "cls": "Hood"
358
+ },
359
+ "cab_1_left_group": {
360
+ "cls": "HingeCabinet"
361
+ },
362
+ "cab_2_left_group": {
363
+ "cls": "HingeCabinet"
364
+ },
365
+ "cab_3_left_group": {
366
+ "cls": "HingeCabinet"
367
+ },
368
+ "cab_4_left_group": {
369
+ "cls": "HingeCabinet"
370
+ },
371
+ "coffee_machine_left_group": {
372
+ "cls": "CoffeeMachine"
373
+ },
374
+ "toaster_left_group": {
375
+ "cls": "Toaster"
376
+ },
377
+ "sink_island_group": {
378
+ "cls": "Sink"
379
+ },
380
+ "island_island_group": {
381
+ "cls": "Counter"
382
+ },
383
+ "panel_box_1_island_group_base": {
384
+ "cls": "Box"
385
+ },
386
+ "panel_box_1_island_group_1": {
387
+ "cls": "PanelCabinet"
388
+ },
389
+ "stack_1_island_group_base": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_1_island_group_1": {
393
+ "cls": "Drawer"
394
+ },
395
+ "stack_1_island_group_2": {
396
+ "cls": "Drawer"
397
+ },
398
+ "stack_1_island_group_3": {
399
+ "cls": "Drawer"
400
+ },
401
+ "stack_2_island_group_base": {
402
+ "cls": "Box"
403
+ },
404
+ "stack_2_island_group_1": {
405
+ "cls": "SingleCabinet"
406
+ },
407
+ "stack_3_island_group_base": {
408
+ "cls": "Box"
409
+ },
410
+ "stack_3_island_group_1": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "stack_4_island_group_base": {
414
+ "cls": "Box"
415
+ },
416
+ "stack_4_island_group_1": {
417
+ "cls": "SingleCabinet"
418
+ },
419
+ "stack_5_island_group_base": {
420
+ "cls": "Box"
421
+ },
422
+ "stack_5_island_group_1": {
423
+ "cls": "Drawer"
424
+ },
425
+ "stack_5_island_group_2": {
426
+ "cls": "Drawer"
427
+ },
428
+ "stack_5_island_group_3": {
429
+ "cls": "Drawer"
430
+ },
431
+ "panel_cab_2_island_group_base": {
432
+ "cls": "Box"
433
+ },
434
+ "panel_cab_2_island_group_1": {
435
+ "cls": "PanelCabinet"
436
+ },
437
+ "box_island_group": {
438
+ "cls": "Box"
439
+ }
440
+ },
441
+ "gen_textures": {},
442
+ "lang": "Turn on the sink faucet.",
443
+ "fixture_refs": {},
444
+ "cam_configs": {
445
+ "robot0_agentview_center": {
446
+ "pos": [
447
+ -0.6,
448
+ 0.0,
449
+ 1.15
450
+ ],
451
+ "quat": [
452
+ 0.636945903301239,
453
+ 0.3325185477733612,
454
+ -0.3199238181114197,
455
+ -0.6175596117973328
456
+ ],
457
+ "parent_body": "mobilebase0_support"
458
+ },
459
+ "robot0_agentview_left": {
460
+ "pos": [
461
+ -0.5,
462
+ 0.35,
463
+ 1.05
464
+ ],
465
+ "quat": [
466
+ 0.55623853,
467
+ 0.29935253,
468
+ -0.37678665,
469
+ -0.6775092
470
+ ],
471
+ "camera_attribs": {
472
+ "fovy": "60"
473
+ },
474
+ "parent_body": "mobilebase0_support"
475
+ },
476
+ "robot0_agentview_right": {
477
+ "pos": [
478
+ -0.5,
479
+ -0.35,
480
+ 1.05
481
+ ],
482
+ "quat": [
483
+ 0.6775091886520386,
484
+ 0.3767866790294647,
485
+ -0.2993525564670563,
486
+ -0.55623859167099
487
+ ],
488
+ "camera_attribs": {
489
+ "fovy": "60"
490
+ },
491
+ "parent_body": "mobilebase0_support"
492
+ },
493
+ "robot0_frontview": {
494
+ "pos": [
495
+ -0.5,
496
+ 0,
497
+ 0.95
498
+ ],
499
+ "quat": [
500
+ 0.6088936924934387,
501
+ 0.3814677894115448,
502
+ -0.3673907518386841,
503
+ -0.5905545353889465
504
+ ],
505
+ "camera_attribs": {
506
+ "fovy": "60"
507
+ },
508
+ "parent_body": "mobilebase0_support"
509
+ },
510
+ "robot0_eye_in_hand": {
511
+ "pos": [
512
+ 0.05,
513
+ 0,
514
+ 0
515
+ ],
516
+ "quat": [
517
+ 0,
518
+ 0.707107,
519
+ 0.707107,
520
+ 0
521
+ ],
522
+ "parent_body": "robot0_right_hand"
523
+ }
524
+ },
525
+ "init_robot_base_pos": [
526
+ 1.2043673066505356,
527
+ -4.202938649777433,
528
+ 0.0
529
+ ],
530
+ "init_robot_base_ori": [
531
+ 0.0,
532
+ 0.0,
533
+ 3.4228548662085245e-08
534
+ ]
535
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000045/ep_meta.json ADDED
@@ -0,0 +1,478 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 38,
3
+ "style_id": 30,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_main_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.10581994080000001,
15
+ 0.12127231920000002,
16
+ 0.037854385200000014
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "bagel",
37
+ "bread_food",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "bagel",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_3/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.7373895460768134,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 1.060305226961593,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_counter_1",
63
+ "obj_groups": "all",
64
+ "placement": {
65
+ "fixture": "counter_1_main_group_1",
66
+ "sample_region_kwargs": {
67
+ "ref": "sink_main_group_1",
68
+ "loc": "left_right",
69
+ "min_size": [
70
+ 0.07266,
71
+ 0.05122,
72
+ 0.14909250000000002
73
+ ]
74
+ },
75
+ "size": [
76
+ 0.3,
77
+ 0.3
78
+ ],
79
+ "pos": [
80
+ "ref",
81
+ -1.0
82
+ ],
83
+ "offset": [
84
+ 0.0,
85
+ 0.1
86
+ ]
87
+ },
88
+ "type": "object",
89
+ "info": {
90
+ "groups_containing_sampled_obj": [
91
+ "all",
92
+ "mustard",
93
+ "condiment"
94
+ ],
95
+ "groups": [
96
+ "all"
97
+ ],
98
+ "cat": "mustard",
99
+ "split": "train",
100
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard007/model.xml"
101
+ },
102
+ "reset_region": {
103
+ "size": [
104
+ 1.5059095460768133,
105
+ 0.65
106
+ ],
107
+ "offset": [
108
+ -1.1760452269615933,
109
+ -3.469446951953614e-17,
110
+ 0.46
111
+ ],
112
+ "name": "geom_1"
113
+ }
114
+ },
115
+ {
116
+ "name": "distr_sink",
117
+ "obj_groups": "all",
118
+ "washable": true,
119
+ "placement": {
120
+ "fixture": "sink_main_group_1",
121
+ "size": [
122
+ 0.3,
123
+ 0.4
124
+ ],
125
+ "pos": [
126
+ null,
127
+ -1.0
128
+ ]
129
+ },
130
+ "type": "object",
131
+ "info": {
132
+ "groups_containing_sampled_obj": [
133
+ "all",
134
+ "can",
135
+ "drink",
136
+ "group1"
137
+ ],
138
+ "groups": [
139
+ "all"
140
+ ],
141
+ "cat": "can",
142
+ "split": "train",
143
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/can/can_12/model.xml"
144
+ },
145
+ "reset_region": {
146
+ "offset": [
147
+ 0.0005908201020984327,
148
+ -0.026236142537545346,
149
+ -0.22237974242709907
150
+ ],
151
+ "size": [
152
+ 0.5416768652538709,
153
+ 0.4087185143212876
154
+ ],
155
+ "height": 0.19075755405985345,
156
+ "name": "basin"
157
+ }
158
+ }
159
+ ],
160
+ "fixtures": {
161
+ "wall_main_1_room": {
162
+ "cls": "Wall"
163
+ },
164
+ "wall_main_1_backing_room": {
165
+ "cls": "Wall"
166
+ },
167
+ "wall_left_1_room": {
168
+ "cls": "Wall"
169
+ },
170
+ "wall_left_1_backing_room": {
171
+ "cls": "Wall"
172
+ },
173
+ "wall_left_2_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_left_2_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_left_3_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_left_3_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "floor_1_room": {
186
+ "cls": "Floor"
187
+ },
188
+ "floor_1_backing_room": {
189
+ "cls": "Floor"
190
+ },
191
+ "wallaccessory.001_room": {
192
+ "cls": "WallAccessory"
193
+ },
194
+ "wallaccessory.005_room": {
195
+ "cls": "WallAccessory"
196
+ },
197
+ "wallaccessory.003_room": {
198
+ "cls": "WallAccessory"
199
+ },
200
+ "wallaccessory.004_room": {
201
+ "cls": "WallAccessory"
202
+ },
203
+ "wallaccessory.007_room": {
204
+ "cls": "WallAccessory"
205
+ },
206
+ "stool_2_room": {
207
+ "cls": "Stool"
208
+ },
209
+ "stool_3_room": {
210
+ "cls": "Stool"
211
+ },
212
+ "stool_4_room": {
213
+ "cls": "Stool"
214
+ },
215
+ "stool_1_room": {
216
+ "cls": "Stool"
217
+ },
218
+ "sink_main_group_1": {
219
+ "cls": "Sink"
220
+ },
221
+ "counter_1_main_group_1": {
222
+ "cls": "Counter"
223
+ },
224
+ "opencabinet_1_main_group_1": {
225
+ "cls": "OpenCabinet"
226
+ },
227
+ "opencabinet_2_main_group_1": {
228
+ "cls": "OpenCabinet"
229
+ },
230
+ "stack_1_main_group_1_base": {
231
+ "cls": "Box"
232
+ },
233
+ "stack_1_main_group_1_1": {
234
+ "cls": "SingleCabinet"
235
+ },
236
+ "stack_1_main_group_1_2": {
237
+ "cls": "Drawer"
238
+ },
239
+ "stack_2_main_group_1_base": {
240
+ "cls": "Box"
241
+ },
242
+ "stack_2_main_group_1_1": {
243
+ "cls": "SingleCabinet"
244
+ },
245
+ "stack_4_main_group_1_base": {
246
+ "cls": "Box"
247
+ },
248
+ "stack_4_main_group_1_1": {
249
+ "cls": "HingeCabinet"
250
+ },
251
+ "stack_4_main_group_1_2": {
252
+ "cls": "Drawer"
253
+ },
254
+ "dishwasher_1_main_group_1": {
255
+ "cls": "Dishwasher"
256
+ },
257
+ "stack_3_main_group_1_base": {
258
+ "cls": "Box"
259
+ },
260
+ "stack_3_main_group_1_1": {
261
+ "cls": "HingeCabinet"
262
+ },
263
+ "coffeemachine_main_group_1": {
264
+ "cls": "CoffeeMachine"
265
+ },
266
+ "paper_towel_main_group_1": {
267
+ "cls": "Accessory"
268
+ },
269
+ "toaster_main_group_1": {
270
+ "cls": "Toaster"
271
+ },
272
+ "bottom_main_group_1_base": {
273
+ "cls": "Box"
274
+ },
275
+ "bottom_main_group_1_1": {
276
+ "cls": "Drawer"
277
+ },
278
+ "oven_cabinet_main_group_1": {
279
+ "cls": "HingeCabinet"
280
+ },
281
+ "microwave_main_group_1": {
282
+ "cls": "Microwave"
283
+ },
284
+ "microwave_housing_main_group_1": {
285
+ "cls": "HousingCabinet"
286
+ },
287
+ "top_main_group_1": {
288
+ "cls": "HingeCabinet"
289
+ },
290
+ "counter_1_left_group_1": {
291
+ "cls": "Counter"
292
+ },
293
+ "stove_left_group_1": {
294
+ "cls": "Stove"
295
+ },
296
+ "counter_2_left_group_1": {
297
+ "cls": "Counter"
298
+ },
299
+ "fridgesidebyside_left_group_1": {
300
+ "cls": "FridgeSideBySide"
301
+ },
302
+ "fridgesidebyside_housing_left_group_1": {
303
+ "cls": "HousingCabinet"
304
+ },
305
+ "hingecabinet_1_left_group_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "hingecabinet_2_left_group_1": {
309
+ "cls": "HingeCabinet"
310
+ },
311
+ "hingecabinet_3_left_group_1": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "hingecabinet_4_left_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_1_left_group_1_base": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_1_left_group_1_1": {
321
+ "cls": "SingleCabinet"
322
+ },
323
+ "stack_2_left_group_1_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_2_left_group_1_1": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "stack_4_left_group_1_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_4_left_group_1_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "knifeblock_left_group_1": {
336
+ "cls": "Accessory"
337
+ },
338
+ "toaster_oven_left_group_1": {
339
+ "cls": "ToasterOven"
340
+ },
341
+ "island_island_group_1": {
342
+ "cls": "Counter"
343
+ },
344
+ "cube_3_island_group_1": {
345
+ "cls": "Box"
346
+ },
347
+ "stack_1_island_group_1_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_1_island_group_1_1": {
351
+ "cls": "SingleCabinet"
352
+ },
353
+ "stack_2_island_group_1_base": {
354
+ "cls": "Box"
355
+ },
356
+ "stack_2_island_group_1_1": {
357
+ "cls": "HingeCabinet"
358
+ },
359
+ "stack_2_island_group_1_2": {
360
+ "cls": "Drawer"
361
+ },
362
+ "stack_3_island_group_1_base": {
363
+ "cls": "Box"
364
+ },
365
+ "stack_3_island_group_1_1": {
366
+ "cls": "HingeCabinet"
367
+ },
368
+ "stack_3_island_group_1_2": {
369
+ "cls": "Drawer"
370
+ },
371
+ "stack_4_island_group_1_base": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_4_island_group_1_1": {
375
+ "cls": "Drawer"
376
+ },
377
+ "stack_4_island_group_1_2": {
378
+ "cls": "Drawer"
379
+ },
380
+ "cube_2_island_group_1": {
381
+ "cls": "Box"
382
+ }
383
+ },
384
+ "gen_textures": {},
385
+ "lang": "Turn on the sink faucet.",
386
+ "fixture_refs": {},
387
+ "cam_configs": {
388
+ "robot0_agentview_center": {
389
+ "pos": [
390
+ -0.6,
391
+ 0.0,
392
+ 1.15
393
+ ],
394
+ "quat": [
395
+ 0.636945903301239,
396
+ 0.3325185477733612,
397
+ -0.3199238181114197,
398
+ -0.6175596117973328
399
+ ],
400
+ "parent_body": "mobilebase0_support"
401
+ },
402
+ "robot0_agentview_left": {
403
+ "pos": [
404
+ -0.5,
405
+ 0.35,
406
+ 1.05
407
+ ],
408
+ "quat": [
409
+ 0.55623853,
410
+ 0.29935253,
411
+ -0.37678665,
412
+ -0.6775092
413
+ ],
414
+ "camera_attribs": {
415
+ "fovy": "60"
416
+ },
417
+ "parent_body": "mobilebase0_support"
418
+ },
419
+ "robot0_agentview_right": {
420
+ "pos": [
421
+ -0.5,
422
+ -0.35,
423
+ 1.05
424
+ ],
425
+ "quat": [
426
+ 0.6775091886520386,
427
+ 0.3767866790294647,
428
+ -0.2993525564670563,
429
+ -0.55623859167099
430
+ ],
431
+ "camera_attribs": {
432
+ "fovy": "60"
433
+ },
434
+ "parent_body": "mobilebase0_support"
435
+ },
436
+ "robot0_frontview": {
437
+ "pos": [
438
+ -0.5,
439
+ 0,
440
+ 0.95
441
+ ],
442
+ "quat": [
443
+ 0.6088936924934387,
444
+ 0.3814677894115448,
445
+ -0.3673907518386841,
446
+ -0.5905545353889465
447
+ ],
448
+ "camera_attribs": {
449
+ "fovy": "60"
450
+ },
451
+ "parent_body": "mobilebase0_support"
452
+ },
453
+ "robot0_eye_in_hand": {
454
+ "pos": [
455
+ 0.05,
456
+ 0,
457
+ 0
458
+ ],
459
+ "quat": [
460
+ 0,
461
+ 0.707107,
462
+ 0.707107,
463
+ 0
464
+ ],
465
+ "parent_body": "robot0_right_hand"
466
+ }
467
+ },
468
+ "init_robot_base_pos": [
469
+ 1.7729465044423027,
470
+ -0.8257201058639958,
471
+ 0.0
472
+ ],
473
+ "init_robot_base_ori": [
474
+ 0.0,
475
+ 0.0,
476
+ 1.5707963267948966
477
+ ]
478
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000046/ep_meta.json ADDED
@@ -0,0 +1,354 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 40,
3
+ "style_id": 31,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_right_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.05844030390000001,
15
+ 0.052086639,
16
+ 0.16363651095
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "bottled_water",
37
+ "drink"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "bottled_water",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_13/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 0.8388143588788468,
49
+ 0.65
50
+ ],
51
+ "offset": [
52
+ -0.7980928205605766,
53
+ -3.469446951953614e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_0"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_sink",
61
+ "obj_groups": "all",
62
+ "washable": true,
63
+ "placement": {
64
+ "fixture": "sink_right_group_1",
65
+ "size": [
66
+ 0.3,
67
+ 0.4
68
+ ],
69
+ "pos": [
70
+ null,
71
+ -1.0
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "tangerine",
79
+ "fruit",
80
+ "food",
81
+ "in_container"
82
+ ],
83
+ "groups": [
84
+ "all"
85
+ ],
86
+ "cat": "tangerine",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml"
89
+ },
90
+ "reset_region": {
91
+ "offset": [
92
+ -0.0038110736702231807,
93
+ -0.024734373509031543,
94
+ -0.20953974374125964
95
+ ],
96
+ "size": [
97
+ 0.6468094657780432,
98
+ 0.345544667275835
99
+ ],
100
+ "height": 0.2053193736978915,
101
+ "name": "basin"
102
+ }
103
+ }
104
+ ],
105
+ "fixtures": {
106
+ "wall_left_1_room": {
107
+ "cls": "Wall"
108
+ },
109
+ "wall_left_1_backing_room": {
110
+ "cls": "Wall"
111
+ },
112
+ "wall_main_1_room": {
113
+ "cls": "Wall"
114
+ },
115
+ "wall_main_1_backing_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_right_1_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "wall_right_1_backing_room": {
122
+ "cls": "Wall"
123
+ },
124
+ "wall_main_2_room": {
125
+ "cls": "Wall"
126
+ },
127
+ "wall_main_2_backing_room": {
128
+ "cls": "Wall"
129
+ },
130
+ "floor_1_room": {
131
+ "cls": "Floor"
132
+ },
133
+ "floor_1_backing_room": {
134
+ "cls": "Floor"
135
+ },
136
+ "floor_2_room": {
137
+ "cls": "Floor"
138
+ },
139
+ "floor_2_backing_room": {
140
+ "cls": "Floor"
141
+ },
142
+ "lightswitch_room": {
143
+ "cls": "WallAccessory"
144
+ },
145
+ "wallaccessory.002_room": {
146
+ "cls": "WallAccessory"
147
+ },
148
+ "wallaccessory.001_room": {
149
+ "cls": "WallAccessory"
150
+ },
151
+ "wallaccessory.003_room": {
152
+ "cls": "WallAccessory"
153
+ },
154
+ "window_group_room": {
155
+ "cls": "Window"
156
+ },
157
+ "counter_corner_1_main_group_1": {
158
+ "cls": "Counter"
159
+ },
160
+ "counter_1_main_group_1": {
161
+ "cls": "Counter"
162
+ },
163
+ "hingecabinet_1_main_group_1": {
164
+ "cls": "HingeCabinet"
165
+ },
166
+ "singlecabinet_1_main_group_1": {
167
+ "cls": "SingleCabinet"
168
+ },
169
+ "box_1_main_group_1": {
170
+ "cls": "Box"
171
+ },
172
+ "stack_1_main_group_1_base": {
173
+ "cls": "Box"
174
+ },
175
+ "stack_1_main_group_1_1": {
176
+ "cls": "HingeCabinet"
177
+ },
178
+ "stack_1_main_group_1_2": {
179
+ "cls": "Drawer"
180
+ },
181
+ "stack_2_main_group_1_base": {
182
+ "cls": "Box"
183
+ },
184
+ "stack_2_main_group_1_1": {
185
+ "cls": "SingleCabinet"
186
+ },
187
+ "cube_2_main_group_1": {
188
+ "cls": "Box"
189
+ },
190
+ "coffeemachine_main_group_1": {
191
+ "cls": "CoffeeMachine"
192
+ },
193
+ "papertowel_main_group_1": {
194
+ "cls": "Accessory"
195
+ },
196
+ "sink_right_group_1": {
197
+ "cls": "Sink"
198
+ },
199
+ "counter_1_right_group_1": {
200
+ "cls": "Counter"
201
+ },
202
+ "stove_right_group_1": {
203
+ "cls": "Stove"
204
+ },
205
+ "microwave_right_group_1": {
206
+ "cls": "Microwave"
207
+ },
208
+ "micro_cab_right_group_1": {
209
+ "cls": "HingeCabinet"
210
+ },
211
+ "singlecabinet_1_right_group_1": {
212
+ "cls": "SingleCabinet"
213
+ },
214
+ "singlecabinet_2_right_group_1": {
215
+ "cls": "SingleCabinet"
216
+ },
217
+ "box_1_right_group_1": {
218
+ "cls": "Box"
219
+ },
220
+ "stack_1_right_group_1_base": {
221
+ "cls": "Box"
222
+ },
223
+ "stack_1_right_group_1_1": {
224
+ "cls": "SingleCabinet"
225
+ },
226
+ "stack_2_right_group_1_base": {
227
+ "cls": "Box"
228
+ },
229
+ "stack_2_right_group_1_1": {
230
+ "cls": "SingleCabinet"
231
+ },
232
+ "stack_2_right_group_1_2": {
233
+ "cls": "Drawer"
234
+ },
235
+ "stack_3_right_group_1_base": {
236
+ "cls": "Box"
237
+ },
238
+ "stack_3_right_group_1_1": {
239
+ "cls": "HingeCabinet"
240
+ },
241
+ "dishwasher_1_right_group_1": {
242
+ "cls": "Dishwasher"
243
+ },
244
+ "box_2_right_group_1": {
245
+ "cls": "Box"
246
+ },
247
+ "toaster_right_group_1": {
248
+ "cls": "Toaster"
249
+ },
250
+ "fridgefrenchdoor_right_group_1": {
251
+ "cls": "FridgeFrenchDoor"
252
+ },
253
+ "fridgefrenchdoor_housing_right_group_1": {
254
+ "cls": "HousingCabinet"
255
+ },
256
+ "hingecabinet_1_right_group_1": {
257
+ "cls": "HingeCabinet"
258
+ }
259
+ },
260
+ "gen_textures": {},
261
+ "lang": "Turn on the sink faucet.",
262
+ "fixture_refs": {},
263
+ "cam_configs": {
264
+ "robot0_agentview_center": {
265
+ "pos": [
266
+ -0.6,
267
+ 0.0,
268
+ 1.15
269
+ ],
270
+ "quat": [
271
+ 0.636945903301239,
272
+ 0.3325185477733612,
273
+ -0.3199238181114197,
274
+ -0.6175596117973328
275
+ ],
276
+ "parent_body": "mobilebase0_support"
277
+ },
278
+ "robot0_agentview_left": {
279
+ "pos": [
280
+ -0.5,
281
+ 0.35,
282
+ 1.05
283
+ ],
284
+ "quat": [
285
+ 0.55623853,
286
+ 0.29935253,
287
+ -0.37678665,
288
+ -0.6775092
289
+ ],
290
+ "camera_attribs": {
291
+ "fovy": "60"
292
+ },
293
+ "parent_body": "mobilebase0_support"
294
+ },
295
+ "robot0_agentview_right": {
296
+ "pos": [
297
+ -0.5,
298
+ -0.35,
299
+ 1.05
300
+ ],
301
+ "quat": [
302
+ 0.6775091886520386,
303
+ 0.3767866790294647,
304
+ -0.2993525564670563,
305
+ -0.55623859167099
306
+ ],
307
+ "camera_attribs": {
308
+ "fovy": "60"
309
+ },
310
+ "parent_body": "mobilebase0_support"
311
+ },
312
+ "robot0_frontview": {
313
+ "pos": [
314
+ -0.5,
315
+ 0,
316
+ 0.95
317
+ ],
318
+ "quat": [
319
+ 0.6088936924934387,
320
+ 0.3814677894115448,
321
+ -0.3673907518386841,
322
+ -0.5905545353889465
323
+ ],
324
+ "camera_attribs": {
325
+ "fovy": "60"
326
+ },
327
+ "parent_body": "mobilebase0_support"
328
+ },
329
+ "robot0_eye_in_hand": {
330
+ "pos": [
331
+ 0.05,
332
+ 0,
333
+ 0
334
+ ],
335
+ "quat": [
336
+ 0,
337
+ 0.707107,
338
+ 0.707107,
339
+ 0
340
+ ],
341
+ "parent_body": "robot0_right_hand"
342
+ }
343
+ },
344
+ "init_robot_base_pos": [
345
+ 3.0019963339432842,
346
+ -1.9777059926529872,
347
+ 0.0
348
+ ],
349
+ "init_robot_base_ori": [
350
+ 0.0,
351
+ 0.0,
352
+ 0.00030199704781619374
353
+ ]
354
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000047/ep_meta.json ADDED
@@ -0,0 +1,408 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 40,
3
+ "style_id": 19,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_right_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.28189456799999996,
15
+ 0.21749480399999999,
16
+ 0.094138764
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "colander",
37
+ "receptacle"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "colander",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander003/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 0.7232425934549253,
49
+ 0.65
50
+ ],
51
+ "offset": [
52
+ 0.8558787032725375,
53
+ -3.469446951953614e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_0"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_counter_1",
61
+ "obj_groups": "all",
62
+ "placement": {
63
+ "fixture": "counter_1_right_group_1",
64
+ "sample_region_kwargs": {
65
+ "ref": "sink_right_group_1",
66
+ "loc": "left_right",
67
+ "min_size": [
68
+ 0.1386226,
69
+ 0.046661575000000004,
70
+ 0.01874565
71
+ ]
72
+ },
73
+ "size": [
74
+ 0.3,
75
+ 0.3
76
+ ],
77
+ "pos": [
78
+ "ref",
79
+ -1.0
80
+ ],
81
+ "offset": [
82
+ 0.0,
83
+ 0.1
84
+ ]
85
+ },
86
+ "type": "object",
87
+ "info": {
88
+ "groups_containing_sampled_obj": [
89
+ "all",
90
+ "cream_cheese_stick",
91
+ "dairy",
92
+ "food",
93
+ "in_container"
94
+ ],
95
+ "groups": [
96
+ "all"
97
+ ],
98
+ "cat": "cream_cheese_stick",
99
+ "split": "train",
100
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick007/model.xml"
101
+ },
102
+ "reset_region": {
103
+ "size": [
104
+ 0.7232425934549253,
105
+ 0.65
106
+ ],
107
+ "offset": [
108
+ 0.8558787032725375,
109
+ -3.469446951953614e-17,
110
+ 0.46
111
+ ],
112
+ "name": "geom_0"
113
+ }
114
+ },
115
+ {
116
+ "name": "distr_sink",
117
+ "obj_groups": "all",
118
+ "washable": true,
119
+ "placement": {
120
+ "fixture": "sink_right_group_1",
121
+ "size": [
122
+ 0.3,
123
+ 0.4
124
+ ],
125
+ "pos": [
126
+ null,
127
+ -1.0
128
+ ]
129
+ },
130
+ "type": "object",
131
+ "info": {
132
+ "groups_containing_sampled_obj": [
133
+ "all",
134
+ "salt_and_pepper_shaker",
135
+ "spice"
136
+ ],
137
+ "groups": [
138
+ "all"
139
+ ],
140
+ "cat": "salt_and_pepper_shaker",
141
+ "split": "train",
142
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/salt_and_pepper_shaker/PepperShaker002/model.xml"
143
+ },
144
+ "reset_region": {
145
+ "offset": [
146
+ -0.2337664429193589,
147
+ -0.026744692983198037,
148
+ -0.23104242983236573
149
+ ],
150
+ "size": [
151
+ 0.42363230858580997,
152
+ 0.4095219847273065
153
+ ],
154
+ "height": 0.1927158442597567,
155
+ "name": "basin_left"
156
+ }
157
+ }
158
+ ],
159
+ "fixtures": {
160
+ "wall_left_1_room": {
161
+ "cls": "Wall"
162
+ },
163
+ "wall_left_1_backing_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_main_1_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_main_1_backing_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_right_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_right_1_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
+ "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
+ "lightswitch_room": {
197
+ "cls": "WallAccessory"
198
+ },
199
+ "wallaccessory.002_room": {
200
+ "cls": "WallAccessory"
201
+ },
202
+ "wallaccessory.001_room": {
203
+ "cls": "WallAccessory"
204
+ },
205
+ "wallaccessory.003_room": {
206
+ "cls": "WallAccessory"
207
+ },
208
+ "window_group_room": {
209
+ "cls": "Window"
210
+ },
211
+ "counter_corner_1_main_group_1": {
212
+ "cls": "Counter"
213
+ },
214
+ "counter_1_main_group_1": {
215
+ "cls": "Counter"
216
+ },
217
+ "hingecabinet_1_main_group_1": {
218
+ "cls": "HingeCabinet"
219
+ },
220
+ "singlecabinet_1_main_group_1": {
221
+ "cls": "SingleCabinet"
222
+ },
223
+ "box_1_main_group_1": {
224
+ "cls": "Box"
225
+ },
226
+ "stack_1_main_group_1_base": {
227
+ "cls": "Box"
228
+ },
229
+ "stack_1_main_group_1_1": {
230
+ "cls": "HingeCabinet"
231
+ },
232
+ "stack_1_main_group_1_2": {
233
+ "cls": "Drawer"
234
+ },
235
+ "stack_2_main_group_1_base": {
236
+ "cls": "Box"
237
+ },
238
+ "stack_2_main_group_1_1": {
239
+ "cls": "SingleCabinet"
240
+ },
241
+ "cube_2_main_group_1": {
242
+ "cls": "Box"
243
+ },
244
+ "coffeemachine_main_group_1": {
245
+ "cls": "CoffeeMachine"
246
+ },
247
+ "papertowel_main_group_1": {
248
+ "cls": "Accessory"
249
+ },
250
+ "sink_right_group_1": {
251
+ "cls": "Sink"
252
+ },
253
+ "counter_1_right_group_1": {
254
+ "cls": "Counter"
255
+ },
256
+ "stove_right_group_1": {
257
+ "cls": "Stove"
258
+ },
259
+ "microwave_right_group_1": {
260
+ "cls": "Microwave"
261
+ },
262
+ "micro_cab_right_group_1": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "singlecabinet_1_right_group_1": {
266
+ "cls": "SingleCabinet"
267
+ },
268
+ "singlecabinet_2_right_group_1": {
269
+ "cls": "SingleCabinet"
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_2_right_group_1_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_2_right_group_1_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "stack_2_right_group_1_2": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_3_right_group_1_base": {
290
+ "cls": "Box"
291
+ },
292
+ "stack_3_right_group_1_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "dishwasher_1_right_group_1": {
296
+ "cls": "Dishwasher"
297
+ },
298
+ "box_2_right_group_1": {
299
+ "cls": "Box"
300
+ },
301
+ "toaster_right_group_1": {
302
+ "cls": "Toaster"
303
+ },
304
+ "fridgefrenchdoor_right_group_1": {
305
+ "cls": "FridgeFrenchDoor"
306
+ },
307
+ "fridgefrenchdoor_housing_right_group_1": {
308
+ "cls": "HousingCabinet"
309
+ },
310
+ "hingecabinet_1_right_group_1": {
311
+ "cls": "HingeCabinet"
312
+ }
313
+ },
314
+ "gen_textures": {},
315
+ "lang": "Turn on the sink faucet.",
316
+ "fixture_refs": {},
317
+ "cam_configs": {
318
+ "robot0_agentview_center": {
319
+ "pos": [
320
+ -0.6,
321
+ 0.0,
322
+ 1.15
323
+ ],
324
+ "quat": [
325
+ 0.636945903301239,
326
+ 0.3325185477733612,
327
+ -0.3199238181114197,
328
+ -0.6175596117973328
329
+ ],
330
+ "parent_body": "mobilebase0_support"
331
+ },
332
+ "robot0_agentview_left": {
333
+ "pos": [
334
+ -0.5,
335
+ 0.35,
336
+ 1.05
337
+ ],
338
+ "quat": [
339
+ 0.55623853,
340
+ 0.29935253,
341
+ -0.37678665,
342
+ -0.6775092
343
+ ],
344
+ "camera_attribs": {
345
+ "fovy": "60"
346
+ },
347
+ "parent_body": "mobilebase0_support"
348
+ },
349
+ "robot0_agentview_right": {
350
+ "pos": [
351
+ -0.5,
352
+ -0.35,
353
+ 1.05
354
+ ],
355
+ "quat": [
356
+ 0.6775091886520386,
357
+ 0.3767866790294647,
358
+ -0.2993525564670563,
359
+ -0.55623859167099
360
+ ],
361
+ "camera_attribs": {
362
+ "fovy": "60"
363
+ },
364
+ "parent_body": "mobilebase0_support"
365
+ },
366
+ "robot0_frontview": {
367
+ "pos": [
368
+ -0.5,
369
+ 0,
370
+ 0.95
371
+ ],
372
+ "quat": [
373
+ 0.6088936924934387,
374
+ 0.3814677894115448,
375
+ -0.3673907518386841,
376
+ -0.5905545353889465
377
+ ],
378
+ "camera_attribs": {
379
+ "fovy": "60"
380
+ },
381
+ "parent_body": "mobilebase0_support"
382
+ },
383
+ "robot0_eye_in_hand": {
384
+ "pos": [
385
+ 0.05,
386
+ 0,
387
+ 0
388
+ ],
389
+ "quat": [
390
+ 0,
391
+ 0.707107,
392
+ 0.707107,
393
+ 0
394
+ ],
395
+ "parent_body": "robot0_right_hand"
396
+ }
397
+ },
398
+ "init_robot_base_pos": [
399
+ 2.9504546064084844,
400
+ -2.01319833030618,
401
+ 0.0
402
+ ],
403
+ "init_robot_base_ori": [
404
+ 0.0,
405
+ 0.0,
406
+ 0.00030199704781619374
407
+ ]
408
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000050/ep_meta.json ADDED
@@ -0,0 +1,540 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 12,
3
+ "style_id": 24,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_main_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.05895424079999999,
15
+ 0.09270410876999999,
16
+ 0.06995632499999999
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "bread",
37
+ "bread_food",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "bread",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.3731683019160479,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ -1.2504158490419761,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_1"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_sink",
63
+ "obj_groups": "all",
64
+ "washable": true,
65
+ "placement": {
66
+ "fixture": "sink_1_main_group",
67
+ "size": [
68
+ 0.3,
69
+ 0.4
70
+ ],
71
+ "pos": [
72
+ null,
73
+ -1.0
74
+ ]
75
+ },
76
+ "type": "object",
77
+ "info": {
78
+ "groups_containing_sampled_obj": [
79
+ "all",
80
+ "orange",
81
+ "fruit",
82
+ "food",
83
+ "in_container",
84
+ "food_set1"
85
+ ],
86
+ "groups": [
87
+ "all"
88
+ ],
89
+ "cat": "orange",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_10/model.xml"
92
+ },
93
+ "reset_region": {
94
+ "offset": [
95
+ 0.21500250718720276,
96
+ -0.041432212610281516,
97
+ -0.22800612393871678
98
+ ],
99
+ "size": [
100
+ 0.28606758145866207,
101
+ 0.3676055948766946
102
+ ],
103
+ "height": 0.12750776516385834,
104
+ "name": "basin_right"
105
+ }
106
+ }
107
+ ],
108
+ "fixtures": {
109
+ "wall_left_1_room": {
110
+ "cls": "Wall"
111
+ },
112
+ "wall_left_1_backing_room": {
113
+ "cls": "Wall"
114
+ },
115
+ "wall_main_1_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_main_1_backing_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "wall_right_1_room": {
122
+ "cls": "Wall"
123
+ },
124
+ "wall_right_1_backing_room": {
125
+ "cls": "Wall"
126
+ },
127
+ "wall_right_2_room": {
128
+ "cls": "Wall"
129
+ },
130
+ "wall_right_2_backing_room": {
131
+ "cls": "Wall"
132
+ },
133
+ "wall_right_3_room": {
134
+ "cls": "Wall"
135
+ },
136
+ "wall_right_3_backing_room": {
137
+ "cls": "Wall"
138
+ },
139
+ "floor_1_room": {
140
+ "cls": "Floor"
141
+ },
142
+ "floor_1_backing_room": {
143
+ "cls": "Floor"
144
+ },
145
+ "wall_accessory_1_room": {
146
+ "cls": "WallAccessory"
147
+ },
148
+ "wall_accessory_2_room": {
149
+ "cls": "WallAccessory"
150
+ },
151
+ "wall_accessory_3_room": {
152
+ "cls": "WallAccessory"
153
+ },
154
+ "light_switch_1_room": {
155
+ "cls": "WallAccessory"
156
+ },
157
+ "wall_accessory_4_room": {
158
+ "cls": "WallAccessory"
159
+ },
160
+ "wall_accessory_5_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "window_group_room": {
164
+ "cls": "Window"
165
+ },
166
+ "stool_1_room": {
167
+ "cls": "Stool"
168
+ },
169
+ "stool_2_room": {
170
+ "cls": "Stool"
171
+ },
172
+ "stool_3_room": {
173
+ "cls": "Stool"
174
+ },
175
+ "stool_4_room": {
176
+ "cls": "Stool"
177
+ },
178
+ "stool_5_room": {
179
+ "cls": "Stool"
180
+ },
181
+ "stool_6_room": {
182
+ "cls": "Stool"
183
+ },
184
+ "counter_corner_1_main_group": {
185
+ "cls": "Counter"
186
+ },
187
+ "sink_1_main_group": {
188
+ "cls": "Sink"
189
+ },
190
+ "counter_1_main_group": {
191
+ "cls": "Counter"
192
+ },
193
+ "counter_corner_2_main_group": {
194
+ "cls": "Counter"
195
+ },
196
+ "box_1_main_group": {
197
+ "cls": "Box"
198
+ },
199
+ "stack_1_main_group_base": {
200
+ "cls": "Box"
201
+ },
202
+ "stack_1_main_group_1": {
203
+ "cls": "Drawer"
204
+ },
205
+ "stack_1_main_group_2": {
206
+ "cls": "Drawer"
207
+ },
208
+ "stack_1_main_group_3": {
209
+ "cls": "Drawer"
210
+ },
211
+ "stack_2_main_group_base": {
212
+ "cls": "Box"
213
+ },
214
+ "stack_2_main_group_1": {
215
+ "cls": "SingleCabinet"
216
+ },
217
+ "stack_2_main_group_2": {
218
+ "cls": "Drawer"
219
+ },
220
+ "stack_3_main_group_base": {
221
+ "cls": "Box"
222
+ },
223
+ "stack_3_main_group_1": {
224
+ "cls": "HingeCabinet"
225
+ },
226
+ "dishwasher_1_main_group": {
227
+ "cls": "Dishwasher"
228
+ },
229
+ "stack_4_main_group_base": {
230
+ "cls": "Box"
231
+ },
232
+ "stack_4_main_group_1": {
233
+ "cls": "SingleCabinet"
234
+ },
235
+ "stack_4_main_group_2": {
236
+ "cls": "Drawer"
237
+ },
238
+ "stack_5_main_group_base": {
239
+ "cls": "Box"
240
+ },
241
+ "stack_5_main_group_1": {
242
+ "cls": "SingleCabinet"
243
+ },
244
+ "box_2_main_group": {
245
+ "cls": "Box"
246
+ },
247
+ "top_corner_1_main_group": {
248
+ "cls": "Box"
249
+ },
250
+ "cab_1_main_group": {
251
+ "cls": "HingeCabinet"
252
+ },
253
+ "cab_2_main_group": {
254
+ "cls": "HingeCabinet"
255
+ },
256
+ "top_corner_2_main_group": {
257
+ "cls": "Box"
258
+ },
259
+ "paper_towel_main_group": {
260
+ "cls": "Accessory"
261
+ },
262
+ "coffee_machine_main_group": {
263
+ "cls": "CoffeeMachine"
264
+ },
265
+ "toaster_main_group": {
266
+ "cls": "Toaster"
267
+ },
268
+ "knife_block_main_group": {
269
+ "cls": "Accessory"
270
+ },
271
+ "stovetop_left_group": {
272
+ "cls": "Stovetop"
273
+ },
274
+ "counter_1_left_group": {
275
+ "cls": "Counter"
276
+ },
277
+ "box_1_left_group": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_1_left_group_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_1_left_group_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "stack_2_left_group_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_2_left_group_1": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_2_left_group_2": {
293
+ "cls": "Drawer"
294
+ },
295
+ "stack_2_left_group_3": {
296
+ "cls": "PanelCabinet"
297
+ },
298
+ "box_3_left_group": {
299
+ "cls": "Box"
300
+ },
301
+ "stack_3_left_group_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_3_left_group_1": {
305
+ "cls": "Drawer"
306
+ },
307
+ "stack_3_left_group_2": {
308
+ "cls": "Drawer"
309
+ },
310
+ "stack_3_left_group_3": {
311
+ "cls": "Drawer"
312
+ },
313
+ "box_2_left_group": {
314
+ "cls": "Box"
315
+ },
316
+ "fridge_1_left_group": {
317
+ "cls": "FridgeFrenchDoor"
318
+ },
319
+ "fridge_1_housing_left_group": {
320
+ "cls": "HousingCabinet"
321
+ },
322
+ "hood_left_group": {
323
+ "cls": "Hood"
324
+ },
325
+ "cab_1_left_group": {
326
+ "cls": "HingeCabinet"
327
+ },
328
+ "cab_2_left_group": {
329
+ "cls": "SingleCabinet"
330
+ },
331
+ "cab_3_left_group": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "toaster_oven_left_group": {
335
+ "cls": "ToasterOven"
336
+ },
337
+ "bottom_right_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "bottom_right_group_1_1": {
341
+ "cls": "Drawer"
342
+ },
343
+ "oven_right_group_1": {
344
+ "cls": "Oven"
345
+ },
346
+ "oven_housing_right_group_1": {
347
+ "cls": "HousingCabinet"
348
+ },
349
+ "microwave_right_group_1": {
350
+ "cls": "Microwave"
351
+ },
352
+ "microwave_housing_right_group_1": {
353
+ "cls": "HousingCabinet"
354
+ },
355
+ "top_right_group_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "stack_1_right_group_1_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_1_right_group_1_1": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "stack_2_right_group_1_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_2_right_group_1_1": {
368
+ "cls": "PanelCabinet"
369
+ },
370
+ "box_right_group_1": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_3_right_group_1_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_3_right_group_1_1": {
377
+ "cls": "HingeCabinet"
378
+ },
379
+ "counter_1_right_group_1": {
380
+ "cls": "Counter"
381
+ },
382
+ "cab_1_right_group_1": {
383
+ "cls": "HingeCabinet"
384
+ },
385
+ "cab_2_right_group_1": {
386
+ "cls": "SingleCabinet"
387
+ },
388
+ "cab_3_right_group_1": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "island_island_group": {
392
+ "cls": "Counter"
393
+ },
394
+ "panel_stack_1_island_group_base": {
395
+ "cls": "Box"
396
+ },
397
+ "panel_stack_1_island_group_1": {
398
+ "cls": "PanelCabinet"
399
+ },
400
+ "stack_1_island_group_base": {
401
+ "cls": "Box"
402
+ },
403
+ "stack_1_island_group_1": {
404
+ "cls": "HingeCabinet"
405
+ },
406
+ "stack_1_island_group_2": {
407
+ "cls": "Drawer"
408
+ },
409
+ "stack_2_island_group_base": {
410
+ "cls": "Box"
411
+ },
412
+ "stack_2_island_group_1": {
413
+ "cls": "HingeCabinet"
414
+ },
415
+ "stack_2_island_group_2": {
416
+ "cls": "Drawer"
417
+ },
418
+ "stack_3_island_group_base": {
419
+ "cls": "Box"
420
+ },
421
+ "stack_3_island_group_1": {
422
+ "cls": "HingeCabinet"
423
+ },
424
+ "stack_3_island_group_2": {
425
+ "cls": "Drawer"
426
+ },
427
+ "stack_4_island_group_base": {
428
+ "cls": "Box"
429
+ },
430
+ "stack_4_island_group_1": {
431
+ "cls": "HingeCabinet"
432
+ },
433
+ "stack_4_island_group_2": {
434
+ "cls": "Drawer"
435
+ },
436
+ "panel_stack_2_island_group_base": {
437
+ "cls": "Box"
438
+ },
439
+ "panel_stack_2_island_group_1": {
440
+ "cls": "PanelCabinet"
441
+ },
442
+ "box_1_island_group": {
443
+ "cls": "Box"
444
+ }
445
+ },
446
+ "gen_textures": {},
447
+ "lang": "Turn on the sink faucet.",
448
+ "fixture_refs": {},
449
+ "cam_configs": {
450
+ "robot0_agentview_center": {
451
+ "pos": [
452
+ -0.6,
453
+ 0.0,
454
+ 1.15
455
+ ],
456
+ "quat": [
457
+ 0.636945903301239,
458
+ 0.3325185477733612,
459
+ -0.3199238181114197,
460
+ -0.6175596117973328
461
+ ],
462
+ "parent_body": "mobilebase0_support"
463
+ },
464
+ "robot0_agentview_left": {
465
+ "pos": [
466
+ -0.5,
467
+ 0.35,
468
+ 1.05
469
+ ],
470
+ "quat": [
471
+ 0.55623853,
472
+ 0.29935253,
473
+ -0.37678665,
474
+ -0.6775092
475
+ ],
476
+ "camera_attribs": {
477
+ "fovy": "60"
478
+ },
479
+ "parent_body": "mobilebase0_support"
480
+ },
481
+ "robot0_agentview_right": {
482
+ "pos": [
483
+ -0.5,
484
+ -0.35,
485
+ 1.05
486
+ ],
487
+ "quat": [
488
+ 0.6775091886520386,
489
+ 0.3767866790294647,
490
+ -0.2993525564670563,
491
+ -0.55623859167099
492
+ ],
493
+ "camera_attribs": {
494
+ "fovy": "60"
495
+ },
496
+ "parent_body": "mobilebase0_support"
497
+ },
498
+ "robot0_frontview": {
499
+ "pos": [
500
+ -0.5,
501
+ 0,
502
+ 0.95
503
+ ],
504
+ "quat": [
505
+ 0.6088936924934387,
506
+ 0.3814677894115448,
507
+ -0.3673907518386841,
508
+ -0.5905545353889465
509
+ ],
510
+ "camera_attribs": {
511
+ "fovy": "60"
512
+ },
513
+ "parent_body": "mobilebase0_support"
514
+ },
515
+ "robot0_eye_in_hand": {
516
+ "pos": [
517
+ 0.05,
518
+ 0,
519
+ 0
520
+ ],
521
+ "quat": [
522
+ 0,
523
+ 0.707107,
524
+ 0.707107,
525
+ 0
526
+ ],
527
+ "parent_body": "robot0_right_hand"
528
+ }
529
+ },
530
+ "init_robot_base_pos": [
531
+ 2.357315074723554,
532
+ -0.8386964083616764,
533
+ 0.0
534
+ ],
535
+ "init_robot_base_ori": [
536
+ 0.0,
537
+ 0.0,
538
+ 1.5707963267948966
539
+ ]
540
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000051/ep_meta.json ADDED
@@ -0,0 +1,711 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 39,
3
+ "style_id": 21,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_main_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.10350055380000002,
15
+ 0.10500000000000001,
16
+ 0.0362892054
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "bagel",
37
+ "bread_food",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "bagel",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_4/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 2.0167502358958163,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 1.8416248820520917,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_1"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_counter_1",
63
+ "obj_groups": "all",
64
+ "placement": {
65
+ "fixture": "counter_1_main_group_1",
66
+ "sample_region_kwargs": {
67
+ "ref": "sink_main_group_1",
68
+ "loc": "left_right",
69
+ "min_size": [
70
+ 0.06033332033999998,
71
+ 0.060335873189999986,
72
+ 0.20924786146499996
73
+ ]
74
+ },
75
+ "size": [
76
+ 0.3,
77
+ 0.3
78
+ ],
79
+ "pos": [
80
+ "ref",
81
+ -1.0
82
+ ],
83
+ "offset": [
84
+ 0.0,
85
+ 0.1
86
+ ]
87
+ },
88
+ "type": "object",
89
+ "info": {
90
+ "groups_containing_sampled_obj": [
91
+ "all",
92
+ "liquor",
93
+ "drink",
94
+ "alcohol"
95
+ ],
96
+ "groups": [
97
+ "all"
98
+ ],
99
+ "cat": "liquor",
100
+ "split": "train",
101
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_0/model.xml"
102
+ },
103
+ "reset_region": {
104
+ "size": [
105
+ 2.757750235895816,
106
+ 0.65
107
+ ],
108
+ "offset": [
109
+ -1.4711248820520921,
110
+ -3.469446951953614e-17,
111
+ 0.46
112
+ ],
113
+ "name": "geom_0"
114
+ }
115
+ },
116
+ {
117
+ "name": "distr_counter_2",
118
+ "obj_groups": "all",
119
+ "placement": {
120
+ "fixture": "counter_1_main_group_1",
121
+ "sample_region_kwargs": {
122
+ "ref": "sink_main_group_1",
123
+ "loc": "left_right",
124
+ "min_size": [
125
+ 0.04967637444,
126
+ 0.09698494344,
127
+ 0.087802344
128
+ ]
129
+ },
130
+ "size": [
131
+ 0.3,
132
+ 0.3
133
+ ],
134
+ "pos": [
135
+ "ref",
136
+ -1.0
137
+ ],
138
+ "offset": [
139
+ 0.0,
140
+ 0.1
141
+ ]
142
+ },
143
+ "type": "object",
144
+ "info": {
145
+ "groups_containing_sampled_obj": [
146
+ "all",
147
+ "bread",
148
+ "bread_food",
149
+ "food",
150
+ "in_container"
151
+ ],
152
+ "groups": [
153
+ "all"
154
+ ],
155
+ "cat": "bread",
156
+ "split": "train",
157
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_17/model.xml"
158
+ },
159
+ "reset_region": {
160
+ "size": [
161
+ 2.757750235895816,
162
+ 0.65
163
+ ],
164
+ "offset": [
165
+ -1.4711248820520921,
166
+ -3.469446951953614e-17,
167
+ 0.46
168
+ ],
169
+ "name": "geom_0"
170
+ }
171
+ },
172
+ {
173
+ "name": "distr_sink",
174
+ "obj_groups": "all",
175
+ "washable": true,
176
+ "placement": {
177
+ "fixture": "sink_main_group_1",
178
+ "size": [
179
+ 0.3,
180
+ 0.4
181
+ ],
182
+ "pos": [
183
+ null,
184
+ -1.0
185
+ ]
186
+ },
187
+ "type": "object",
188
+ "info": {
189
+ "groups_containing_sampled_obj": [
190
+ "all",
191
+ "ketchup",
192
+ "condiment"
193
+ ],
194
+ "groups": [
195
+ "all"
196
+ ],
197
+ "cat": "ketchup",
198
+ "split": "train",
199
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_11/model.xml"
200
+ },
201
+ "reset_region": {
202
+ "offset": [
203
+ -0.25375101875937456,
204
+ -0.032755945224704285,
205
+ -0.157664497132104
206
+ ],
207
+ "size": [
208
+ 0.22678006029742603,
209
+ 0.2815059225014469
210
+ ],
211
+ "height": 0.1610789725350931,
212
+ "name": "basin"
213
+ }
214
+ }
215
+ ],
216
+ "fixtures": {
217
+ "wall_main_1_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "wall_main_1_backing_room": {
221
+ "cls": "Wall"
222
+ },
223
+ "wall_right_1_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "wall_right_1_backing_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_main_2_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "wall_main_2_backing_room": {
233
+ "cls": "Wall"
234
+ },
235
+ "wall_right_2_room": {
236
+ "cls": "Wall"
237
+ },
238
+ "wall_right_2_backing_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "wall_front_1_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_front_1_backing_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_front_5_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_front_5_backing_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_right_5_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "wall_right_5_backing_room": {
257
+ "cls": "Wall"
258
+ },
259
+ "wall_front_4_room": {
260
+ "cls": "Wall"
261
+ },
262
+ "wall_front_4_backing_room": {
263
+ "cls": "Wall"
264
+ },
265
+ "wall_right_4_room": {
266
+ "cls": "Wall"
267
+ },
268
+ "wall_right_4_backing_room": {
269
+ "cls": "Wall"
270
+ },
271
+ "wall_right_3_room": {
272
+ "cls": "Wall"
273
+ },
274
+ "wall_right_3_backing_room": {
275
+ "cls": "Wall"
276
+ },
277
+ "wall_front_3_room": {
278
+ "cls": "Wall"
279
+ },
280
+ "wall_front_3_backing_room": {
281
+ "cls": "Wall"
282
+ },
283
+ "wall_front_2_room": {
284
+ "cls": "Wall"
285
+ },
286
+ "wall_front_2_backing_room": {
287
+ "cls": "Wall"
288
+ },
289
+ "wall_front_6_room": {
290
+ "cls": "Wall"
291
+ },
292
+ "wall_front_6_backing_room": {
293
+ "cls": "Wall"
294
+ },
295
+ "wall_front_7_room": {
296
+ "cls": "Wall"
297
+ },
298
+ "wall_front_7_backing_room": {
299
+ "cls": "Wall"
300
+ },
301
+ "floor_1_room": {
302
+ "cls": "Floor"
303
+ },
304
+ "floor_1_backing_room": {
305
+ "cls": "Floor"
306
+ },
307
+ "floor_2_room": {
308
+ "cls": "Floor"
309
+ },
310
+ "floor_2_backing_room": {
311
+ "cls": "Floor"
312
+ },
313
+ "floor_3_room": {
314
+ "cls": "Floor"
315
+ },
316
+ "floor_3_backing_room": {
317
+ "cls": "Floor"
318
+ },
319
+ "wallaccessory_2_room": {
320
+ "cls": "WallAccessory"
321
+ },
322
+ "wallaccessory_1_room": {
323
+ "cls": "WallAccessory"
324
+ },
325
+ "wallaccessory_4_room": {
326
+ "cls": "WallAccessory"
327
+ },
328
+ "wallaccessory_3_room": {
329
+ "cls": "WallAccessory"
330
+ },
331
+ "lightswitch_room": {
332
+ "cls": "WallAccessory"
333
+ },
334
+ "wallaccessory_5_room": {
335
+ "cls": "WallAccessory"
336
+ },
337
+ "wallaccessory_6.001_room": {
338
+ "cls": "WallAccessory"
339
+ },
340
+ "window_group_room": {
341
+ "cls": "Window"
342
+ },
343
+ "sink_main_group_1": {
344
+ "cls": "Sink"
345
+ },
346
+ "counter_1_main_group_1": {
347
+ "cls": "Counter"
348
+ },
349
+ "fridgefrenchdoor_main_group_1": {
350
+ "cls": "FridgeFrenchDoor"
351
+ },
352
+ "fridgefrenchdoor_housing_main_group_1": {
353
+ "cls": "HousingCabinet"
354
+ },
355
+ "hingecabinet_1_main_group_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "singlecabinet_5_main_group_1": {
359
+ "cls": "SingleCabinet"
360
+ },
361
+ "singlecabinet_4_main_group_1": {
362
+ "cls": "SingleCabinet"
363
+ },
364
+ "singlecabinet_1_main_group_1": {
365
+ "cls": "SingleCabinet"
366
+ },
367
+ "singlecabinet_2_main_group_1": {
368
+ "cls": "SingleCabinet"
369
+ },
370
+ "singlecabinet_3_main_group_1": {
371
+ "cls": "SingleCabinet"
372
+ },
373
+ "stack_1_main_group_1_base": {
374
+ "cls": "Box"
375
+ },
376
+ "stack_1_main_group_1_1": {
377
+ "cls": "SingleCabinet"
378
+ },
379
+ "stack_1_main_group_1_2": {
380
+ "cls": "Drawer"
381
+ },
382
+ "stack_2_main_group_1_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_2_main_group_1_1": {
386
+ "cls": "SingleCabinet"
387
+ },
388
+ "stack_2_main_group_1_2": {
389
+ "cls": "Drawer"
390
+ },
391
+ "stack_3_main_group_1_base": {
392
+ "cls": "Box"
393
+ },
394
+ "stack_3_main_group_1_1": {
395
+ "cls": "Drawer"
396
+ },
397
+ "stack_3_main_group_1_2": {
398
+ "cls": "Drawer"
399
+ },
400
+ "stack_3_main_group_1_3": {
401
+ "cls": "Drawer"
402
+ },
403
+ "stack_4_main_group_1_base": {
404
+ "cls": "Box"
405
+ },
406
+ "stack_4_main_group_1_1": {
407
+ "cls": "SingleCabinet"
408
+ },
409
+ "stack_4_main_group_1_2": {
410
+ "cls": "Drawer"
411
+ },
412
+ "cube_1_main_group_1": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_5_main_group_1_base": {
416
+ "cls": "Box"
417
+ },
418
+ "stack_5_main_group_1_1": {
419
+ "cls": "SingleCabinet"
420
+ },
421
+ "stack_5_main_group_1_2": {
422
+ "cls": "Drawer"
423
+ },
424
+ "stack_6_main_group_1_base": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_6_main_group_1_1": {
428
+ "cls": "SingleCabinet"
429
+ },
430
+ "stack_6_main_group_1_2": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_7_main_group_1_base": {
434
+ "cls": "Box"
435
+ },
436
+ "stack_7_main_group_1_1": {
437
+ "cls": "HingeCabinet"
438
+ },
439
+ "stack_7_main_group_1_2": {
440
+ "cls": "PanelCabinet"
441
+ },
442
+ "dishwasher_1_main_group_1": {
443
+ "cls": "Dishwasher"
444
+ },
445
+ "toaster_main_group_1": {
446
+ "cls": "Toaster"
447
+ },
448
+ "knifeblock_main_group_1": {
449
+ "cls": "Accessory"
450
+ },
451
+ "papertowel_main_group_1": {
452
+ "cls": "Accessory"
453
+ },
454
+ "stovetop_island_group_1": {
455
+ "cls": "Stovetop"
456
+ },
457
+ "island_island_group_1": {
458
+ "cls": "Counter"
459
+ },
460
+ "stack_1_island_group_1_base": {
461
+ "cls": "Box"
462
+ },
463
+ "stack_1_island_group_1_1": {
464
+ "cls": "SingleCabinet"
465
+ },
466
+ "stack_1_island_group_1_2": {
467
+ "cls": "Drawer"
468
+ },
469
+ "stack_2_island_group_1_base": {
470
+ "cls": "Box"
471
+ },
472
+ "stack_2_island_group_1_1": {
473
+ "cls": "SingleCabinet"
474
+ },
475
+ "stack_2_island_group_1_2": {
476
+ "cls": "Drawer"
477
+ },
478
+ "stack_3_island_group_1_base": {
479
+ "cls": "Box"
480
+ },
481
+ "stack_3_island_group_1_1": {
482
+ "cls": "SingleCabinet"
483
+ },
484
+ "stack_3_island_group_1_2": {
485
+ "cls": "Drawer"
486
+ },
487
+ "stack_4_island_group_1_base": {
488
+ "cls": "Box"
489
+ },
490
+ "stack_4_island_group_1_1": {
491
+ "cls": "SingleCabinet"
492
+ },
493
+ "stack_4_island_group_1_2": {
494
+ "cls": "Drawer"
495
+ },
496
+ "stack_5_island_group_2.001_base": {
497
+ "cls": "Box"
498
+ },
499
+ "stack_5_island_group_2.001_1": {
500
+ "cls": "SingleCabinet"
501
+ },
502
+ "stack_5_island_group_2.001_2": {
503
+ "cls": "Drawer"
504
+ },
505
+ "stack_6_island_group_2.001_base": {
506
+ "cls": "Box"
507
+ },
508
+ "stack_6_island_group_2.001_1": {
509
+ "cls": "SingleCabinet"
510
+ },
511
+ "stack_6_island_group_2.001_2": {
512
+ "cls": "Drawer"
513
+ },
514
+ "stack_7_island_group_2.001_base": {
515
+ "cls": "Box"
516
+ },
517
+ "stack_7_island_group_2.001_1": {
518
+ "cls": "SingleCabinet"
519
+ },
520
+ "stack_7_island_group_2.001_2": {
521
+ "cls": "Drawer"
522
+ },
523
+ "stack_8_island_group_2.001_base": {
524
+ "cls": "Box"
525
+ },
526
+ "stack_8_island_group_2.001_1": {
527
+ "cls": "SingleCabinet"
528
+ },
529
+ "stack_8_island_group_2.001_2": {
530
+ "cls": "Drawer"
531
+ },
532
+ "counter_1_front_group_1": {
533
+ "cls": "Counter"
534
+ },
535
+ "hingecabinet_2_front_group_1": {
536
+ "cls": "HingeCabinet"
537
+ },
538
+ "hingecabinet_1_front_group_1": {
539
+ "cls": "HingeCabinet"
540
+ },
541
+ "stack_1_front_group_1_base": {
542
+ "cls": "Box"
543
+ },
544
+ "stack_1_front_group_1_1": {
545
+ "cls": "SingleCabinet"
546
+ },
547
+ "stack_1_front_group_1_2": {
548
+ "cls": "Drawer"
549
+ },
550
+ "stack_2_front_group_1_base": {
551
+ "cls": "Box"
552
+ },
553
+ "stack_2_front_group_1_1": {
554
+ "cls": "SingleCabinet"
555
+ },
556
+ "stack_2_front_group_1_2": {
557
+ "cls": "Drawer"
558
+ },
559
+ "stack_3_front_group_1_base": {
560
+ "cls": "Box"
561
+ },
562
+ "stack_3_front_group_1_1": {
563
+ "cls": "SingleCabinet"
564
+ },
565
+ "stack_3_front_group_1_2": {
566
+ "cls": "Drawer"
567
+ },
568
+ "stack_4_front_group_1_base": {
569
+ "cls": "Box"
570
+ },
571
+ "stack_4_front_group_1_1": {
572
+ "cls": "SingleCabinet"
573
+ },
574
+ "stack_4_front_group_1_2": {
575
+ "cls": "Drawer"
576
+ },
577
+ "stack_5_front_group_1_base": {
578
+ "cls": "Box"
579
+ },
580
+ "stack_5_front_group_1_1": {
581
+ "cls": "Drawer"
582
+ },
583
+ "stack_5_front_group_1_2": {
584
+ "cls": "Drawer"
585
+ },
586
+ "stack_5_front_group_1_3": {
587
+ "cls": "Drawer"
588
+ },
589
+ "bottom_front_group_1_base": {
590
+ "cls": "Box"
591
+ },
592
+ "bottom_front_group_1_1": {
593
+ "cls": "Drawer"
594
+ },
595
+ "oven_front_group_1": {
596
+ "cls": "Oven"
597
+ },
598
+ "oven_housing_front_group_1": {
599
+ "cls": "HousingCabinet"
600
+ },
601
+ "microwave_front_group_1": {
602
+ "cls": "Microwave"
603
+ },
604
+ "microwave_housing_front_group_1": {
605
+ "cls": "HousingCabinet"
606
+ },
607
+ "top_front_group_1": {
608
+ "cls": "HingeCabinet"
609
+ },
610
+ "coffeemachine_front_group_1": {
611
+ "cls": "CoffeeMachine"
612
+ },
613
+ "toaster_oven_front_group_1": {
614
+ "cls": "ToasterOven"
615
+ }
616
+ },
617
+ "gen_textures": {},
618
+ "lang": "Turn on the sink faucet.",
619
+ "fixture_refs": {},
620
+ "cam_configs": {
621
+ "robot0_agentview_center": {
622
+ "pos": [
623
+ -0.6,
624
+ 0.0,
625
+ 1.15
626
+ ],
627
+ "quat": [
628
+ 0.636945903301239,
629
+ 0.3325185477733612,
630
+ -0.3199238181114197,
631
+ -0.6175596117973328
632
+ ],
633
+ "parent_body": "mobilebase0_support"
634
+ },
635
+ "robot0_agentview_left": {
636
+ "pos": [
637
+ -0.5,
638
+ 0.35,
639
+ 1.05
640
+ ],
641
+ "quat": [
642
+ 0.55623853,
643
+ 0.29935253,
644
+ -0.37678665,
645
+ -0.6775092
646
+ ],
647
+ "camera_attribs": {
648
+ "fovy": "60"
649
+ },
650
+ "parent_body": "mobilebase0_support"
651
+ },
652
+ "robot0_agentview_right": {
653
+ "pos": [
654
+ -0.5,
655
+ -0.35,
656
+ 1.05
657
+ ],
658
+ "quat": [
659
+ 0.6775091886520386,
660
+ 0.3767866790294647,
661
+ -0.2993525564670563,
662
+ -0.55623859167099
663
+ ],
664
+ "camera_attribs": {
665
+ "fovy": "60"
666
+ },
667
+ "parent_body": "mobilebase0_support"
668
+ },
669
+ "robot0_frontview": {
670
+ "pos": [
671
+ -0.5,
672
+ 0,
673
+ 0.95
674
+ ],
675
+ "quat": [
676
+ 0.6088936924934387,
677
+ 0.3814677894115448,
678
+ -0.3673907518386841,
679
+ -0.5905545353889465
680
+ ],
681
+ "camera_attribs": {
682
+ "fovy": "60"
683
+ },
684
+ "parent_body": "mobilebase0_support"
685
+ },
686
+ "robot0_eye_in_hand": {
687
+ "pos": [
688
+ 0.05,
689
+ 0,
690
+ 0
691
+ ],
692
+ "quat": [
693
+ 0,
694
+ 0.707107,
695
+ 0.707107,
696
+ 0
697
+ ],
698
+ "parent_body": "robot0_right_hand"
699
+ }
700
+ },
701
+ "init_robot_base_pos": [
702
+ 3.1776114842393923,
703
+ -0.7937447539392767,
704
+ 0.0
705
+ ],
706
+ "init_robot_base_ori": [
707
+ 0.0,
708
+ 0.0,
709
+ 1.5707963267948966
710
+ ]
711
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000052/ep_meta.json ADDED
@@ -0,0 +1,515 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 49,
3
+ "style_id": 19,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_right_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.0428590073,
15
+ 0.11305835380000002,
16
+ 0.05232753230000001
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "sweet_potato",
37
+ "vegetable",
38
+ "food",
39
+ "in_container",
40
+ "oven_ready"
41
+ ],
42
+ "groups": [
43
+ "all"
44
+ ],
45
+ "cat": "sweet_potato",
46
+ "split": "train",
47
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml"
48
+ },
49
+ "reset_region": {
50
+ "size": [
51
+ 0.6653919434549255,
52
+ 0.650178
53
+ ],
54
+ "offset": [
55
+ 0.7104625282725374,
56
+ -3.469446951953614e-17,
57
+ 0.460003
58
+ ],
59
+ "name": "geom_0"
60
+ }
61
+ },
62
+ {
63
+ "name": "distr_sink",
64
+ "obj_groups": "all",
65
+ "washable": true,
66
+ "placement": {
67
+ "fixture": "sink_right_group_1",
68
+ "size": [
69
+ 0.3,
70
+ 0.4
71
+ ],
72
+ "pos": [
73
+ null,
74
+ -1.0
75
+ ]
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "tongs",
82
+ "tool",
83
+ "in_container"
84
+ ],
85
+ "groups": [
86
+ "all"
87
+ ],
88
+ "cat": "tongs",
89
+ "split": "train",
90
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs007/model.xml"
91
+ },
92
+ "reset_region": {
93
+ "offset": [
94
+ 0.23437353368904895,
95
+ -0.02612845102737396,
96
+ -0.23104242983236573
97
+ ],
98
+ "size": [
99
+ 0.4210537290570493,
100
+ 0.41255406170996073
101
+ ],
102
+ "height": 0.1927349277575648,
103
+ "name": "basin_right"
104
+ }
105
+ }
106
+ ],
107
+ "fixtures": {
108
+ "wall_right_1_room": {
109
+ "cls": "Wall"
110
+ },
111
+ "wall_right_1_backing_room": {
112
+ "cls": "Wall"
113
+ },
114
+ "wall_main_2_room": {
115
+ "cls": "Wall"
116
+ },
117
+ "wall_main_2_backing_room": {
118
+ "cls": "Wall"
119
+ },
120
+ "wall_main_1_room": {
121
+ "cls": "Wall"
122
+ },
123
+ "wall_main_1_backing_room": {
124
+ "cls": "Wall"
125
+ },
126
+ "wall_left_1_room": {
127
+ "cls": "Wall"
128
+ },
129
+ "wall_left_1_backing_room": {
130
+ "cls": "Wall"
131
+ },
132
+ "wall_left_2_room": {
133
+ "cls": "Wall"
134
+ },
135
+ "wall_left_2_backing_room": {
136
+ "cls": "Wall"
137
+ },
138
+ "wall_left_4_room": {
139
+ "cls": "Wall"
140
+ },
141
+ "wall_left_4_backing_room": {
142
+ "cls": "Wall"
143
+ },
144
+ "wall_left_3_room": {
145
+ "cls": "Wall"
146
+ },
147
+ "wall_left_3_backing_room": {
148
+ "cls": "Wall"
149
+ },
150
+ "wall_main_4_room": {
151
+ "cls": "Wall"
152
+ },
153
+ "wall_main_4_backing_room": {
154
+ "cls": "Wall"
155
+ },
156
+ "wall_main_3_room": {
157
+ "cls": "Wall"
158
+ },
159
+ "wall_main_3_backing_room": {
160
+ "cls": "Wall"
161
+ },
162
+ "floor_1_room": {
163
+ "cls": "Floor"
164
+ },
165
+ "floor_1_backing_room": {
166
+ "cls": "Floor"
167
+ },
168
+ "floor_2_room": {
169
+ "cls": "Floor"
170
+ },
171
+ "floor_2_backing_room": {
172
+ "cls": "Floor"
173
+ },
174
+ "wallaccessory_7_room": {
175
+ "cls": "WallAccessory"
176
+ },
177
+ "wallaccessory_6_room": {
178
+ "cls": "WallAccessory"
179
+ },
180
+ "wallaccessory_2_room": {
181
+ "cls": "WallAccessory"
182
+ },
183
+ "wallaccessory_4_room": {
184
+ "cls": "WallAccessory"
185
+ },
186
+ "wallaccessory_5_room": {
187
+ "cls": "WallAccessory"
188
+ },
189
+ "wallaccessory_11_room": {
190
+ "cls": "WallAccessory"
191
+ },
192
+ "window_group_1_room": {
193
+ "cls": "Window"
194
+ },
195
+ "stool_4_room": {
196
+ "cls": "Stool"
197
+ },
198
+ "stool_3_room": {
199
+ "cls": "Stool"
200
+ },
201
+ "stool_2_room": {
202
+ "cls": "Stool"
203
+ },
204
+ "stool_1_room": {
205
+ "cls": "Stool"
206
+ },
207
+ "hingecabinet_2_main_group_1": {
208
+ "cls": "HingeCabinet"
209
+ },
210
+ "hingecabinet_3_main_group_1": {
211
+ "cls": "HingeCabinet"
212
+ },
213
+ "singlecabinet_4_main_group_1": {
214
+ "cls": "SingleCabinet"
215
+ },
216
+ "counter_corner_1_main_group_1": {
217
+ "cls": "Counter"
218
+ },
219
+ "counter_2_main_group_1": {
220
+ "cls": "Counter"
221
+ },
222
+ "counter_13_main_group_1": {
223
+ "cls": "Counter"
224
+ },
225
+ "stove_main_group_1": {
226
+ "cls": "Stove"
227
+ },
228
+ "microwave_main_group_1": {
229
+ "cls": "Microwave"
230
+ },
231
+ "micro_cab_main_group_1": {
232
+ "cls": "HingeCabinet"
233
+ },
234
+ "stack_01_main_group_1_base": {
235
+ "cls": "Box"
236
+ },
237
+ "stack_01_main_group_1_1": {
238
+ "cls": "SingleCabinet"
239
+ },
240
+ "stack_01_main_group_1_2": {
241
+ "cls": "Drawer"
242
+ },
243
+ "stack_02_main_group_1_base": {
244
+ "cls": "Box"
245
+ },
246
+ "stack_02_main_group_1_1": {
247
+ "cls": "SingleCabinet"
248
+ },
249
+ "stack_02_main_group_1_2": {
250
+ "cls": "Drawer"
251
+ },
252
+ "stack_03_main_group_1_base": {
253
+ "cls": "Box"
254
+ },
255
+ "stack_03_main_group_1_1": {
256
+ "cls": "Drawer"
257
+ },
258
+ "stack_03_main_group_1_2": {
259
+ "cls": "Drawer"
260
+ },
261
+ "stack_03_main_group_1_3": {
262
+ "cls": "Drawer"
263
+ },
264
+ "stack_04_main_group_1_base": {
265
+ "cls": "Box"
266
+ },
267
+ "stack_04_main_group_1_1": {
268
+ "cls": "SingleCabinet"
269
+ },
270
+ "cube_main_group_1": {
271
+ "cls": "Box"
272
+ },
273
+ "coffee_machine_main_group_1": {
274
+ "cls": "CoffeeMachine"
275
+ },
276
+ "toaster_main_group_1": {
277
+ "cls": "Toaster"
278
+ },
279
+ "papertowel_main_group_1": {
280
+ "cls": "Accessory"
281
+ },
282
+ "toaster_oven_main_group_1": {
283
+ "cls": "ToasterOven"
284
+ },
285
+ "sink_right_group_1": {
286
+ "cls": "Sink"
287
+ },
288
+ "counter_1_right_group_1": {
289
+ "cls": "Counter"
290
+ },
291
+ "stack_05_right_group_1_base": {
292
+ "cls": "Box"
293
+ },
294
+ "stack_05_right_group_1_1": {
295
+ "cls": "SingleCabinet"
296
+ },
297
+ "cube_2_right_group_1": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_07_right_group_1_base": {
301
+ "cls": "Box"
302
+ },
303
+ "stack_07_right_group_1_1": {
304
+ "cls": "HingeCabinet"
305
+ },
306
+ "stack_07_right_group_1_2": {
307
+ "cls": "PanelCabinet"
308
+ },
309
+ "cube_1_right_group_1": {
310
+ "cls": "Box"
311
+ },
312
+ "dishwasher_1_right_group_1": {
313
+ "cls": "Dishwasher"
314
+ },
315
+ "fridgefrenchdoor_left_group_2": {
316
+ "cls": "FridgeFrenchDoor"
317
+ },
318
+ "fridgefrenchdoor_housing_left_group_2": {
319
+ "cls": "HousingCabinet"
320
+ },
321
+ "hingecabinet_1_left_group_2": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "counter_3_front_group_1": {
325
+ "cls": "Counter"
326
+ },
327
+ "counter_5_front_group_1": {
328
+ "cls": "Counter"
329
+ },
330
+ "stack_12_front_group_1_base": {
331
+ "cls": "Box"
332
+ },
333
+ "stack_12_front_group_1_1": {
334
+ "cls": "SingleCabinet"
335
+ },
336
+ "stack_12_front_group_1_2": {
337
+ "cls": "Drawer"
338
+ },
339
+ "stack_13_front_group_1_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_13_front_group_1_1": {
343
+ "cls": "Drawer"
344
+ },
345
+ "stack_13_front_group_1_2": {
346
+ "cls": "Drawer"
347
+ },
348
+ "stack_13_front_group_1_3": {
349
+ "cls": "Drawer"
350
+ },
351
+ "stack_14_front_group_1_base": {
352
+ "cls": "Box"
353
+ },
354
+ "stack_14_front_group_1_1": {
355
+ "cls": "SingleCabinet"
356
+ },
357
+ "stack_14_front_group_1_2": {
358
+ "cls": "Drawer"
359
+ },
360
+ "stack_15_front_group_1_base": {
361
+ "cls": "Box"
362
+ },
363
+ "stack_15_front_group_1_1": {
364
+ "cls": "SingleCabinet"
365
+ },
366
+ "stack_15_front_group_1_2": {
367
+ "cls": "Drawer"
368
+ },
369
+ "stack_11_front_group_1_base": {
370
+ "cls": "Box"
371
+ },
372
+ "stack_11_front_group_1_1": {
373
+ "cls": "SingleCabinet"
374
+ },
375
+ "stack_11_front_group_1_2": {
376
+ "cls": "Drawer"
377
+ },
378
+ "cube_4_front_group_1": {
379
+ "cls": "Box"
380
+ },
381
+ "cube_11_front_group_1": {
382
+ "cls": "Box"
383
+ },
384
+ "cube_5_front_group_1": {
385
+ "cls": "Box"
386
+ },
387
+ "dining_dining_area_group": {
388
+ "cls": "Counter"
389
+ },
390
+ "stack_10_dining_area_group_base": {
391
+ "cls": "Box"
392
+ },
393
+ "stack_10_dining_area_group_1": {
394
+ "cls": "SingleCabinet"
395
+ },
396
+ "stack_10_dining_area_group_2": {
397
+ "cls": "Drawer"
398
+ },
399
+ "stack_09_dining_area_group_base": {
400
+ "cls": "Box"
401
+ },
402
+ "stack_09_dining_area_group_1": {
403
+ "cls": "SingleCabinet"
404
+ },
405
+ "stack_09_dining_area_group_2": {
406
+ "cls": "Drawer"
407
+ },
408
+ "stack_08_dining_area_group_base": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_08_dining_area_group_1": {
412
+ "cls": "SingleCabinet"
413
+ },
414
+ "stack_08_dining_area_group_2": {
415
+ "cls": "Drawer"
416
+ },
417
+ "cube_2_dining_area_group": {
418
+ "cls": "Box"
419
+ }
420
+ },
421
+ "gen_textures": {},
422
+ "lang": "Turn on the sink faucet.",
423
+ "fixture_refs": {},
424
+ "cam_configs": {
425
+ "robot0_agentview_center": {
426
+ "pos": [
427
+ -0.6,
428
+ 0.0,
429
+ 1.15
430
+ ],
431
+ "quat": [
432
+ 0.636945903301239,
433
+ 0.3325185477733612,
434
+ -0.3199238181114197,
435
+ -0.6175596117973328
436
+ ],
437
+ "parent_body": "mobilebase0_support"
438
+ },
439
+ "robot0_agentview_left": {
440
+ "pos": [
441
+ -0.5,
442
+ 0.35,
443
+ 1.05
444
+ ],
445
+ "quat": [
446
+ 0.55623853,
447
+ 0.29935253,
448
+ -0.37678665,
449
+ -0.6775092
450
+ ],
451
+ "camera_attribs": {
452
+ "fovy": "60"
453
+ },
454
+ "parent_body": "mobilebase0_support"
455
+ },
456
+ "robot0_agentview_right": {
457
+ "pos": [
458
+ -0.5,
459
+ -0.35,
460
+ 1.05
461
+ ],
462
+ "quat": [
463
+ 0.6775091886520386,
464
+ 0.3767866790294647,
465
+ -0.2993525564670563,
466
+ -0.55623859167099
467
+ ],
468
+ "camera_attribs": {
469
+ "fovy": "60"
470
+ },
471
+ "parent_body": "mobilebase0_support"
472
+ },
473
+ "robot0_frontview": {
474
+ "pos": [
475
+ -0.5,
476
+ 0,
477
+ 0.95
478
+ ],
479
+ "quat": [
480
+ 0.6088936924934387,
481
+ 0.3814677894115448,
482
+ -0.3673907518386841,
483
+ -0.5905545353889465
484
+ ],
485
+ "camera_attribs": {
486
+ "fovy": "60"
487
+ },
488
+ "parent_body": "mobilebase0_support"
489
+ },
490
+ "robot0_eye_in_hand": {
491
+ "pos": [
492
+ 0.05,
493
+ 0,
494
+ 0
495
+ ],
496
+ "quat": [
497
+ 0,
498
+ 0.707107,
499
+ 0.707107,
500
+ 0
501
+ ],
502
+ "parent_body": "robot0_right_hand"
503
+ }
504
+ },
505
+ "init_robot_base_pos": [
506
+ 5.299534937841649,
507
+ -1.9275969950173502,
508
+ 0.0
509
+ ],
510
+ "init_robot_base_ori": [
511
+ 0.0,
512
+ 0.0,
513
+ -0.00016215342262304588
514
+ ]
515
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000054/ep_meta.json ADDED
@@ -0,0 +1,397 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 44,
3
+ "style_id": 16,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_main_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.07381952907999997,
15
+ 0.09196764158999997,
16
+ 0.04518113825499998
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "cheese",
37
+ "dairy",
38
+ "food",
39
+ "in_container",
40
+ "food_set1"
41
+ ],
42
+ "groups": [
43
+ "all"
44
+ ],
45
+ "cat": "cheese",
46
+ "split": "train",
47
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml"
48
+ },
49
+ "reset_region": {
50
+ "size": [
51
+ 0.8923676098843438,
52
+ 0.650008
53
+ ],
54
+ "offset": [
55
+ 0.47441869505782797,
56
+ -3.469446951953614e-17,
57
+ 0.46
58
+ ],
59
+ "name": "geom_0"
60
+ }
61
+ },
62
+ {
63
+ "name": "distr_sink",
64
+ "obj_groups": "all",
65
+ "washable": true,
66
+ "placement": {
67
+ "fixture": "sink_main_group_1",
68
+ "size": [
69
+ 0.3,
70
+ 0.4
71
+ ],
72
+ "pos": [
73
+ null,
74
+ -1.0
75
+ ]
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "jug",
82
+ "receptacle"
83
+ ],
84
+ "groups": [
85
+ "all"
86
+ ],
87
+ "cat": "jug",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_3/model.xml"
90
+ },
91
+ "reset_region": {
92
+ "offset": [
93
+ -0.0004622779679119282,
94
+ -0.021244503991496827,
95
+ -0.2860018344788262
96
+ ],
97
+ "size": [
98
+ 0.6034106175546102,
99
+ 0.3727340445438187
100
+ ],
101
+ "height": 0.18578279015355506,
102
+ "name": "basin"
103
+ }
104
+ }
105
+ ],
106
+ "fixtures": {
107
+ "wall_main_1_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_main_1_backing_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_right_1_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_right_1_backing_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_1_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_left_1_backing_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_main_2_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_main_2_backing_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_right_2_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_right_2_backing_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "wall_right_3_room": {
138
+ "cls": "Wall"
139
+ },
140
+ "wall_right_3_backing_room": {
141
+ "cls": "Wall"
142
+ },
143
+ "floor_1_room": {
144
+ "cls": "Floor"
145
+ },
146
+ "floor_1_backing_room": {
147
+ "cls": "Floor"
148
+ },
149
+ "floor_2_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_2_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "wallaccessory.001_room": {
156
+ "cls": "WallAccessory"
157
+ },
158
+ "wallaccessory.005_room": {
159
+ "cls": "WallAccessory"
160
+ },
161
+ "wallaccessory_room": {
162
+ "cls": "WallAccessory"
163
+ },
164
+ "wallaccessory.003_room": {
165
+ "cls": "WallAccessory"
166
+ },
167
+ "wallaccessory.004_room": {
168
+ "cls": "WallAccessory"
169
+ },
170
+ "wallaccessory.002_room": {
171
+ "cls": "WallAccessory"
172
+ },
173
+ "window_group_1_room": {
174
+ "cls": "Window"
175
+ },
176
+ "window_group_2_room": {
177
+ "cls": "Window"
178
+ },
179
+ "stool_1_room": {
180
+ "cls": "Stool"
181
+ },
182
+ "stool_2_room": {
183
+ "cls": "Stool"
184
+ },
185
+ "stool_3_room": {
186
+ "cls": "Stool"
187
+ },
188
+ "counter_corner_1_main_group_1": {
189
+ "cls": "Counter"
190
+ },
191
+ "sink_main_group_1": {
192
+ "cls": "Sink"
193
+ },
194
+ "counter_1_main_group_1": {
195
+ "cls": "Counter"
196
+ },
197
+ "singlecabinet_1_main_group_1": {
198
+ "cls": "SingleCabinet"
199
+ },
200
+ "cube_main_group_1": {
201
+ "cls": "Box"
202
+ },
203
+ "singlecabinet_2_main_group_1": {
204
+ "cls": "SingleCabinet"
205
+ },
206
+ "hingecabinet_1_main_group_1": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "stack_1_main_group_1_base": {
210
+ "cls": "Box"
211
+ },
212
+ "stack_1_main_group_1_1": {
213
+ "cls": "HingeCabinet"
214
+ },
215
+ "cube_1_main_group_1": {
216
+ "cls": "Box"
217
+ },
218
+ "dishwasher_1_main_group_1": {
219
+ "cls": "Dishwasher"
220
+ },
221
+ "fridgesidebyside_main_group_1": {
222
+ "cls": "FridgeSideBySide"
223
+ },
224
+ "fridgesidebyside_housing_main_group_1": {
225
+ "cls": "HousingCabinet"
226
+ },
227
+ "toaster_main_group_1": {
228
+ "cls": "Toaster"
229
+ },
230
+ "papertowel_main_group_1": {
231
+ "cls": "Accessory"
232
+ },
233
+ "counter_1_left_group_1": {
234
+ "cls": "Counter"
235
+ },
236
+ "stove_left_group_1": {
237
+ "cls": "Stove"
238
+ },
239
+ "microwave_left_group_1": {
240
+ "cls": "Microwave"
241
+ },
242
+ "micro_cab_left_group_1": {
243
+ "cls": "HingeCabinet"
244
+ },
245
+ "counter_2_left_group_1": {
246
+ "cls": "Counter"
247
+ },
248
+ "singlecabinet_1_left_group_1": {
249
+ "cls": "SingleCabinet"
250
+ },
251
+ "hingecabinet_1_left_group_1": {
252
+ "cls": "HingeCabinet"
253
+ },
254
+ "cube_3_left_group_1": {
255
+ "cls": "Box"
256
+ },
257
+ "cube_4_left_group_1": {
258
+ "cls": "Box"
259
+ },
260
+ "stack_1_left_group_1_base": {
261
+ "cls": "Box"
262
+ },
263
+ "stack_1_left_group_1_1": {
264
+ "cls": "SingleCabinet"
265
+ },
266
+ "stack_1_left_group_1_2": {
267
+ "cls": "Drawer"
268
+ },
269
+ "stack_2_left_group_1_base": {
270
+ "cls": "Box"
271
+ },
272
+ "stack_2_left_group_1_1": {
273
+ "cls": "SingleCabinet"
274
+ },
275
+ "stack_2_left_group_1_2": {
276
+ "cls": "Drawer"
277
+ },
278
+ "cube_1_left_group_1": {
279
+ "cls": "Box"
280
+ },
281
+ "cube_2_left_group_1": {
282
+ "cls": "Box"
283
+ },
284
+ "coffee_machine_left_group_1": {
285
+ "cls": "CoffeeMachine"
286
+ },
287
+ "island_island_group_1": {
288
+ "cls": "Counter"
289
+ },
290
+ "cube_island_group_1": {
291
+ "cls": "Box"
292
+ },
293
+ "cube_2_island_group_1": {
294
+ "cls": "Box"
295
+ },
296
+ "cube_3_island_group_1": {
297
+ "cls": "Box"
298
+ },
299
+ "cube_4_island_group_1": {
300
+ "cls": "Box"
301
+ }
302
+ },
303
+ "gen_textures": {},
304
+ "lang": "Turn on the sink faucet.",
305
+ "fixture_refs": {},
306
+ "cam_configs": {
307
+ "robot0_agentview_center": {
308
+ "pos": [
309
+ -0.6,
310
+ 0.0,
311
+ 1.15
312
+ ],
313
+ "quat": [
314
+ 0.636945903301239,
315
+ 0.3325185477733612,
316
+ -0.3199238181114197,
317
+ -0.6175596117973328
318
+ ],
319
+ "parent_body": "mobilebase0_support"
320
+ },
321
+ "robot0_agentview_left": {
322
+ "pos": [
323
+ -0.5,
324
+ 0.35,
325
+ 1.05
326
+ ],
327
+ "quat": [
328
+ 0.55623853,
329
+ 0.29935253,
330
+ -0.37678665,
331
+ -0.6775092
332
+ ],
333
+ "camera_attribs": {
334
+ "fovy": "60"
335
+ },
336
+ "parent_body": "mobilebase0_support"
337
+ },
338
+ "robot0_agentview_right": {
339
+ "pos": [
340
+ -0.5,
341
+ -0.35,
342
+ 1.05
343
+ ],
344
+ "quat": [
345
+ 0.6775091886520386,
346
+ 0.3767866790294647,
347
+ -0.2993525564670563,
348
+ -0.55623859167099
349
+ ],
350
+ "camera_attribs": {
351
+ "fovy": "60"
352
+ },
353
+ "parent_body": "mobilebase0_support"
354
+ },
355
+ "robot0_frontview": {
356
+ "pos": [
357
+ -0.5,
358
+ 0,
359
+ 0.95
360
+ ],
361
+ "quat": [
362
+ 0.6088936924934387,
363
+ 0.3814677894115448,
364
+ -0.3673907518386841,
365
+ -0.5905545353889465
366
+ ],
367
+ "camera_attribs": {
368
+ "fovy": "60"
369
+ },
370
+ "parent_body": "mobilebase0_support"
371
+ },
372
+ "robot0_eye_in_hand": {
373
+ "pos": [
374
+ 0.05,
375
+ 0,
376
+ 0
377
+ ],
378
+ "quat": [
379
+ 0,
380
+ 0.707107,
381
+ 0.707107,
382
+ 0
383
+ ],
384
+ "parent_body": "robot0_right_hand"
385
+ }
386
+ },
387
+ "init_robot_base_pos": [
388
+ 3.0367258665577745,
389
+ -0.8311041516091152,
390
+ 0.0
391
+ ],
392
+ "init_robot_base_ori": [
393
+ 0.0,
394
+ 0.0,
395
+ 1.5707963267948966
396
+ ]
397
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000055/ep_meta.json ADDED
@@ -0,0 +1,532 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 20,
3
+ "style_id": 16,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_left_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.045100281,
15
+ 0.272079354,
16
+ 0.034681308
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "tongs",
37
+ "tool",
38
+ "in_container"
39
+ ],
40
+ "groups": [
41
+ "all"
42
+ ],
43
+ "cat": "tongs",
44
+ "split": "train",
45
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs007/model.xml"
46
+ },
47
+ "reset_region": {
48
+ "size": [
49
+ 1.936028209884344,
50
+ 0.65
51
+ ],
52
+ "offset": [
53
+ -0.719985895057828,
54
+ -3.469446951953614e-17,
55
+ 0.46
56
+ ],
57
+ "name": "geom_0"
58
+ }
59
+ },
60
+ {
61
+ "name": "distr_sink",
62
+ "obj_groups": "all",
63
+ "washable": true,
64
+ "placement": {
65
+ "fixture": "sink_1_left_group",
66
+ "size": [
67
+ 0.3,
68
+ 0.4
69
+ ],
70
+ "pos": [
71
+ null,
72
+ -1.0
73
+ ]
74
+ },
75
+ "type": "object",
76
+ "info": {
77
+ "groups_containing_sampled_obj": [
78
+ "all",
79
+ "mango",
80
+ "fruit",
81
+ "food",
82
+ "in_container"
83
+ ],
84
+ "groups": [
85
+ "all"
86
+ ],
87
+ "cat": "mango",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_10/model.xml"
90
+ },
91
+ "reset_region": {
92
+ "offset": [
93
+ -0.0004622779679119282,
94
+ -0.021244503991496827,
95
+ -0.2860018344788262
96
+ ],
97
+ "size": [
98
+ 0.6034106175546102,
99
+ 0.3727340445438187
100
+ ],
101
+ "height": 0.18578279015355506,
102
+ "name": "basin"
103
+ }
104
+ }
105
+ ],
106
+ "fixtures": {
107
+ "wall_left_1_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_left_1_backing_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_main_1_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_main_1_backing_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_front_1_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_front_1_backing_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_front_2_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_front_2_backing_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_front_3_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_front_3_backing_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "floor_1_room": {
138
+ "cls": "Floor"
139
+ },
140
+ "floor_1_backing_room": {
141
+ "cls": "Floor"
142
+ },
143
+ "wall_accessory_1_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "wall_accessory_2_room": {
147
+ "cls": "WallAccessory"
148
+ },
149
+ "wall_accessory_3_room": {
150
+ "cls": "WallAccessory"
151
+ },
152
+ "wall_accessory_4_room": {
153
+ "cls": "WallAccessory"
154
+ },
155
+ "window_group_room": {
156
+ "cls": "Window"
157
+ },
158
+ "counter_corner_main_group": {
159
+ "cls": "Counter"
160
+ },
161
+ "counter_1_main_group": {
162
+ "cls": "Counter"
163
+ },
164
+ "stove_main_group": {
165
+ "cls": "Stove"
166
+ },
167
+ "counter_2_main_group": {
168
+ "cls": "Counter"
169
+ },
170
+ "stack_1_main_group_base": {
171
+ "cls": "Box"
172
+ },
173
+ "stack_1_main_group_1": {
174
+ "cls": "SingleCabinet"
175
+ },
176
+ "stack_1_main_group_2": {
177
+ "cls": "Drawer"
178
+ },
179
+ "stack_2_main_group_base": {
180
+ "cls": "Box"
181
+ },
182
+ "stack_2_main_group_1": {
183
+ "cls": "SingleCabinet"
184
+ },
185
+ "box_main_group": {
186
+ "cls": "Box"
187
+ },
188
+ "stack_3_main_group_base": {
189
+ "cls": "Box"
190
+ },
191
+ "stack_3_main_group_1": {
192
+ "cls": "SingleCabinet"
193
+ },
194
+ "stack_3_main_group_2": {
195
+ "cls": "Drawer"
196
+ },
197
+ "stack_4_main_group_base": {
198
+ "cls": "Box"
199
+ },
200
+ "stack_4_main_group_1": {
201
+ "cls": "SingleCabinet"
202
+ },
203
+ "stack_4_main_group_2": {
204
+ "cls": "Drawer"
205
+ },
206
+ "stack_5_main_group_base": {
207
+ "cls": "Box"
208
+ },
209
+ "stack_5_main_group_1": {
210
+ "cls": "HingeCabinet"
211
+ },
212
+ "stack_6_main_group_base": {
213
+ "cls": "Box"
214
+ },
215
+ "stack_6_main_group_1": {
216
+ "cls": "HingeCabinet"
217
+ },
218
+ "cab_1_main_group": {
219
+ "cls": "HingeCabinet"
220
+ },
221
+ "cab_2_main_group": {
222
+ "cls": "HingeCabinet"
223
+ },
224
+ "cab_3_main_group": {
225
+ "cls": "SingleCabinet"
226
+ },
227
+ "microwave_main_group": {
228
+ "cls": "Microwave"
229
+ },
230
+ "cab_4_main_group": {
231
+ "cls": "HingeCabinet"
232
+ },
233
+ "cab_5_main_group": {
234
+ "cls": "HingeCabinet"
235
+ },
236
+ "cab_6_main_group": {
237
+ "cls": "HingeCabinet"
238
+ },
239
+ "coffee_machine_main_group": {
240
+ "cls": "CoffeeMachine"
241
+ },
242
+ "paper_towel_main_group": {
243
+ "cls": "Accessory"
244
+ },
245
+ "counter_corner_1_left_group": {
246
+ "cls": "Counter"
247
+ },
248
+ "sink_1_left_group": {
249
+ "cls": "Sink"
250
+ },
251
+ "counter_1_left_group": {
252
+ "cls": "Counter"
253
+ },
254
+ "box_1_left_group": {
255
+ "cls": "Box"
256
+ },
257
+ "stack_1_left_group_base": {
258
+ "cls": "Box"
259
+ },
260
+ "stack_1_left_group_1": {
261
+ "cls": "HingeCabinet"
262
+ },
263
+ "dishwasher_1_left_group": {
264
+ "cls": "Dishwasher"
265
+ },
266
+ "stack_2_left_group_base": {
267
+ "cls": "Box"
268
+ },
269
+ "stack_2_left_group_1": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "stack_3_left_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_3_left_group_1": {
276
+ "cls": "SingleCabinet"
277
+ },
278
+ "box_2_left_group": {
279
+ "cls": "Box"
280
+ },
281
+ "cab_1_left_group": {
282
+ "cls": "SingleCabinet"
283
+ },
284
+ "cab_2_left_group": {
285
+ "cls": "HingeCabinet"
286
+ },
287
+ "cab_3_left_group": {
288
+ "cls": "SingleCabinet"
289
+ },
290
+ "cab_corner_left_group": {
291
+ "cls": "Box"
292
+ },
293
+ "knife_block_left_group": {
294
+ "cls": "Accessory"
295
+ },
296
+ "island_island_group_1": {
297
+ "cls": "Counter"
298
+ },
299
+ "panel_stack_1_island_group_1_base": {
300
+ "cls": "Box"
301
+ },
302
+ "panel_stack_1_island_group_1_1": {
303
+ "cls": "PanelCabinet"
304
+ },
305
+ "stack_1_island_group_1_base": {
306
+ "cls": "Box"
307
+ },
308
+ "stack_1_island_group_1_1": {
309
+ "cls": "HingeCabinet"
310
+ },
311
+ "stack_2_island_group_1_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_2_island_group_1_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_3_island_group_1_base": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_3_island_group_1_1": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "panel_stack_2_island_group_1_base": {
324
+ "cls": "Box"
325
+ },
326
+ "panel_stack_2_island_group_1_1": {
327
+ "cls": "PanelCabinet"
328
+ },
329
+ "plant_island_group_1": {
330
+ "cls": "Accessory"
331
+ },
332
+ "counter_1_island_group_2": {
333
+ "cls": "Counter"
334
+ },
335
+ "panel_stack_1_island_group_2_base": {
336
+ "cls": "Box"
337
+ },
338
+ "panel_stack_1_island_group_2_1": {
339
+ "cls": "PanelCabinet"
340
+ },
341
+ "stack_1_island_group_2_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_1_island_group_2_1": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_1_island_group_2_2": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_2_island_group_2_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_2_island_group_2_1": {
354
+ "cls": "Drawer"
355
+ },
356
+ "stack_2_island_group_2_2": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_3_island_group_2_base": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_3_island_group_2_1": {
363
+ "cls": "Drawer"
364
+ },
365
+ "stack_3_island_group_2_2": {
366
+ "cls": "Drawer"
367
+ },
368
+ "panel_stack_2_island_group_2_base": {
369
+ "cls": "Box"
370
+ },
371
+ "panel_stack_2_island_group_2_1": {
372
+ "cls": "PanelCabinet"
373
+ },
374
+ "counter_1_front_group_1": {
375
+ "cls": "Counter"
376
+ },
377
+ "fridge_1_front_group_1": {
378
+ "cls": "FridgeFrenchDoor"
379
+ },
380
+ "fridge_1_housing_front_group_1": {
381
+ "cls": "HousingCabinet"
382
+ },
383
+ "stack_1_front_group_1_base": {
384
+ "cls": "Box"
385
+ },
386
+ "stack_1_front_group_1_1": {
387
+ "cls": "HingeCabinet"
388
+ },
389
+ "box_front_group_1": {
390
+ "cls": "Box"
391
+ },
392
+ "cab_1_front_group_1": {
393
+ "cls": "HingeCabinet"
394
+ },
395
+ "cab_2_front_group_1": {
396
+ "cls": "SingleCabinet"
397
+ },
398
+ "cab_3_front_group_1": {
399
+ "cls": "SingleCabinet"
400
+ },
401
+ "toaster_front_group_1": {
402
+ "cls": "Toaster"
403
+ },
404
+ "counter_1_front_group_2": {
405
+ "cls": "Counter"
406
+ },
407
+ "stack_1_front_group_2_base": {
408
+ "cls": "Box"
409
+ },
410
+ "stack_1_front_group_2_1": {
411
+ "cls": "SingleCabinet"
412
+ },
413
+ "stack_2_front_group_2_base": {
414
+ "cls": "Box"
415
+ },
416
+ "stack_2_front_group_2_1": {
417
+ "cls": "SingleCabinet"
418
+ },
419
+ "stack_3_front_group_2_base": {
420
+ "cls": "Box"
421
+ },
422
+ "stack_3_front_group_2_1": {
423
+ "cls": "SingleCabinet"
424
+ },
425
+ "cab_1_front_group_2": {
426
+ "cls": "HingeCabinet"
427
+ },
428
+ "cab_2_front_group_2": {
429
+ "cls": "HingeCabinet"
430
+ },
431
+ "cab_3_front_group_2": {
432
+ "cls": "HingeCabinet"
433
+ },
434
+ "toaster_oven_front_group_2": {
435
+ "cls": "ToasterOven"
436
+ }
437
+ },
438
+ "gen_textures": {},
439
+ "lang": "Turn on the sink faucet.",
440
+ "fixture_refs": {},
441
+ "cam_configs": {
442
+ "robot0_agentview_center": {
443
+ "pos": [
444
+ -0.6,
445
+ 0.0,
446
+ 1.15
447
+ ],
448
+ "quat": [
449
+ 0.636945903301239,
450
+ 0.3325185477733612,
451
+ -0.3199238181114197,
452
+ -0.6175596117973328
453
+ ],
454
+ "parent_body": "mobilebase0_support"
455
+ },
456
+ "robot0_agentview_left": {
457
+ "pos": [
458
+ -0.5,
459
+ 0.35,
460
+ 1.05
461
+ ],
462
+ "quat": [
463
+ 0.55623853,
464
+ 0.29935253,
465
+ -0.37678665,
466
+ -0.6775092
467
+ ],
468
+ "camera_attribs": {
469
+ "fovy": "60"
470
+ },
471
+ "parent_body": "mobilebase0_support"
472
+ },
473
+ "robot0_agentview_right": {
474
+ "pos": [
475
+ -0.5,
476
+ -0.35,
477
+ 1.05
478
+ ],
479
+ "quat": [
480
+ 0.6775091886520386,
481
+ 0.3767866790294647,
482
+ -0.2993525564670563,
483
+ -0.55623859167099
484
+ ],
485
+ "camera_attribs": {
486
+ "fovy": "60"
487
+ },
488
+ "parent_body": "mobilebase0_support"
489
+ },
490
+ "robot0_frontview": {
491
+ "pos": [
492
+ -0.5,
493
+ 0,
494
+ 0.95
495
+ ],
496
+ "quat": [
497
+ 0.6088936924934387,
498
+ 0.3814677894115448,
499
+ -0.3673907518386841,
500
+ -0.5905545353889465
501
+ ],
502
+ "camera_attribs": {
503
+ "fovy": "60"
504
+ },
505
+ "parent_body": "mobilebase0_support"
506
+ },
507
+ "robot0_eye_in_hand": {
508
+ "pos": [
509
+ 0.05,
510
+ 0,
511
+ 0
512
+ ],
513
+ "quat": [
514
+ 0,
515
+ 0.707107,
516
+ 0.707107,
517
+ 0
518
+ ],
519
+ "parent_body": "robot0_right_hand"
520
+ }
521
+ },
522
+ "init_robot_base_pos": [
523
+ 0.8245627927895854,
524
+ -1.8246795250963865,
525
+ 0.0
526
+ ],
527
+ "init_robot_base_ori": [
528
+ 0.0,
529
+ 0.0,
530
+ 3.1415926193612504
531
+ ]
532
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000057/ep_meta.json ADDED
@@ -0,0 +1,499 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 48,
3
+ "style_id": 29,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_3_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_right_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.0524828964,
15
+ 0.0508619529,
16
+ 0.16336970595
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "bottled_water",
37
+ "drink"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "bottled_water",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_14/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 1.1044614,
49
+ 0.650012
50
+ ],
51
+ "offset": [
52
+ 1.0863893,
53
+ -3.469446951953614e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_0"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_counter_1",
61
+ "obj_groups": "all",
62
+ "placement": {
63
+ "fixture": "counter_3_right_group_1",
64
+ "sample_region_kwargs": {
65
+ "ref": "sink_right_group_1",
66
+ "loc": "left_right",
67
+ "min_size": [
68
+ 0.06305586084000002,
69
+ 0.06329488725,
70
+ 0.06362383356000001
71
+ ]
72
+ },
73
+ "size": [
74
+ 0.3,
75
+ 0.3
76
+ ],
77
+ "pos": [
78
+ "ref",
79
+ -1.0
80
+ ],
81
+ "offset": [
82
+ 0.0,
83
+ 0.1
84
+ ]
85
+ },
86
+ "type": "object",
87
+ "info": {
88
+ "groups_containing_sampled_obj": [
89
+ "all",
90
+ "apple",
91
+ "fruit",
92
+ "food",
93
+ "in_container",
94
+ "food_set1",
95
+ "group1"
96
+ ],
97
+ "groups": [
98
+ "all"
99
+ ],
100
+ "cat": "apple",
101
+ "split": "train",
102
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_11/model.xml"
103
+ },
104
+ "reset_region": {
105
+ "size": [
106
+ 1.2027785999999998,
107
+ 0.650012
108
+ ],
109
+ "offset": [
110
+ -1.0372307,
111
+ -3.469446951953614e-17,
112
+ 0.46
113
+ ],
114
+ "name": "geom_1"
115
+ }
116
+ },
117
+ {
118
+ "name": "distr_sink",
119
+ "obj_groups": "all",
120
+ "washable": true,
121
+ "placement": {
122
+ "fixture": "sink_right_group_1",
123
+ "size": [
124
+ 0.3,
125
+ 0.4
126
+ ],
127
+ "pos": [
128
+ null,
129
+ -1.0
130
+ ]
131
+ },
132
+ "type": "object",
133
+ "info": {
134
+ "groups_containing_sampled_obj": [
135
+ "all",
136
+ "lemon_wedge",
137
+ "vegetable",
138
+ "food",
139
+ "in_container"
140
+ ],
141
+ "groups": [
142
+ "all"
143
+ ],
144
+ "cat": "lemon_wedge",
145
+ "split": "train",
146
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge005/model.xml"
147
+ },
148
+ "reset_region": {
149
+ "offset": [
150
+ 0.1578835495764007,
151
+ 0.0010980436912306768,
152
+ -0.20044675476440443
153
+ ],
154
+ "size": [
155
+ 0.21828989404002394,
156
+ 0.4058285375737258
157
+ ],
158
+ "height": 0.22431633395858694,
159
+ "name": "basin_right"
160
+ }
161
+ }
162
+ ],
163
+ "fixtures": {
164
+ "wall_main_1_room": {
165
+ "cls": "Wall"
166
+ },
167
+ "wall_main_1_backing_room": {
168
+ "cls": "Wall"
169
+ },
170
+ "wall_right_1_room": {
171
+ "cls": "Wall"
172
+ },
173
+ "wall_right_1_backing_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "floor_1_room": {
177
+ "cls": "Floor"
178
+ },
179
+ "floor_1_backing_room": {
180
+ "cls": "Floor"
181
+ },
182
+ "lightswitch_5_room": {
183
+ "cls": "WallAccessory"
184
+ },
185
+ "wallaccessory_1_room": {
186
+ "cls": "WallAccessory"
187
+ },
188
+ "wallaccessory_2_room": {
189
+ "cls": "WallAccessory"
190
+ },
191
+ "lightswitch_6_room": {
192
+ "cls": "WallAccessory"
193
+ },
194
+ "wallaccessory_3_room": {
195
+ "cls": "WallAccessory"
196
+ },
197
+ "lightswitch_1_room": {
198
+ "cls": "WallAccessory"
199
+ },
200
+ "lightswitch_2_room": {
201
+ "cls": "WallAccessory"
202
+ },
203
+ "lightswitch_3_room": {
204
+ "cls": "WallAccessory"
205
+ },
206
+ "stool_1_room": {
207
+ "cls": "Stool"
208
+ },
209
+ "stool_2_room": {
210
+ "cls": "Stool"
211
+ },
212
+ "stool_3_room": {
213
+ "cls": "Stool"
214
+ },
215
+ "stool_4_room": {
216
+ "cls": "Stool"
217
+ },
218
+ "fridgefrenchdoor_right_group_1": {
219
+ "cls": "FridgeFrenchDoor"
220
+ },
221
+ "fridgefrenchdoor_housing_right_group_1": {
222
+ "cls": "HousingCabinet"
223
+ },
224
+ "bottom_right_group_1_base": {
225
+ "cls": "Box"
226
+ },
227
+ "bottom_right_group_1_1": {
228
+ "cls": "Drawer"
229
+ },
230
+ "microwave_right_group_1": {
231
+ "cls": "Microwave"
232
+ },
233
+ "oven_cabinet_right_group_1": {
234
+ "cls": "HingeCabinet"
235
+ },
236
+ "hingecabinet_5_right_group_1": {
237
+ "cls": "HingeCabinet"
238
+ },
239
+ "microwave_housing_right_group_1": {
240
+ "cls": "HousingCabinet"
241
+ },
242
+ "top_right_group_1": {
243
+ "cls": "HingeCabinet"
244
+ },
245
+ "hingecabinet_4_right_group_1": {
246
+ "cls": "HingeCabinet"
247
+ },
248
+ "hingecabinet_2_right_group_1": {
249
+ "cls": "HingeCabinet"
250
+ },
251
+ "hingecabinet_3_right_group_1": {
252
+ "cls": "HingeCabinet"
253
+ },
254
+ "opencabinet_right_group_1": {
255
+ "cls": "OpenCabinet"
256
+ },
257
+ "sink_right_group_1": {
258
+ "cls": "Sink"
259
+ },
260
+ "counter_3_right_group_1": {
261
+ "cls": "Counter"
262
+ },
263
+ "stack_04_right_group_1_base": {
264
+ "cls": "Box"
265
+ },
266
+ "stack_04_right_group_1_1": {
267
+ "cls": "SingleCabinet"
268
+ },
269
+ "stack_04_right_group_1_2": {
270
+ "cls": "Drawer"
271
+ },
272
+ "stack_06_right_group_1_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_06_right_group_1_1": {
276
+ "cls": "Drawer"
277
+ },
278
+ "stack_06_right_group_1_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_06_right_group_1_3": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_03_right_group_1_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_03_right_group_1_1": {
288
+ "cls": "HingeCabinet"
289
+ },
290
+ "stack_03_right_group_1_2": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_05_right_group_1_base": {
294
+ "cls": "Box"
295
+ },
296
+ "stack_05_right_group_1_1": {
297
+ "cls": "HingeCabinet"
298
+ },
299
+ "stack_05_right_group_1_2": {
300
+ "cls": "PanelCabinet"
301
+ },
302
+ "cube_2_right_group_1": {
303
+ "cls": "Box"
304
+ },
305
+ "cube_1_right_group_1": {
306
+ "cls": "Box"
307
+ },
308
+ "dishwasher_1_right_group_1": {
309
+ "cls": "Dishwasher"
310
+ },
311
+ "coffee_machine_right_group_1": {
312
+ "cls": "CoffeeMachine"
313
+ },
314
+ "toaster_right_group_1": {
315
+ "cls": "Toaster"
316
+ },
317
+ "counter_1_main_group_1": {
318
+ "cls": "Counter"
319
+ },
320
+ "counter_corner_1_main_group_1": {
321
+ "cls": "Counter"
322
+ },
323
+ "widestove_main_group_1": {
324
+ "cls": "Stove"
325
+ },
326
+ "stove_hood_main_group_1": {
327
+ "cls": "Hood"
328
+ },
329
+ "counter_2_main_group_1": {
330
+ "cls": "Counter"
331
+ },
332
+ "stack_02_main_group_1_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_02_main_group_1_1": {
336
+ "cls": "SingleCabinet"
337
+ },
338
+ "stack_01_main_group_1_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_01_main_group_1_1": {
342
+ "cls": "HingeCabinet"
343
+ },
344
+ "hingecabinet_1_main_group_1": {
345
+ "cls": "HingeCabinet"
346
+ },
347
+ "singlecabinet_1_main_group_1": {
348
+ "cls": "SingleCabinet"
349
+ },
350
+ "cube_4_main_group_1": {
351
+ "cls": "Box"
352
+ },
353
+ "papertowel_main_group_1": {
354
+ "cls": "Accessory"
355
+ },
356
+ "toaster_oven_main_group_1": {
357
+ "cls": "ToasterOven"
358
+ },
359
+ "island_island_group_1": {
360
+ "cls": "Counter"
361
+ },
362
+ "cube_1_island_group_1": {
363
+ "cls": "Box"
364
+ },
365
+ "cube_2_island_group_1": {
366
+ "cls": "Box"
367
+ },
368
+ "cube_3_island_group_1": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_09_island_group_1_base": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_09_island_group_1_1": {
375
+ "cls": "Drawer"
376
+ },
377
+ "stack_09_island_group_1_2": {
378
+ "cls": "Drawer"
379
+ },
380
+ "stack_09_island_group_1_3": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_08_island_group_1_base": {
384
+ "cls": "Box"
385
+ },
386
+ "stack_08_island_group_1_1": {
387
+ "cls": "Drawer"
388
+ },
389
+ "stack_08_island_group_1_2": {
390
+ "cls": "Drawer"
391
+ },
392
+ "stack_08_island_group_1_3": {
393
+ "cls": "Drawer"
394
+ },
395
+ "stack_07_island_group_1_base": {
396
+ "cls": "Box"
397
+ },
398
+ "stack_07_island_group_1_1": {
399
+ "cls": "Drawer"
400
+ },
401
+ "stack_07_island_group_1_2": {
402
+ "cls": "HingeCabinet"
403
+ }
404
+ },
405
+ "gen_textures": {},
406
+ "lang": "Turn on the sink faucet.",
407
+ "fixture_refs": {},
408
+ "cam_configs": {
409
+ "robot0_agentview_center": {
410
+ "pos": [
411
+ -0.6,
412
+ 0.0,
413
+ 1.15
414
+ ],
415
+ "quat": [
416
+ 0.636945903301239,
417
+ 0.3325185477733612,
418
+ -0.3199238181114197,
419
+ -0.6175596117973328
420
+ ],
421
+ "parent_body": "mobilebase0_support"
422
+ },
423
+ "robot0_agentview_left": {
424
+ "pos": [
425
+ -0.5,
426
+ 0.35,
427
+ 1.05
428
+ ],
429
+ "quat": [
430
+ 0.55623853,
431
+ 0.29935253,
432
+ -0.37678665,
433
+ -0.6775092
434
+ ],
435
+ "camera_attribs": {
436
+ "fovy": "60"
437
+ },
438
+ "parent_body": "mobilebase0_support"
439
+ },
440
+ "robot0_agentview_right": {
441
+ "pos": [
442
+ -0.5,
443
+ -0.35,
444
+ 1.05
445
+ ],
446
+ "quat": [
447
+ 0.6775091886520386,
448
+ 0.3767866790294647,
449
+ -0.2993525564670563,
450
+ -0.55623859167099
451
+ ],
452
+ "camera_attribs": {
453
+ "fovy": "60"
454
+ },
455
+ "parent_body": "mobilebase0_support"
456
+ },
457
+ "robot0_frontview": {
458
+ "pos": [
459
+ -0.5,
460
+ 0,
461
+ 0.95
462
+ ],
463
+ "quat": [
464
+ 0.6088936924934387,
465
+ 0.3814677894115448,
466
+ -0.3673907518386841,
467
+ -0.5905545353889465
468
+ ],
469
+ "camera_attribs": {
470
+ "fovy": "60"
471
+ },
472
+ "parent_body": "mobilebase0_support"
473
+ },
474
+ "robot0_eye_in_hand": {
475
+ "pos": [
476
+ 0.05,
477
+ 0,
478
+ 0
479
+ ],
480
+ "quat": [
481
+ 0,
482
+ 0.707107,
483
+ 0.707107,
484
+ 0
485
+ ],
486
+ "parent_body": "robot0_right_hand"
487
+ }
488
+ },
489
+ "init_robot_base_pos": [
490
+ 3.731051931787253,
491
+ -2.555182541078254,
492
+ 0.0
493
+ ],
494
+ "init_robot_base_ori": [
495
+ 0.0,
496
+ 0.0,
497
+ -0.00014782238328514552
498
+ ]
499
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000058/ep_meta.json ADDED
@@ -0,0 +1,421 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 11,
3
+ "style_id": 32,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_left_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.029180713,
15
+ 0.24547144049999997,
16
+ 0.0240399875
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "tongs",
37
+ "tool",
38
+ "in_container"
39
+ ],
40
+ "groups": [
41
+ "all"
42
+ ],
43
+ "cat": "tongs",
44
+ "split": "train",
45
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs001/model.xml"
46
+ },
47
+ "reset_region": {
48
+ "size": [
49
+ 0.6722919814390088,
50
+ 0.65
51
+ ],
52
+ "offset": [
53
+ 0.8578540092804956,
54
+ -3.469446951953614e-17,
55
+ 0.46
56
+ ],
57
+ "name": "geom_0"
58
+ }
59
+ },
60
+ {
61
+ "name": "distr_sink",
62
+ "obj_groups": "all",
63
+ "washable": true,
64
+ "placement": {
65
+ "fixture": "sink_left_group",
66
+ "size": [
67
+ 0.3,
68
+ 0.4
69
+ ],
70
+ "pos": [
71
+ null,
72
+ -1.0
73
+ ]
74
+ },
75
+ "type": "object",
76
+ "info": {
77
+ "groups_containing_sampled_obj": [
78
+ "all",
79
+ "lime",
80
+ "vegetable",
81
+ "food",
82
+ "in_container"
83
+ ],
84
+ "groups": [
85
+ "all"
86
+ ],
87
+ "cat": "lime",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml"
90
+ },
91
+ "reset_region": {
92
+ "offset": [
93
+ -0.2743378307648673,
94
+ -0.00032859913629010307,
95
+ -0.2378779518881799
96
+ ],
97
+ "size": [
98
+ 0.2846096953416748,
99
+ 0.40586402736016364
100
+ ],
101
+ "height": 0.19603346130024896,
102
+ "name": "basin_left"
103
+ }
104
+ }
105
+ ],
106
+ "fixtures": {
107
+ "wall_left_1_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_left_1_backing_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_main_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_main_backing_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_right_1_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_1_backing_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_left_2_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_left_2_backing_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_left_3_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_left_3_backing_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "floor_1_room": {
138
+ "cls": "Floor"
139
+ },
140
+ "floor_1_backing_room": {
141
+ "cls": "Floor"
142
+ },
143
+ "floor_2_room": {
144
+ "cls": "Floor"
145
+ },
146
+ "floor_2_backing_room": {
147
+ "cls": "Floor"
148
+ },
149
+ "wall_accessory_1_room": {
150
+ "cls": "WallAccessory"
151
+ },
152
+ "wall_accessory_2_room": {
153
+ "cls": "WallAccessory"
154
+ },
155
+ "light_switch_room": {
156
+ "cls": "WallAccessory"
157
+ },
158
+ "wall_accessory_3_room": {
159
+ "cls": "WallAccessory"
160
+ },
161
+ "wall_accessory_4_room": {
162
+ "cls": "WallAccessory"
163
+ },
164
+ "stool_2_room": {
165
+ "cls": "Stool"
166
+ },
167
+ "stool_1_room": {
168
+ "cls": "Stool"
169
+ },
170
+ "counter_corner_main_group": {
171
+ "cls": "Counter"
172
+ },
173
+ "counter_1_main_group": {
174
+ "cls": "Counter"
175
+ },
176
+ "stove_1_main_group": {
177
+ "cls": "Stove"
178
+ },
179
+ "counter_2_main_group": {
180
+ "cls": "Counter"
181
+ },
182
+ "stack_1_main_group_base": {
183
+ "cls": "Box"
184
+ },
185
+ "stack_1_main_group_1": {
186
+ "cls": "Drawer"
187
+ },
188
+ "stack_1_main_group_2": {
189
+ "cls": "Drawer"
190
+ },
191
+ "stack_1_main_group_3": {
192
+ "cls": "Drawer"
193
+ },
194
+ "stack_1_main_group_4": {
195
+ "cls": "Drawer"
196
+ },
197
+ "stack_2_main_group_base": {
198
+ "cls": "Box"
199
+ },
200
+ "stack_2_main_group_1": {
201
+ "cls": "SingleCabinet"
202
+ },
203
+ "stack_2_main_group_2": {
204
+ "cls": "Drawer"
205
+ },
206
+ "stack_3_main_group_base": {
207
+ "cls": "Box"
208
+ },
209
+ "stack_3_main_group_1": {
210
+ "cls": "SingleCabinet"
211
+ },
212
+ "stack_3_main_group_2": {
213
+ "cls": "Drawer"
214
+ },
215
+ "stack_4_main_group_base": {
216
+ "cls": "Box"
217
+ },
218
+ "stack_4_main_group_1": {
219
+ "cls": "Drawer"
220
+ },
221
+ "stack_4_main_group_2": {
222
+ "cls": "Drawer"
223
+ },
224
+ "stack_4_main_group_3": {
225
+ "cls": "Drawer"
226
+ },
227
+ "stack_4_main_group_4": {
228
+ "cls": "Drawer"
229
+ },
230
+ "stack_5_main_group_base": {
231
+ "cls": "Box"
232
+ },
233
+ "stack_5_main_group_1": {
234
+ "cls": "SingleCabinet"
235
+ },
236
+ "stack_5_main_group_2": {
237
+ "cls": "SingleCabinet"
238
+ },
239
+ "cab_1_main_group": {
240
+ "cls": "HingeCabinet"
241
+ },
242
+ "microwave_main_group": {
243
+ "cls": "Microwave"
244
+ },
245
+ "cab_2_main_group": {
246
+ "cls": "HingeCabinet"
247
+ },
248
+ "cab_3_main_group": {
249
+ "cls": "HingeCabinet"
250
+ },
251
+ "counter_stack_main_group_base": {
252
+ "cls": "Box"
253
+ },
254
+ "counter_stack_main_group_1": {
255
+ "cls": "SingleCabinet"
256
+ },
257
+ "counter_stack_main_group_2": {
258
+ "cls": "SingleCabinet"
259
+ },
260
+ "counter_stack_main_group_3": {
261
+ "cls": "HingeCabinet"
262
+ },
263
+ "toaster_main_group": {
264
+ "cls": "Toaster"
265
+ },
266
+ "sink_left_group": {
267
+ "cls": "Sink"
268
+ },
269
+ "counter_1_left_group": {
270
+ "cls": "Counter"
271
+ },
272
+ "counter_left_group": {
273
+ "cls": "Counter"
274
+ },
275
+ "panel_cab_left_group_base": {
276
+ "cls": "Box"
277
+ },
278
+ "panel_cab_left_group_1": {
279
+ "cls": "PanelCabinet"
280
+ },
281
+ "dishwasher_left_group": {
282
+ "cls": "Dishwasher"
283
+ },
284
+ "stack_1_left_group_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_1_left_group_1": {
288
+ "cls": "HingeCabinet"
289
+ },
290
+ "stack_1_left_group_2": {
291
+ "cls": "PanelCabinet"
292
+ },
293
+ "stack_2_left_group_base": {
294
+ "cls": "Box"
295
+ },
296
+ "stack_2_left_group_1": {
297
+ "cls": "SingleCabinet"
298
+ },
299
+ "stack_2_left_group_2": {
300
+ "cls": "Drawer"
301
+ },
302
+ "box_left_group": {
303
+ "cls": "Box"
304
+ },
305
+ "coffee_machine_left_group": {
306
+ "cls": "CoffeeMachine"
307
+ },
308
+ "paper_towel_left_group": {
309
+ "cls": "Accessory"
310
+ },
311
+ "box_right_group": {
312
+ "cls": "Box"
313
+ },
314
+ "fridge_right_group": {
315
+ "cls": "FridgeBottomFreezer"
316
+ },
317
+ "fridge_housing_right_group": {
318
+ "cls": "HousingCabinet"
319
+ },
320
+ "cab_1_right_group": {
321
+ "cls": "HingeCabinet"
322
+ },
323
+ "dining_dining_group": {
324
+ "cls": "Counter"
325
+ }
326
+ },
327
+ "gen_textures": {},
328
+ "lang": "Turn on the sink faucet.",
329
+ "fixture_refs": {},
330
+ "cam_configs": {
331
+ "robot0_agentview_center": {
332
+ "pos": [
333
+ -0.6,
334
+ 0.0,
335
+ 1.15
336
+ ],
337
+ "quat": [
338
+ 0.636945903301239,
339
+ 0.3325185477733612,
340
+ -0.3199238181114197,
341
+ -0.6175596117973328
342
+ ],
343
+ "parent_body": "mobilebase0_support"
344
+ },
345
+ "robot0_agentview_left": {
346
+ "pos": [
347
+ -0.5,
348
+ 0.35,
349
+ 1.05
350
+ ],
351
+ "quat": [
352
+ 0.55623853,
353
+ 0.29935253,
354
+ -0.37678665,
355
+ -0.6775092
356
+ ],
357
+ "camera_attribs": {
358
+ "fovy": "60"
359
+ },
360
+ "parent_body": "mobilebase0_support"
361
+ },
362
+ "robot0_agentview_right": {
363
+ "pos": [
364
+ -0.5,
365
+ -0.35,
366
+ 1.05
367
+ ],
368
+ "quat": [
369
+ 0.6775091886520386,
370
+ 0.3767866790294647,
371
+ -0.2993525564670563,
372
+ -0.55623859167099
373
+ ],
374
+ "camera_attribs": {
375
+ "fovy": "60"
376
+ },
377
+ "parent_body": "mobilebase0_support"
378
+ },
379
+ "robot0_frontview": {
380
+ "pos": [
381
+ -0.5,
382
+ 0,
383
+ 0.95
384
+ ],
385
+ "quat": [
386
+ 0.6088936924934387,
387
+ 0.3814677894115448,
388
+ -0.3673907518386841,
389
+ -0.5905545353889465
390
+ ],
391
+ "camera_attribs": {
392
+ "fovy": "60"
393
+ },
394
+ "parent_body": "mobilebase0_support"
395
+ },
396
+ "robot0_eye_in_hand": {
397
+ "pos": [
398
+ 0.05,
399
+ 0,
400
+ 0
401
+ ],
402
+ "quat": [
403
+ 0,
404
+ 0.707107,
405
+ 0.707107,
406
+ 0
407
+ ],
408
+ "parent_body": "robot0_right_hand"
409
+ }
410
+ },
411
+ "init_robot_base_pos": [
412
+ 0.755967898433241,
413
+ -1.891437813018789,
414
+ 0.0
415
+ ],
416
+ "init_robot_base_ori": [
417
+ 0.0,
418
+ 0.0,
419
+ 3.1415926193612504
420
+ ]
421
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000059/ep_meta.json ADDED
@@ -0,0 +1,510 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 42,
3
+ "style_id": 55,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "island_island_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_island_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.05362392416000001,
15
+ 0.06671328632000001,
16
+ 0.05288080112000001
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "egg",
37
+ "dairy",
38
+ "food",
39
+ "in_container",
40
+ "food_set1"
41
+ ],
42
+ "groups": [
43
+ "all"
44
+ ],
45
+ "cat": "egg",
46
+ "split": "train",
47
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_0/model.xml"
48
+ },
49
+ "reset_region": {
50
+ "size": [
51
+ 0.679184301916048,
52
+ 1.242
53
+ ],
54
+ "offset": [
55
+ 0.9684078490419761,
56
+ 2.0816681711721685e-17,
57
+ 0.46
58
+ ],
59
+ "name": "geom_1"
60
+ }
61
+ },
62
+ {
63
+ "name": "distr_counter_1",
64
+ "obj_groups": "all",
65
+ "placement": {
66
+ "fixture": "island_island_group_1",
67
+ "sample_region_kwargs": {
68
+ "ref": "sink_island_group_1",
69
+ "loc": "left_right",
70
+ "min_size": [
71
+ 0.19499798954999994,
72
+ 0.11886663164999997,
73
+ 0.14890659029999992
74
+ ]
75
+ },
76
+ "size": [
77
+ 0.3,
78
+ 0.3
79
+ ],
80
+ "pos": [
81
+ "ref",
82
+ -1.0
83
+ ],
84
+ "offset": [
85
+ 0.0,
86
+ 0.1
87
+ ]
88
+ },
89
+ "type": "object",
90
+ "info": {
91
+ "groups_containing_sampled_obj": [
92
+ "all",
93
+ "jug_wide_opening",
94
+ "receptacle"
95
+ ],
96
+ "groups": [
97
+ "all"
98
+ ],
99
+ "cat": "jug_wide_opening",
100
+ "split": "train",
101
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_1/model.xml"
102
+ },
103
+ "reset_region": {
104
+ "size": [
105
+ 1.1500643019160477,
106
+ 1.242
107
+ ],
108
+ "offset": [
109
+ -0.7329678490419762,
110
+ 2.0816681711721685e-17,
111
+ 0.46
112
+ ],
113
+ "name": "geom_0"
114
+ }
115
+ },
116
+ {
117
+ "name": "distr_sink",
118
+ "obj_groups": "all",
119
+ "washable": true,
120
+ "placement": {
121
+ "fixture": "sink_island_group_1",
122
+ "size": [
123
+ 0.3,
124
+ 0.4
125
+ ],
126
+ "pos": [
127
+ null,
128
+ -1.0
129
+ ]
130
+ },
131
+ "type": "object",
132
+ "info": {
133
+ "groups_containing_sampled_obj": [
134
+ "all",
135
+ "lemon_wedge",
136
+ "vegetable",
137
+ "food",
138
+ "in_container"
139
+ ],
140
+ "groups": [
141
+ "all"
142
+ ],
143
+ "cat": "lemon_wedge",
144
+ "split": "train",
145
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge002/model.xml"
146
+ },
147
+ "reset_region": {
148
+ "offset": [
149
+ -0.16428449956722066,
150
+ -0.03902629220261322,
151
+ -0.22800612393871678
152
+ ],
153
+ "size": [
154
+ 0.384537337814347,
155
+ 0.37019680339105854
156
+ ],
157
+ "height": 0.12750776516385834,
158
+ "name": "basin_left"
159
+ }
160
+ }
161
+ ],
162
+ "fixtures": {
163
+ "wall_left_1_room": {
164
+ "cls": "Wall"
165
+ },
166
+ "wall_left_1_backing_room": {
167
+ "cls": "Wall"
168
+ },
169
+ "wall_main_1_room": {
170
+ "cls": "Wall"
171
+ },
172
+ "wall_main_1_backing_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_right_1_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_right_1_backing_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_2_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_main_2_backing_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_main_3_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_main_3_backing_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_main_4_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_main_4_backing_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_left_2_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_left_2_backing_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "floor_1_room": {
206
+ "cls": "Floor"
207
+ },
208
+ "floor_1_backing_room": {
209
+ "cls": "Floor"
210
+ },
211
+ "floor_2_room": {
212
+ "cls": "Floor"
213
+ },
214
+ "floor_2_backing_room": {
215
+ "cls": "Floor"
216
+ },
217
+ "wallaccessory_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "lightswitch_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "wallaccessory.002_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "window_group_room": {
227
+ "cls": "Window"
228
+ },
229
+ "stool_1_room": {
230
+ "cls": "Stool"
231
+ },
232
+ "stool_2_room": {
233
+ "cls": "Stool"
234
+ },
235
+ "stool_4_room": {
236
+ "cls": "Stool"
237
+ },
238
+ "stool_3_room": {
239
+ "cls": "Stool"
240
+ },
241
+ "counter_1_main_group_1": {
242
+ "cls": "Counter"
243
+ },
244
+ "counter_corner_1_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": "HingeCabinet"
252
+ },
253
+ "cube_1_main_group_1": {
254
+ "cls": "Box"
255
+ },
256
+ "fridgefrenchdoor_main_group_1": {
257
+ "cls": "FridgeFrenchDoor"
258
+ },
259
+ "fridgefrenchdoor_housing_main_group_1": {
260
+ "cls": "HousingCabinet"
261
+ },
262
+ "hingecabinet_1_main_group_1": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "coffeemachine_main_group_1": {
266
+ "cls": "CoffeeMachine"
267
+ },
268
+ "papertowel_main_group_1": {
269
+ "cls": "Accessory"
270
+ },
271
+ "stovetop_right_group_1": {
272
+ "cls": "Stovetop"
273
+ },
274
+ "counter_1_right_group_1": {
275
+ "cls": "Counter"
276
+ },
277
+ "hingecabinet_3_right_group_1": {
278
+ "cls": "HingeCabinet"
279
+ },
280
+ "hingecabinet_4_right_group_1": {
281
+ "cls": "HingeCabinet"
282
+ },
283
+ "hingecabinet_1_right_group_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "hingecabinet_2_right_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "stack_1_right_group_1_base": {
290
+ "cls": "Box"
291
+ },
292
+ "stack_1_right_group_1_1": {
293
+ "cls": "SingleCabinet"
294
+ },
295
+ "stack_2_right_group_1_base": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_2_right_group_1_1": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_2_right_group_1_2": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_2_right_group_1_3": {
305
+ "cls": "Drawer"
306
+ },
307
+ "stack_3_right_group_1_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_3_right_group_1_1": {
311
+ "cls": "Drawer"
312
+ },
313
+ "stack_3_right_group_1_2": {
314
+ "cls": "Drawer"
315
+ },
316
+ "stack_3_right_group_1_3": {
317
+ "cls": "PanelCabinet"
318
+ },
319
+ "stack_4_right_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_4_right_group_1_1": {
323
+ "cls": "HingeCabinet"
324
+ },
325
+ "stack_4_right_group_1_2": {
326
+ "cls": "Drawer"
327
+ },
328
+ "cube_1_right_group_1": {
329
+ "cls": "Box"
330
+ },
331
+ "bottom_right_group_1_base": {
332
+ "cls": "Box"
333
+ },
334
+ "bottom_right_group_1_1": {
335
+ "cls": "Drawer"
336
+ },
337
+ "oven_right_group_1": {
338
+ "cls": "Oven"
339
+ },
340
+ "oven_housing_right_group_1": {
341
+ "cls": "HousingCabinet"
342
+ },
343
+ "microwave_right_group_1": {
344
+ "cls": "Microwave"
345
+ },
346
+ "microwave_housing_right_group_1": {
347
+ "cls": "HousingCabinet"
348
+ },
349
+ "top_right_group_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "toaster_right_group_1": {
353
+ "cls": "Toaster"
354
+ },
355
+ "counter_1_left_group_1": {
356
+ "cls": "Counter"
357
+ },
358
+ "stack_1_left_group_1_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_1_left_group_1_1": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "stack_2_left_group_1_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_2_left_group_1_1": {
368
+ "cls": "SingleCabinet"
369
+ },
370
+ "knifeblock_left_group_1": {
371
+ "cls": "Accessory"
372
+ },
373
+ "toaster_oven_left_group_1": {
374
+ "cls": "ToasterOven"
375
+ },
376
+ "plant_left_group_1": {
377
+ "cls": "Accessory"
378
+ },
379
+ "cube_1_island_group_1": {
380
+ "cls": "Box"
381
+ },
382
+ "cube_2_island_group_1": {
383
+ "cls": "Box"
384
+ },
385
+ "cube_3_island_group_1": {
386
+ "cls": "Box"
387
+ },
388
+ "sink_island_group_1": {
389
+ "cls": "Sink"
390
+ },
391
+ "island_island_group_1": {
392
+ "cls": "Counter"
393
+ },
394
+ "stack_1_island_group_1_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_1_island_group_1_1": {
398
+ "cls": "SingleCabinet"
399
+ },
400
+ "stack_3_island_group_1_base": {
401
+ "cls": "Box"
402
+ },
403
+ "stack_3_island_group_1_1": {
404
+ "cls": "SingleCabinet"
405
+ },
406
+ "stack_2_island_group_1_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_2_island_group_1_1": {
410
+ "cls": "HingeCabinet"
411
+ },
412
+ "dishwasher_1_island_group_1": {
413
+ "cls": "Dishwasher"
414
+ }
415
+ },
416
+ "gen_textures": {},
417
+ "lang": "Turn on the sink faucet.",
418
+ "fixture_refs": {},
419
+ "cam_configs": {
420
+ "robot0_agentview_center": {
421
+ "pos": [
422
+ -0.6,
423
+ 0.0,
424
+ 1.15
425
+ ],
426
+ "quat": [
427
+ 0.636945903301239,
428
+ 0.3325185477733612,
429
+ -0.3199238181114197,
430
+ -0.6175596117973328
431
+ ],
432
+ "parent_body": "mobilebase0_support"
433
+ },
434
+ "robot0_agentview_left": {
435
+ "pos": [
436
+ -0.5,
437
+ 0.35,
438
+ 1.05
439
+ ],
440
+ "quat": [
441
+ 0.55623853,
442
+ 0.29935253,
443
+ -0.37678665,
444
+ -0.6775092
445
+ ],
446
+ "camera_attribs": {
447
+ "fovy": "60"
448
+ },
449
+ "parent_body": "mobilebase0_support"
450
+ },
451
+ "robot0_agentview_right": {
452
+ "pos": [
453
+ -0.5,
454
+ -0.35,
455
+ 1.05
456
+ ],
457
+ "quat": [
458
+ 0.6775091886520386,
459
+ 0.3767866790294647,
460
+ -0.2993525564670563,
461
+ -0.55623859167099
462
+ ],
463
+ "camera_attribs": {
464
+ "fovy": "60"
465
+ },
466
+ "parent_body": "mobilebase0_support"
467
+ },
468
+ "robot0_frontview": {
469
+ "pos": [
470
+ -0.5,
471
+ 0,
472
+ 0.95
473
+ ],
474
+ "quat": [
475
+ 0.6088936924934387,
476
+ 0.3814677894115448,
477
+ -0.3673907518386841,
478
+ -0.5905545353889465
479
+ ],
480
+ "camera_attribs": {
481
+ "fovy": "60"
482
+ },
483
+ "parent_body": "mobilebase0_support"
484
+ },
485
+ "robot0_eye_in_hand": {
486
+ "pos": [
487
+ 0.05,
488
+ 0,
489
+ 0
490
+ ],
491
+ "quat": [
492
+ 0,
493
+ 0.707107,
494
+ 0.707107,
495
+ 0
496
+ ],
497
+ "parent_body": "robot0_right_hand"
498
+ }
499
+ },
500
+ "init_robot_base_pos": [
501
+ 3.512997244941497,
502
+ -3.95560660028139,
503
+ 0.0
504
+ ],
505
+ "init_robot_base_ori": [
506
+ 0.0,
507
+ 0.0,
508
+ 3.14159329371052
509
+ ]
510
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000061/ep_meta.json ADDED
@@ -0,0 +1,472 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 18,
3
+ "style_id": 16,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_right_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_1_right_group",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.062140701,
15
+ 0.035678601000000004,
16
+ 0.17351260500000001
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "honey_bottle",
37
+ "packaged_food"
38
+ ],
39
+ "groups": [
40
+ "all"
41
+ ],
42
+ "cat": "honey_bottle",
43
+ "split": "train",
44
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle003/model.xml"
45
+ },
46
+ "reset_region": {
47
+ "size": [
48
+ 0.9468482098843438,
49
+ 0.65
50
+ ],
51
+ "offset": [
52
+ 1.476575895057828,
53
+ -3.469446951953614e-17,
54
+ 0.46
55
+ ],
56
+ "name": "geom_1"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_sink",
61
+ "obj_groups": "all",
62
+ "washable": true,
63
+ "placement": {
64
+ "fixture": "sink_1_right_group",
65
+ "size": [
66
+ 0.3,
67
+ 0.4
68
+ ],
69
+ "pos": [
70
+ null,
71
+ -1.0
72
+ ]
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "sweet_potato",
79
+ "vegetable",
80
+ "food",
81
+ "in_container",
82
+ "oven_ready"
83
+ ],
84
+ "groups": [
85
+ "all"
86
+ ],
87
+ "cat": "sweet_potato",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml"
90
+ },
91
+ "reset_region": {
92
+ "offset": [
93
+ -0.0004622779679119282,
94
+ -0.021244503991496827,
95
+ -0.2860018344788262
96
+ ],
97
+ "size": [
98
+ 0.6034106175546102,
99
+ 0.3727340445438187
100
+ ],
101
+ "height": 0.18578279015355506,
102
+ "name": "basin"
103
+ }
104
+ }
105
+ ],
106
+ "fixtures": {
107
+ "wall_main_room": {
108
+ "cls": "Wall"
109
+ },
110
+ "wall_main_backing_room": {
111
+ "cls": "Wall"
112
+ },
113
+ "wall_right_1_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_right_1_backing_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_1_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_left_1_backing_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_left_3_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_left_3_backing_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_left_2_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_left_2_backing_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "floor_1_room": {
138
+ "cls": "Floor"
139
+ },
140
+ "floor_1_backing_room": {
141
+ "cls": "Floor"
142
+ },
143
+ "light_switch_1_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "light_switch_2_room": {
147
+ "cls": "WallAccessory"
148
+ },
149
+ "light_switch_3_room": {
150
+ "cls": "WallAccessory"
151
+ },
152
+ "light_switch_4_room": {
153
+ "cls": "WallAccessory"
154
+ },
155
+ "wall_accessory_1_room": {
156
+ "cls": "WallAccessory"
157
+ },
158
+ "light_switch_5_room": {
159
+ "cls": "WallAccessory"
160
+ },
161
+ "light_switch_6_room": {
162
+ "cls": "WallAccessory"
163
+ },
164
+ "light_switch_7_room": {
165
+ "cls": "WallAccessory"
166
+ },
167
+ "window_group_1_room": {
168
+ "cls": "Window"
169
+ },
170
+ "window_group_2_room": {
171
+ "cls": "Window"
172
+ },
173
+ "bottom_main_group_base": {
174
+ "cls": "Box"
175
+ },
176
+ "bottom_main_group_1": {
177
+ "cls": "Drawer"
178
+ },
179
+ "oven_main_group": {
180
+ "cls": "Oven"
181
+ },
182
+ "oven_housing_main_group": {
183
+ "cls": "HousingCabinet"
184
+ },
185
+ "microwave_main_group": {
186
+ "cls": "Microwave"
187
+ },
188
+ "microwave_housing_main_group": {
189
+ "cls": "HousingCabinet"
190
+ },
191
+ "top_main_group": {
192
+ "cls": "HingeCabinet"
193
+ },
194
+ "fridge_main_group": {
195
+ "cls": "FridgeSideBySide"
196
+ },
197
+ "fridge_housing_main_group": {
198
+ "cls": "HousingCabinet"
199
+ },
200
+ "counter_1_main_group": {
201
+ "cls": "Counter"
202
+ },
203
+ "counter_corner_main_group": {
204
+ "cls": "Counter"
205
+ },
206
+ "stack_1_main_group_base": {
207
+ "cls": "Box"
208
+ },
209
+ "stack_1_main_group_1": {
210
+ "cls": "SingleCabinet"
211
+ },
212
+ "box_1_main_group": {
213
+ "cls": "Box"
214
+ },
215
+ "cab_1_main_group": {
216
+ "cls": "HingeCabinet"
217
+ },
218
+ "cab_2_main_group": {
219
+ "cls": "HingeCabinet"
220
+ },
221
+ "toaster_oven_main_group": {
222
+ "cls": "ToasterOven"
223
+ },
224
+ "plant_main_group": {
225
+ "cls": "Accessory"
226
+ },
227
+ "stovetop_left_group": {
228
+ "cls": "Stovetop"
229
+ },
230
+ "counter_1_left_group": {
231
+ "cls": "Counter"
232
+ },
233
+ "stack_1_left_group_base": {
234
+ "cls": "Box"
235
+ },
236
+ "stack_1_left_group_1": {
237
+ "cls": "SingleCabinet"
238
+ },
239
+ "stack_2_left_group_base": {
240
+ "cls": "Box"
241
+ },
242
+ "stack_2_left_group_1": {
243
+ "cls": "Drawer"
244
+ },
245
+ "stack_2_left_group_2": {
246
+ "cls": "Drawer"
247
+ },
248
+ "stack_2_left_group_3": {
249
+ "cls": "Drawer"
250
+ },
251
+ "stack_2_left_group_4": {
252
+ "cls": "Drawer"
253
+ },
254
+ "stack_2_left_group_5": {
255
+ "cls": "Drawer"
256
+ },
257
+ "stack_2_left_group_6": {
258
+ "cls": "Drawer"
259
+ },
260
+ "stack_3_left_group_base": {
261
+ "cls": "Box"
262
+ },
263
+ "stack_3_left_group_1": {
264
+ "cls": "Drawer"
265
+ },
266
+ "stack_3_left_group_2": {
267
+ "cls": "Drawer"
268
+ },
269
+ "stack_3_left_group_3": {
270
+ "cls": "PanelCabinet"
271
+ },
272
+ "stack_4_left_group_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_4_left_group_1": {
276
+ "cls": "Drawer"
277
+ },
278
+ "stack_4_left_group_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_4_left_group_3": {
282
+ "cls": "Drawer"
283
+ },
284
+ "stack_4_left_group_4": {
285
+ "cls": "Drawer"
286
+ },
287
+ "stack_4_left_group_5": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_4_left_group_6": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_5_left_group_base": {
294
+ "cls": "Box"
295
+ },
296
+ "stack_5_left_group_1": {
297
+ "cls": "SingleCabinet"
298
+ },
299
+ "hood_left_group": {
300
+ "cls": "Hood"
301
+ },
302
+ "cab_1_left_group": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "cab_2_left_group": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "paper_towel_left_group": {
309
+ "cls": "Accessory"
310
+ },
311
+ "coffee_machine_left_group": {
312
+ "cls": "CoffeeMachine"
313
+ },
314
+ "sink_1_right_group": {
315
+ "cls": "Sink"
316
+ },
317
+ "counter_1_right_group": {
318
+ "cls": "Counter"
319
+ },
320
+ "box_1_right_group": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_1_right_group_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_1_right_group_1": {
327
+ "cls": "SingleCabinet"
328
+ },
329
+ "stack_2_right_group_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_2_right_group_1": {
333
+ "cls": "Drawer"
334
+ },
335
+ "stack_2_right_group_2": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_2_right_group_3": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_3_right_group_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_3_right_group_1": {
345
+ "cls": "SingleCabinet"
346
+ },
347
+ "stack_4_right_group_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_4_right_group_1": {
351
+ "cls": "SingleCabinet"
352
+ },
353
+ "stack_5_right_group_base": {
354
+ "cls": "Box"
355
+ },
356
+ "stack_5_right_group_1": {
357
+ "cls": "HingeCabinet"
358
+ },
359
+ "dishwasher_1_right_group": {
360
+ "cls": "Dishwasher"
361
+ },
362
+ "panel_stack_right_group_base": {
363
+ "cls": "Box"
364
+ },
365
+ "panel_stack_right_group_1": {
366
+ "cls": "PanelCabinet"
367
+ },
368
+ "wall_stack_right_group_base": {
369
+ "cls": "Box"
370
+ },
371
+ "wall_stack_right_group_1": {
372
+ "cls": "HingeCabinet"
373
+ },
374
+ "toaster_right_group": {
375
+ "cls": "Toaster"
376
+ }
377
+ },
378
+ "gen_textures": {},
379
+ "lang": "Turn on the sink faucet.",
380
+ "fixture_refs": {},
381
+ "cam_configs": {
382
+ "robot0_agentview_center": {
383
+ "pos": [
384
+ -0.6,
385
+ 0.0,
386
+ 1.15
387
+ ],
388
+ "quat": [
389
+ 0.636945903301239,
390
+ 0.3325185477733612,
391
+ -0.3199238181114197,
392
+ -0.6175596117973328
393
+ ],
394
+ "parent_body": "mobilebase0_support"
395
+ },
396
+ "robot0_agentview_left": {
397
+ "pos": [
398
+ -0.5,
399
+ 0.35,
400
+ 1.05
401
+ ],
402
+ "quat": [
403
+ 0.55623853,
404
+ 0.29935253,
405
+ -0.37678665,
406
+ -0.6775092
407
+ ],
408
+ "camera_attribs": {
409
+ "fovy": "60"
410
+ },
411
+ "parent_body": "mobilebase0_support"
412
+ },
413
+ "robot0_agentview_right": {
414
+ "pos": [
415
+ -0.5,
416
+ -0.35,
417
+ 1.05
418
+ ],
419
+ "quat": [
420
+ 0.6775091886520386,
421
+ 0.3767866790294647,
422
+ -0.2993525564670563,
423
+ -0.55623859167099
424
+ ],
425
+ "camera_attribs": {
426
+ "fovy": "60"
427
+ },
428
+ "parent_body": "mobilebase0_support"
429
+ },
430
+ "robot0_frontview": {
431
+ "pos": [
432
+ -0.5,
433
+ 0,
434
+ 0.95
435
+ ],
436
+ "quat": [
437
+ 0.6088936924934387,
438
+ 0.3814677894115448,
439
+ -0.3673907518386841,
440
+ -0.5905545353889465
441
+ ],
442
+ "camera_attribs": {
443
+ "fovy": "60"
444
+ },
445
+ "parent_body": "mobilebase0_support"
446
+ },
447
+ "robot0_eye_in_hand": {
448
+ "pos": [
449
+ 0.05,
450
+ 0,
451
+ 0
452
+ ],
453
+ "quat": [
454
+ 0,
455
+ 0.707107,
456
+ 0.707107,
457
+ 0
458
+ ],
459
+ "parent_body": "robot0_right_hand"
460
+ }
461
+ },
462
+ "init_robot_base_pos": [
463
+ 2.222882951806523,
464
+ -3.3159683184077653,
465
+ 0.0
466
+ ],
467
+ "init_robot_base_ori": [
468
+ 0.0,
469
+ 0.0,
470
+ 3.422854288892552e-08
471
+ ]
472
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000062/ep_meta.json ADDED
@@ -0,0 +1,425 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 38,
3
+ "style_id": 33,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_main_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.046719810000000014,
15
+ 0.22428135000000005,
16
+ 0.033552333000000004
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "baguette",
37
+ "bread_food",
38
+ "food",
39
+ "in_container",
40
+ "food_set1"
41
+ ],
42
+ "groups": [
43
+ "all"
44
+ ],
45
+ "cat": "baguette",
46
+ "split": "train",
47
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml"
48
+ },
49
+ "reset_region": {
50
+ "size": [
51
+ 1.6538793588788467,
52
+ 0.65
53
+ ],
54
+ "offset": [
55
+ 1.1020603205605763,
56
+ -3.469446951953614e-17,
57
+ 0.46
58
+ ],
59
+ "name": "geom_1"
60
+ }
61
+ },
62
+ {
63
+ "name": "distr_sink",
64
+ "obj_groups": "all",
65
+ "washable": true,
66
+ "placement": {
67
+ "fixture": "sink_main_group_1",
68
+ "size": [
69
+ 0.3,
70
+ 0.4
71
+ ],
72
+ "pos": [
73
+ null,
74
+ -1.0
75
+ ]
76
+ },
77
+ "type": "object",
78
+ "info": {
79
+ "groups_containing_sampled_obj": [
80
+ "all",
81
+ "pizza_cutter",
82
+ "tool",
83
+ "in_container"
84
+ ],
85
+ "groups": [
86
+ "all"
87
+ ],
88
+ "cat": "pizza_cutter",
89
+ "split": "train",
90
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter002/model.xml"
91
+ },
92
+ "reset_region": {
93
+ "offset": [
94
+ -0.0038110736702231807,
95
+ -0.024734373509031543,
96
+ -0.20953974374125964
97
+ ],
98
+ "size": [
99
+ 0.6468094657780432,
100
+ 0.345544667275835
101
+ ],
102
+ "height": 0.2053193736978915,
103
+ "name": "basin"
104
+ }
105
+ }
106
+ ],
107
+ "fixtures": {
108
+ "wall_main_1_room": {
109
+ "cls": "Wall"
110
+ },
111
+ "wall_main_1_backing_room": {
112
+ "cls": "Wall"
113
+ },
114
+ "wall_left_1_room": {
115
+ "cls": "Wall"
116
+ },
117
+ "wall_left_1_backing_room": {
118
+ "cls": "Wall"
119
+ },
120
+ "wall_left_2_room": {
121
+ "cls": "Wall"
122
+ },
123
+ "wall_left_2_backing_room": {
124
+ "cls": "Wall"
125
+ },
126
+ "wall_left_3_room": {
127
+ "cls": "Wall"
128
+ },
129
+ "wall_left_3_backing_room": {
130
+ "cls": "Wall"
131
+ },
132
+ "floor_1_room": {
133
+ "cls": "Floor"
134
+ },
135
+ "floor_1_backing_room": {
136
+ "cls": "Floor"
137
+ },
138
+ "wallaccessory.001_room": {
139
+ "cls": "WallAccessory"
140
+ },
141
+ "wallaccessory.005_room": {
142
+ "cls": "WallAccessory"
143
+ },
144
+ "wallaccessory.003_room": {
145
+ "cls": "WallAccessory"
146
+ },
147
+ "wallaccessory.004_room": {
148
+ "cls": "WallAccessory"
149
+ },
150
+ "wallaccessory.007_room": {
151
+ "cls": "WallAccessory"
152
+ },
153
+ "stool_2_room": {
154
+ "cls": "Stool"
155
+ },
156
+ "stool_3_room": {
157
+ "cls": "Stool"
158
+ },
159
+ "stool_4_room": {
160
+ "cls": "Stool"
161
+ },
162
+ "stool_1_room": {
163
+ "cls": "Stool"
164
+ },
165
+ "sink_main_group_1": {
166
+ "cls": "Sink"
167
+ },
168
+ "counter_1_main_group_1": {
169
+ "cls": "Counter"
170
+ },
171
+ "opencabinet_1_main_group_1": {
172
+ "cls": "OpenCabinet"
173
+ },
174
+ "opencabinet_2_main_group_1": {
175
+ "cls": "OpenCabinet"
176
+ },
177
+ "stack_1_main_group_1_base": {
178
+ "cls": "Box"
179
+ },
180
+ "stack_1_main_group_1_1": {
181
+ "cls": "SingleCabinet"
182
+ },
183
+ "stack_1_main_group_1_2": {
184
+ "cls": "Drawer"
185
+ },
186
+ "stack_2_main_group_1_base": {
187
+ "cls": "Box"
188
+ },
189
+ "stack_2_main_group_1_1": {
190
+ "cls": "SingleCabinet"
191
+ },
192
+ "stack_4_main_group_1_base": {
193
+ "cls": "Box"
194
+ },
195
+ "stack_4_main_group_1_1": {
196
+ "cls": "HingeCabinet"
197
+ },
198
+ "stack_4_main_group_1_2": {
199
+ "cls": "Drawer"
200
+ },
201
+ "dishwasher_1_main_group_1": {
202
+ "cls": "Dishwasher"
203
+ },
204
+ "stack_3_main_group_1_base": {
205
+ "cls": "Box"
206
+ },
207
+ "stack_3_main_group_1_1": {
208
+ "cls": "HingeCabinet"
209
+ },
210
+ "coffeemachine_main_group_1": {
211
+ "cls": "CoffeeMachine"
212
+ },
213
+ "paper_towel_main_group_1": {
214
+ "cls": "Accessory"
215
+ },
216
+ "toaster_main_group_1": {
217
+ "cls": "Toaster"
218
+ },
219
+ "bottom_main_group_1_base": {
220
+ "cls": "Box"
221
+ },
222
+ "bottom_main_group_1_1": {
223
+ "cls": "Drawer"
224
+ },
225
+ "oven_cabinet_main_group_1": {
226
+ "cls": "HingeCabinet"
227
+ },
228
+ "microwave_main_group_1": {
229
+ "cls": "Microwave"
230
+ },
231
+ "microwave_housing_main_group_1": {
232
+ "cls": "HousingCabinet"
233
+ },
234
+ "top_main_group_1": {
235
+ "cls": "HingeCabinet"
236
+ },
237
+ "counter_1_left_group_1": {
238
+ "cls": "Counter"
239
+ },
240
+ "stove_left_group_1": {
241
+ "cls": "Stove"
242
+ },
243
+ "counter_2_left_group_1": {
244
+ "cls": "Counter"
245
+ },
246
+ "fridgesidebyside_left_group_1": {
247
+ "cls": "FridgeSideBySide"
248
+ },
249
+ "fridgesidebyside_housing_left_group_1": {
250
+ "cls": "HousingCabinet"
251
+ },
252
+ "hingecabinet_1_left_group_1": {
253
+ "cls": "HingeCabinet"
254
+ },
255
+ "hingecabinet_2_left_group_1": {
256
+ "cls": "HingeCabinet"
257
+ },
258
+ "hingecabinet_3_left_group_1": {
259
+ "cls": "HingeCabinet"
260
+ },
261
+ "hingecabinet_4_left_group_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "stack_1_left_group_1_base": {
265
+ "cls": "Box"
266
+ },
267
+ "stack_1_left_group_1_1": {
268
+ "cls": "SingleCabinet"
269
+ },
270
+ "stack_2_left_group_1_base": {
271
+ "cls": "Box"
272
+ },
273
+ "stack_2_left_group_1_1": {
274
+ "cls": "HingeCabinet"
275
+ },
276
+ "stack_4_left_group_1_base": {
277
+ "cls": "Box"
278
+ },
279
+ "stack_4_left_group_1_1": {
280
+ "cls": "HingeCabinet"
281
+ },
282
+ "knifeblock_left_group_1": {
283
+ "cls": "Accessory"
284
+ },
285
+ "toaster_oven_left_group_1": {
286
+ "cls": "ToasterOven"
287
+ },
288
+ "island_island_group_1": {
289
+ "cls": "Counter"
290
+ },
291
+ "cube_3_island_group_1": {
292
+ "cls": "Box"
293
+ },
294
+ "stack_1_island_group_1_base": {
295
+ "cls": "Box"
296
+ },
297
+ "stack_1_island_group_1_1": {
298
+ "cls": "SingleCabinet"
299
+ },
300
+ "stack_2_island_group_1_base": {
301
+ "cls": "Box"
302
+ },
303
+ "stack_2_island_group_1_1": {
304
+ "cls": "HingeCabinet"
305
+ },
306
+ "stack_2_island_group_1_2": {
307
+ "cls": "Drawer"
308
+ },
309
+ "stack_3_island_group_1_base": {
310
+ "cls": "Box"
311
+ },
312
+ "stack_3_island_group_1_1": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "stack_3_island_group_1_2": {
316
+ "cls": "Drawer"
317
+ },
318
+ "stack_4_island_group_1_base": {
319
+ "cls": "Box"
320
+ },
321
+ "stack_4_island_group_1_1": {
322
+ "cls": "Drawer"
323
+ },
324
+ "stack_4_island_group_1_2": {
325
+ "cls": "Drawer"
326
+ },
327
+ "cube_2_island_group_1": {
328
+ "cls": "Box"
329
+ }
330
+ },
331
+ "gen_textures": {},
332
+ "lang": "Turn on the sink faucet.",
333
+ "fixture_refs": {},
334
+ "cam_configs": {
335
+ "robot0_agentview_center": {
336
+ "pos": [
337
+ -0.6,
338
+ 0.0,
339
+ 1.15
340
+ ],
341
+ "quat": [
342
+ 0.636945903301239,
343
+ 0.3325185477733612,
344
+ -0.3199238181114197,
345
+ -0.6175596117973328
346
+ ],
347
+ "parent_body": "mobilebase0_support"
348
+ },
349
+ "robot0_agentview_left": {
350
+ "pos": [
351
+ -0.5,
352
+ 0.35,
353
+ 1.05
354
+ ],
355
+ "quat": [
356
+ 0.55623853,
357
+ 0.29935253,
358
+ -0.37678665,
359
+ -0.6775092
360
+ ],
361
+ "camera_attribs": {
362
+ "fovy": "60"
363
+ },
364
+ "parent_body": "mobilebase0_support"
365
+ },
366
+ "robot0_agentview_right": {
367
+ "pos": [
368
+ -0.5,
369
+ -0.35,
370
+ 1.05
371
+ ],
372
+ "quat": [
373
+ 0.6775091886520386,
374
+ 0.3767866790294647,
375
+ -0.2993525564670563,
376
+ -0.55623859167099
377
+ ],
378
+ "camera_attribs": {
379
+ "fovy": "60"
380
+ },
381
+ "parent_body": "mobilebase0_support"
382
+ },
383
+ "robot0_frontview": {
384
+ "pos": [
385
+ -0.5,
386
+ 0,
387
+ 0.95
388
+ ],
389
+ "quat": [
390
+ 0.6088936924934387,
391
+ 0.3814677894115448,
392
+ -0.3673907518386841,
393
+ -0.5905545353889465
394
+ ],
395
+ "camera_attribs": {
396
+ "fovy": "60"
397
+ },
398
+ "parent_body": "mobilebase0_support"
399
+ },
400
+ "robot0_eye_in_hand": {
401
+ "pos": [
402
+ 0.05,
403
+ 0,
404
+ 0
405
+ ],
406
+ "quat": [
407
+ 0,
408
+ 0.707107,
409
+ 0.707107,
410
+ 0
411
+ ],
412
+ "parent_body": "robot0_right_hand"
413
+ }
414
+ },
415
+ "init_robot_base_pos": [
416
+ 1.901705689077903,
417
+ -0.7659709910418088,
418
+ 0.0
419
+ ],
420
+ "init_robot_base_ori": [
421
+ 0.0,
422
+ 0.0,
423
+ 1.5707963267948966
424
+ ]
425
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000063/ep_meta.json ADDED
@@ -0,0 +1,495 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 55,
3
+ "style_id": 41,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_main_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.058767396000000034,
15
+ 0.05876740200000004,
16
+ 0.05286663060000003
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "tomato",
37
+ "vegetable",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "tomato",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 1.231051981439009,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 0.48447400928049555,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_counter_1",
63
+ "obj_groups": "all",
64
+ "placement": {
65
+ "fixture": "counter_1_main_group_1",
66
+ "sample_region_kwargs": {
67
+ "ref": "sink_main_group_1",
68
+ "loc": "left_right",
69
+ "min_size": [
70
+ 0.04585254299999999,
71
+ 0.0458525364,
72
+ 0.16679836634999998
73
+ ]
74
+ },
75
+ "size": [
76
+ 0.3,
77
+ 0.3
78
+ ],
79
+ "pos": [
80
+ "ref",
81
+ -1.0
82
+ ],
83
+ "offset": [
84
+ 0.0,
85
+ 0.1
86
+ ]
87
+ },
88
+ "type": "object",
89
+ "info": {
90
+ "groups_containing_sampled_obj": [
91
+ "all",
92
+ "ketchup",
93
+ "condiment"
94
+ ],
95
+ "groups": [
96
+ "all"
97
+ ],
98
+ "cat": "ketchup",
99
+ "split": "train",
100
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_2/model.xml"
101
+ },
102
+ "reset_region": {
103
+ "size": [
104
+ 1.231051981439009,
105
+ 0.65
106
+ ],
107
+ "offset": [
108
+ 0.48447400928049555,
109
+ -3.469446951953614e-17,
110
+ 0.46
111
+ ],
112
+ "name": "geom_0"
113
+ }
114
+ },
115
+ {
116
+ "name": "distr_counter_2",
117
+ "obj_groups": "all",
118
+ "placement": {
119
+ "fixture": "counter_1_main_group_1",
120
+ "sample_region_kwargs": {
121
+ "ref": "sink_main_group_1",
122
+ "loc": "left_right",
123
+ "min_size": [
124
+ 0.08216721449999999,
125
+ 0.08686662425,
126
+ 0.07468672375
127
+ ]
128
+ },
129
+ "size": [
130
+ 0.3,
131
+ 0.3
132
+ ],
133
+ "pos": [
134
+ "ref",
135
+ -1.0
136
+ ],
137
+ "offset": [
138
+ 0.0,
139
+ 0.1
140
+ ]
141
+ },
142
+ "type": "object",
143
+ "info": {
144
+ "groups_containing_sampled_obj": [
145
+ "all",
146
+ "bread",
147
+ "bread_food",
148
+ "food",
149
+ "in_container"
150
+ ],
151
+ "groups": [
152
+ "all"
153
+ ],
154
+ "cat": "bread",
155
+ "split": "train",
156
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml"
157
+ },
158
+ "reset_region": {
159
+ "size": [
160
+ 1.231051981439009,
161
+ 0.65
162
+ ],
163
+ "offset": [
164
+ 0.48447400928049555,
165
+ -3.469446951953614e-17,
166
+ 0.46
167
+ ],
168
+ "name": "geom_0"
169
+ }
170
+ },
171
+ {
172
+ "name": "distr_sink",
173
+ "obj_groups": "all",
174
+ "washable": true,
175
+ "placement": {
176
+ "fixture": "sink_main_group_1",
177
+ "size": [
178
+ 0.3,
179
+ 0.4
180
+ ],
181
+ "pos": [
182
+ null,
183
+ -1.0
184
+ ]
185
+ },
186
+ "type": "object",
187
+ "info": {
188
+ "groups_containing_sampled_obj": [
189
+ "all",
190
+ "potato",
191
+ "vegetable",
192
+ "food",
193
+ "in_container",
194
+ "food_set1",
195
+ "oven_ready"
196
+ ],
197
+ "groups": [
198
+ "all"
199
+ ],
200
+ "cat": "potato",
201
+ "split": "train",
202
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_17/model.xml"
203
+ },
204
+ "reset_region": {
205
+ "offset": [
206
+ 0.003460048964932877,
207
+ -0.0008723823886534199,
208
+ -0.16866248303013545
209
+ ],
210
+ "size": [
211
+ 0.12239393350440114,
212
+ 0.2753279408235388
213
+ ],
214
+ "height": 0.12715116971289372,
215
+ "name": "basin_right"
216
+ }
217
+ }
218
+ ],
219
+ "fixtures": {
220
+ "wall_right_1_room": {
221
+ "cls": "Wall"
222
+ },
223
+ "wall_right_1_backing_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "wall_main_1_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_main_1_backing_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "floor_1_room": {
233
+ "cls": "Floor"
234
+ },
235
+ "floor_1_backing_room": {
236
+ "cls": "Floor"
237
+ },
238
+ "wallaccessory_2_room": {
239
+ "cls": "WallAccessory"
240
+ },
241
+ "wallaccessory_1_room": {
242
+ "cls": "WallAccessory"
243
+ },
244
+ "lightswitch_01_room": {
245
+ "cls": "WallAccessory"
246
+ },
247
+ "lightswitch_02_room": {
248
+ "cls": "WallAccessory"
249
+ },
250
+ "wallaccessory_4_room": {
251
+ "cls": "WallAccessory"
252
+ },
253
+ "wallaccessory_3_room": {
254
+ "cls": "WallAccessory"
255
+ },
256
+ "window_group_1_room": {
257
+ "cls": "Window"
258
+ },
259
+ "stool_1_room": {
260
+ "cls": "Stool"
261
+ },
262
+ "stool_2_room": {
263
+ "cls": "Stool"
264
+ },
265
+ "stool_3_room": {
266
+ "cls": "Stool"
267
+ },
268
+ "fridgebottomfreezer_main_group_1": {
269
+ "cls": "FridgeBottomFreezer"
270
+ },
271
+ "fridgebottomfreezer_housing_main_group_1": {
272
+ "cls": "HousingCabinet"
273
+ },
274
+ "singlecabinet_1_main_group_1": {
275
+ "cls": "SingleCabinet"
276
+ },
277
+ "hingecabinet_1_main_group_1": {
278
+ "cls": "HingeCabinet"
279
+ },
280
+ "hingecabinet_2_main_group_1": {
281
+ "cls": "HingeCabinet"
282
+ },
283
+ "hingecabinet_3_main_group_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "hingecabinet_4_main_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "singlecabinet_2_main_group_1": {
290
+ "cls": "SingleCabinet"
291
+ },
292
+ "sink_main_group_1": {
293
+ "cls": "Sink"
294
+ },
295
+ "counter_1_main_group_1": {
296
+ "cls": "Counter"
297
+ },
298
+ "counter_2_main_group_1": {
299
+ "cls": "Counter"
300
+ },
301
+ "stove_main_group_1": {
302
+ "cls": "Stove"
303
+ },
304
+ "microwave_main_group_1": {
305
+ "cls": "Microwave"
306
+ },
307
+ "micro_cab_main_group_1": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "stack_04_main_group_1_base": {
311
+ "cls": "Box"
312
+ },
313
+ "stack_04_main_group_1_1": {
314
+ "cls": "SingleCabinet"
315
+ },
316
+ "stack_04_main_group_1_2": {
317
+ "cls": "Drawer"
318
+ },
319
+ "stack_02_main_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_02_main_group_1_1": {
323
+ "cls": "HingeCabinet"
324
+ },
325
+ "stack_02_main_group_1_2": {
326
+ "cls": "PanelCabinet"
327
+ },
328
+ "dishwasher_1_main_group_1": {
329
+ "cls": "Dishwasher"
330
+ },
331
+ "stack_05_main_group_1_base": {
332
+ "cls": "Box"
333
+ },
334
+ "stack_05_main_group_1_1": {
335
+ "cls": "SingleCabinet"
336
+ },
337
+ "stack_05_main_group_1_2": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_01_main_group_1_base": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_01_main_group_1_1": {
344
+ "cls": "SingleCabinet"
345
+ },
346
+ "stack_01_main_group_1_2": {
347
+ "cls": "Drawer"
348
+ },
349
+ "stack_03_main_group_1_base": {
350
+ "cls": "Box"
351
+ },
352
+ "stack_03_main_group_1_1": {
353
+ "cls": "SingleCabinet"
354
+ },
355
+ "cube_14_main_group_1": {
356
+ "cls": "Box"
357
+ },
358
+ "cube_13_main_group_1": {
359
+ "cls": "Box"
360
+ },
361
+ "coffee_machine_main_group_1": {
362
+ "cls": "CoffeeMachine"
363
+ },
364
+ "toaster_main_group_1": {
365
+ "cls": "Toaster"
366
+ },
367
+ "island_island_group_1": {
368
+ "cls": "Counter"
369
+ },
370
+ "stack_06_island_group_1_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_06_island_group_1_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_06_island_group_1_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_07_island_group_1_base": {
380
+ "cls": "Box"
381
+ },
382
+ "stack_07_island_group_1_1": {
383
+ "cls": "HingeCabinet"
384
+ },
385
+ "stack_07_island_group_1_2": {
386
+ "cls": "Drawer"
387
+ },
388
+ "cube_1_island_group_1": {
389
+ "cls": "Box"
390
+ },
391
+ "cube_7_island_group_1": {
392
+ "cls": "Box"
393
+ },
394
+ "cube_8_island_group_1": {
395
+ "cls": "Box"
396
+ },
397
+ "paper_towel_island_group_1": {
398
+ "cls": "Accessory"
399
+ }
400
+ },
401
+ "gen_textures": {},
402
+ "lang": "Turn on the sink faucet.",
403
+ "fixture_refs": {},
404
+ "cam_configs": {
405
+ "robot0_agentview_center": {
406
+ "pos": [
407
+ -0.6,
408
+ 0.0,
409
+ 1.15
410
+ ],
411
+ "quat": [
412
+ 0.636945903301239,
413
+ 0.3325185477733612,
414
+ -0.3199238181114197,
415
+ -0.6175596117973328
416
+ ],
417
+ "parent_body": "mobilebase0_support"
418
+ },
419
+ "robot0_agentview_left": {
420
+ "pos": [
421
+ -0.5,
422
+ 0.35,
423
+ 1.05
424
+ ],
425
+ "quat": [
426
+ 0.55623853,
427
+ 0.29935253,
428
+ -0.37678665,
429
+ -0.6775092
430
+ ],
431
+ "camera_attribs": {
432
+ "fovy": "60"
433
+ },
434
+ "parent_body": "mobilebase0_support"
435
+ },
436
+ "robot0_agentview_right": {
437
+ "pos": [
438
+ -0.5,
439
+ -0.35,
440
+ 1.05
441
+ ],
442
+ "quat": [
443
+ 0.6775091886520386,
444
+ 0.3767866790294647,
445
+ -0.2993525564670563,
446
+ -0.55623859167099
447
+ ],
448
+ "camera_attribs": {
449
+ "fovy": "60"
450
+ },
451
+ "parent_body": "mobilebase0_support"
452
+ },
453
+ "robot0_frontview": {
454
+ "pos": [
455
+ -0.5,
456
+ 0,
457
+ 0.95
458
+ ],
459
+ "quat": [
460
+ 0.6088936924934387,
461
+ 0.3814677894115448,
462
+ -0.3673907518386841,
463
+ -0.5905545353889465
464
+ ],
465
+ "camera_attribs": {
466
+ "fovy": "60"
467
+ },
468
+ "parent_body": "mobilebase0_support"
469
+ },
470
+ "robot0_eye_in_hand": {
471
+ "pos": [
472
+ 0.05,
473
+ 0,
474
+ 0
475
+ ],
476
+ "quat": [
477
+ 0,
478
+ 0.707107,
479
+ 0.707107,
480
+ 0
481
+ ],
482
+ "parent_body": "robot0_right_hand"
483
+ }
484
+ },
485
+ "init_robot_base_pos": [
486
+ 4.137256092975718,
487
+ -0.9056361369180304,
488
+ 0.0
489
+ ],
490
+ "init_robot_base_ori": [
491
+ 0.0,
492
+ 0.0,
493
+ 1.5706379572530664
494
+ ]
495
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000065/ep_meta.json ADDED
@@ -0,0 +1,460 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 41,
3
+ "style_id": 54,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_main_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.06410261910000004,
15
+ 0.06378820760000004,
16
+ 0.05815621890000003
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "tomato",
37
+ "vegetable",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "tomato",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 0.9883369403217745,
51
+ 0.650008
52
+ ],
53
+ "offset": [
54
+ -0.8152455298391128,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_1"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_counter_1",
63
+ "obj_groups": "all",
64
+ "placement": {
65
+ "fixture": "counter_1_main_group_1",
66
+ "sample_region_kwargs": {
67
+ "ref": "sink_main_group_1",
68
+ "loc": "left_right",
69
+ "min_size": [
70
+ 0.050422134104999995,
71
+ 0.16269918619499998,
72
+ 0.04841119022249999
73
+ ]
74
+ },
75
+ "size": [
76
+ 0.3,
77
+ 0.3
78
+ ],
79
+ "pos": [
80
+ "ref",
81
+ -1.0
82
+ ],
83
+ "offset": [
84
+ 0.0,
85
+ 0.1
86
+ ]
87
+ },
88
+ "type": "object",
89
+ "info": {
90
+ "groups_containing_sampled_obj": [
91
+ "all",
92
+ "corn",
93
+ "vegetable",
94
+ "food",
95
+ "in_container",
96
+ "oven_ready"
97
+ ],
98
+ "groups": [
99
+ "all"
100
+ ],
101
+ "cat": "corn",
102
+ "split": "train",
103
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml"
104
+ },
105
+ "reset_region": {
106
+ "size": [
107
+ 0.9883369403217745,
108
+ 0.650008
109
+ ],
110
+ "offset": [
111
+ -0.8152455298391128,
112
+ -3.469446951953614e-17,
113
+ 0.46
114
+ ],
115
+ "name": "geom_1"
116
+ }
117
+ },
118
+ {
119
+ "name": "distr_sink",
120
+ "obj_groups": "all",
121
+ "washable": true,
122
+ "placement": {
123
+ "fixture": "sink_main_group_1",
124
+ "size": [
125
+ 0.3,
126
+ 0.4
127
+ ],
128
+ "pos": [
129
+ null,
130
+ -1.0
131
+ ]
132
+ },
133
+ "type": "object",
134
+ "info": {
135
+ "groups_containing_sampled_obj": [
136
+ "all",
137
+ "tongs",
138
+ "tool",
139
+ "in_container"
140
+ ],
141
+ "groups": [
142
+ "all"
143
+ ],
144
+ "cat": "tongs",
145
+ "split": "train",
146
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs001/model.xml"
147
+ },
148
+ "reset_region": {
149
+ "offset": [
150
+ 0.10387829516053644,
151
+ -0.02077867703071555,
152
+ -0.31300544469868485
153
+ ],
154
+ "size": [
155
+ 0.4981746707950314,
156
+ 0.4024169666711226
157
+ ],
158
+ "height": 0.22843287994322964,
159
+ "name": "basin"
160
+ }
161
+ }
162
+ ],
163
+ "fixtures": {
164
+ "wall_main_1_room": {
165
+ "cls": "Wall"
166
+ },
167
+ "wall_main_1_backing_room": {
168
+ "cls": "Wall"
169
+ },
170
+ "wall_right_1_room": {
171
+ "cls": "Wall"
172
+ },
173
+ "wall_right_1_backing_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_right_2_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_right_2_backing_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_right_3_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_right_3_backing_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "floor_1_room": {
189
+ "cls": "Floor"
190
+ },
191
+ "floor_1_backing_room": {
192
+ "cls": "Floor"
193
+ },
194
+ "lightswitch_room": {
195
+ "cls": "WallAccessory"
196
+ },
197
+ "wallaccessory.003_room": {
198
+ "cls": "WallAccessory"
199
+ },
200
+ "wallaccessory.001_room": {
201
+ "cls": "WallAccessory"
202
+ },
203
+ "window_group_room": {
204
+ "cls": "Window"
205
+ },
206
+ "stool_1_room": {
207
+ "cls": "Stool"
208
+ },
209
+ "stool_2_room": {
210
+ "cls": "Stool"
211
+ },
212
+ "sink_main_group_1": {
213
+ "cls": "Sink"
214
+ },
215
+ "counter_1_main_group_1": {
216
+ "cls": "Counter"
217
+ },
218
+ "singlecabinet_1_main_group_1": {
219
+ "cls": "SingleCabinet"
220
+ },
221
+ "singlecabinet_2_main_group_1": {
222
+ "cls": "SingleCabinet"
223
+ },
224
+ "stack_1_main_group_1_base": {
225
+ "cls": "Box"
226
+ },
227
+ "stack_1_main_group_1_1": {
228
+ "cls": "HingeCabinet"
229
+ },
230
+ "stack_1_main_group_1_2": {
231
+ "cls": "Drawer"
232
+ },
233
+ "stack_2_main_group_1_base": {
234
+ "cls": "Box"
235
+ },
236
+ "stack_2_main_group_1_1": {
237
+ "cls": "HingeCabinet"
238
+ },
239
+ "stack_2_main_group_1_2": {
240
+ "cls": "PanelCabinet"
241
+ },
242
+ "cube_1_main_group_1": {
243
+ "cls": "Box"
244
+ },
245
+ "dishwasher_1_main_group_1": {
246
+ "cls": "Dishwasher"
247
+ },
248
+ "bottom_main_group_1_base": {
249
+ "cls": "Box"
250
+ },
251
+ "bottom_main_group_1_1": {
252
+ "cls": "Drawer"
253
+ },
254
+ "microwave_main_group_1": {
255
+ "cls": "Microwave"
256
+ },
257
+ "fridgesidebyside_main_group_1": {
258
+ "cls": "FridgeSideBySide"
259
+ },
260
+ "fridgesidebyside_housing_main_group_1": {
261
+ "cls": "HousingCabinet"
262
+ },
263
+ "oven_cabinet_main_group_1": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "hingecabinet_1_main_group_1": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "microwave_housing_main_group_1": {
270
+ "cls": "HousingCabinet"
271
+ },
272
+ "top_main_group_1": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "coffee_machine_main_group_1": {
276
+ "cls": "CoffeeMachine"
277
+ },
278
+ "knife_block_main_group_1": {
279
+ "cls": "Accessory"
280
+ },
281
+ "counter_1_right_group_1": {
282
+ "cls": "Counter"
283
+ },
284
+ "counter_2_right_group_1": {
285
+ "cls": "Counter"
286
+ },
287
+ "stove_right_group_1": {
288
+ "cls": "Stove"
289
+ },
290
+ "stove_hood_right_group_1": {
291
+ "cls": "Hood"
292
+ },
293
+ "singlecabinet_1_right_group_1": {
294
+ "cls": "SingleCabinet"
295
+ },
296
+ "singlecabinet_2_right_group_1": {
297
+ "cls": "SingleCabinet"
298
+ },
299
+ "stack_1_right_group_1_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_1_right_group_1_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "stack_1_right_group_1_2": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_2_right_group_1_base": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_2_right_group_1_1": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "stack_2_right_group_1_2": {
315
+ "cls": "Drawer"
316
+ },
317
+ "toaster_right_group_1": {
318
+ "cls": "Toaster"
319
+ },
320
+ "stack_1_island_group_1_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_1_island_group_1_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "stack_1_island_group_1_2": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_2_island_group_1_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_2_island_group_1_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "stack_2_island_group_1_2": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_3_island_group_1_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_3_island_group_1_1": {
342
+ "cls": "Drawer"
343
+ },
344
+ "stack_3_island_group_1_2": {
345
+ "cls": "Drawer"
346
+ },
347
+ "island_island_group_2": {
348
+ "cls": "Counter"
349
+ },
350
+ "stack_4_island_group_2_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_4_island_group_2_1": {
354
+ "cls": "SingleCabinet"
355
+ },
356
+ "stack_5_island_group_2_base": {
357
+ "cls": "Box"
358
+ },
359
+ "stack_5_island_group_2_1": {
360
+ "cls": "SingleCabinet"
361
+ },
362
+ "paper_towel_island_group_2": {
363
+ "cls": "Accessory"
364
+ }
365
+ },
366
+ "gen_textures": {},
367
+ "lang": "Turn on the sink faucet.",
368
+ "fixture_refs": {},
369
+ "cam_configs": {
370
+ "robot0_agentview_center": {
371
+ "pos": [
372
+ -0.6,
373
+ 0.0,
374
+ 1.15
375
+ ],
376
+ "quat": [
377
+ 0.636945903301239,
378
+ 0.3325185477733612,
379
+ -0.3199238181114197,
380
+ -0.6175596117973328
381
+ ],
382
+ "parent_body": "mobilebase0_support"
383
+ },
384
+ "robot0_agentview_left": {
385
+ "pos": [
386
+ -0.5,
387
+ 0.35,
388
+ 1.05
389
+ ],
390
+ "quat": [
391
+ 0.55623853,
392
+ 0.29935253,
393
+ -0.37678665,
394
+ -0.6775092
395
+ ],
396
+ "camera_attribs": {
397
+ "fovy": "60"
398
+ },
399
+ "parent_body": "mobilebase0_support"
400
+ },
401
+ "robot0_agentview_right": {
402
+ "pos": [
403
+ -0.5,
404
+ -0.35,
405
+ 1.05
406
+ ],
407
+ "quat": [
408
+ 0.6775091886520386,
409
+ 0.3767866790294647,
410
+ -0.2993525564670563,
411
+ -0.55623859167099
412
+ ],
413
+ "camera_attribs": {
414
+ "fovy": "60"
415
+ },
416
+ "parent_body": "mobilebase0_support"
417
+ },
418
+ "robot0_frontview": {
419
+ "pos": [
420
+ -0.5,
421
+ 0,
422
+ 0.95
423
+ ],
424
+ "quat": [
425
+ 0.6088936924934387,
426
+ 0.3814677894115448,
427
+ -0.3673907518386841,
428
+ -0.5905545353889465
429
+ ],
430
+ "camera_attribs": {
431
+ "fovy": "60"
432
+ },
433
+ "parent_body": "mobilebase0_support"
434
+ },
435
+ "robot0_eye_in_hand": {
436
+ "pos": [
437
+ 0.05,
438
+ 0,
439
+ 0
440
+ ],
441
+ "quat": [
442
+ 0,
443
+ 0.707107,
444
+ 0.707107,
445
+ 0
446
+ ],
447
+ "parent_body": "robot0_right_hand"
448
+ }
449
+ },
450
+ "init_robot_base_pos": [
451
+ 2.624296759371892,
452
+ -0.8198569033237547,
453
+ 0.0
454
+ ],
455
+ "init_robot_base_ori": [
456
+ 0.0,
457
+ 0.0,
458
+ 1.5707963267948966
459
+ ]
460
+ }
pretrain/atomic/TurnOnSinkFaucet/20250819/lerobot/extras/episode_000066/ep_meta.json ADDED
@@ -0,0 +1,438 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 54,
3
+ "style_id": 49,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "distr_counter_0",
7
+ "obj_groups": "all",
8
+ "placement": {
9
+ "fixture": "counter_4_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "sink_right_group_1",
12
+ "loc": "left_right",
13
+ "min_size": [
14
+ 0.063,
15
+ 0.063,
16
+ 0.0395256393
17
+ ]
18
+ },
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ "ref",
25
+ -1.0
26
+ ],
27
+ "offset": [
28
+ 0.0,
29
+ 0.1
30
+ ]
31
+ },
32
+ "type": "object",
33
+ "info": {
34
+ "groups_containing_sampled_obj": [
35
+ "all",
36
+ "kiwi",
37
+ "fruit",
38
+ "food",
39
+ "in_container"
40
+ ],
41
+ "groups": [
42
+ "all"
43
+ ],
44
+ "cat": "kiwi",
45
+ "split": "train",
46
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml"
47
+ },
48
+ "reset_region": {
49
+ "size": [
50
+ 0.69785,
51
+ 0.65
52
+ ],
53
+ "offset": [
54
+ 0.833925,
55
+ -3.469446951953614e-17,
56
+ 0.46
57
+ ],
58
+ "name": "geom_0"
59
+ }
60
+ },
61
+ {
62
+ "name": "distr_sink",
63
+ "obj_groups": "all",
64
+ "washable": true,
65
+ "placement": {
66
+ "fixture": "sink_right_group_1",
67
+ "size": [
68
+ 0.3,
69
+ 0.4
70
+ ],
71
+ "pos": [
72
+ null,
73
+ -1.0
74
+ ]
75
+ },
76
+ "type": "object",
77
+ "info": {
78
+ "groups_containing_sampled_obj": [
79
+ "all",
80
+ "yogurt",
81
+ "dairy",
82
+ "packaged_food",
83
+ "food",
84
+ "in_container"
85
+ ],
86
+ "groups": [
87
+ "all"
88
+ ],
89
+ "cat": "yogurt",
90
+ "split": "train",
91
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_1/model.xml"
92
+ },
93
+ "reset_region": {
94
+ "offset": [
95
+ 0.047256816820756484,
96
+ -0.0004671400310335347,
97
+ -0.1421234857516468
98
+ ],
99
+ "size": [
100
+ 0.4434392364971912,
101
+ 0.17437074656821322
102
+ ],
103
+ "height": 0.07197232028597139,
104
+ "name": "basin_right"
105
+ }
106
+ }
107
+ ],
108
+ "fixtures": {
109
+ "wall_right_1_room": {
110
+ "cls": "Wall"
111
+ },
112
+ "wall_right_1_backing_room": {
113
+ "cls": "Wall"
114
+ },
115
+ "wall_main_1_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_main_1_backing_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "floor_1_room": {
122
+ "cls": "Floor"
123
+ },
124
+ "floor_1_backing_room": {
125
+ "cls": "Floor"
126
+ },
127
+ "wallaccessory_2_room": {
128
+ "cls": "WallAccessory"
129
+ },
130
+ "wallaccessory_1_room": {
131
+ "cls": "WallAccessory"
132
+ },
133
+ "wallaccessory_3_room": {
134
+ "cls": "WallAccessory"
135
+ },
136
+ "wallaccessory_4_room": {
137
+ "cls": "WallAccessory"
138
+ },
139
+ "window_group_room": {
140
+ "cls": "Window"
141
+ },
142
+ "stool_1_room": {
143
+ "cls": "Stool"
144
+ },
145
+ "stool_2_room": {
146
+ "cls": "Stool"
147
+ },
148
+ "stool_3_room": {
149
+ "cls": "Stool"
150
+ },
151
+ "stool_4_room": {
152
+ "cls": "Stool"
153
+ },
154
+ "fridgefrenchdoor_main_group_1": {
155
+ "cls": "FridgeFrenchDoor"
156
+ },
157
+ "fridgefrenchdoor_housing_main_group_1": {
158
+ "cls": "HousingCabinet"
159
+ },
160
+ "bottom_main_group_1_base": {
161
+ "cls": "Box"
162
+ },
163
+ "bottom_main_group_1_1": {
164
+ "cls": "Drawer"
165
+ },
166
+ "microwave_main_group_1": {
167
+ "cls": "Microwave"
168
+ },
169
+ "oven_cabinet_main_group_1": {
170
+ "cls": "HingeCabinet"
171
+ },
172
+ "hingecabinet_4_main_group_1": {
173
+ "cls": "HingeCabinet"
174
+ },
175
+ "microwave_housing_main_group_1": {
176
+ "cls": "HousingCabinet"
177
+ },
178
+ "top_main_group_1": {
179
+ "cls": "HingeCabinet"
180
+ },
181
+ "hingecabinet_1_main_group_1": {
182
+ "cls": "HingeCabinet"
183
+ },
184
+ "hingecabinet_3_main_group_1": {
185
+ "cls": "HingeCabinet"
186
+ },
187
+ "singlecabinet_2_main_group_1": {
188
+ "cls": "SingleCabinet"
189
+ },
190
+ "cube_1_main_group_1": {
191
+ "cls": "Box"
192
+ },
193
+ "counter_1_main_group_1": {
194
+ "cls": "Counter"
195
+ },
196
+ "counter_2_main_group_1": {
197
+ "cls": "Counter"
198
+ },
199
+ "counter_corner_1_main_group_1": {
200
+ "cls": "Counter"
201
+ },
202
+ "stove_main_group_1": {
203
+ "cls": "Stove"
204
+ },
205
+ "stove_hood_main_group_1": {
206
+ "cls": "Hood"
207
+ },
208
+ "stack_03_main_group_1_base": {
209
+ "cls": "Box"
210
+ },
211
+ "stack_03_main_group_1_1": {
212
+ "cls": "Drawer"
213
+ },
214
+ "stack_03_main_group_1_2": {
215
+ "cls": "Drawer"
216
+ },
217
+ "stack_03_main_group_1_3": {
218
+ "cls": "Drawer"
219
+ },
220
+ "stack_02_main_group_1_base": {
221
+ "cls": "Box"
222
+ },
223
+ "stack_02_main_group_1_1": {
224
+ "cls": "HingeCabinet"
225
+ },
226
+ "stack_02_main_group_1_2": {
227
+ "cls": "Drawer"
228
+ },
229
+ "stack_01_main_group_1_base": {
230
+ "cls": "Box"
231
+ },
232
+ "stack_01_main_group_1_1": {
233
+ "cls": "SingleCabinet"
234
+ },
235
+ "papertowel_main_group_1": {
236
+ "cls": "Accessory"
237
+ },
238
+ "coffee_machine_main_group_1": {
239
+ "cls": "CoffeeMachine"
240
+ },
241
+ "toaster_oven_main_group_1": {
242
+ "cls": "ToasterOven"
243
+ },
244
+ "opencabinet_1_right_group_1": {
245
+ "cls": "OpenCabinet"
246
+ },
247
+ "cube_3_right_group_1": {
248
+ "cls": "Box"
249
+ },
250
+ "cube_4_right_group_1": {
251
+ "cls": "Box"
252
+ },
253
+ "hingecabinet_6_right_group_1": {
254
+ "cls": "HingeCabinet"
255
+ },
256
+ "hingecabinet_5_right_group_1": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "sink_right_group_1": {
260
+ "cls": "Sink"
261
+ },
262
+ "counter_4_right_group_1": {
263
+ "cls": "Counter"
264
+ },
265
+ "stack_05_right_group_1_base": {
266
+ "cls": "Box"
267
+ },
268
+ "stack_05_right_group_1_1": {
269
+ "cls": "HingeCabinet"
270
+ },
271
+ "stack_05_right_group_1_2": {
272
+ "cls": "PanelCabinet"
273
+ },
274
+ "stack_04_right_group_1_base": {
275
+ "cls": "Box"
276
+ },
277
+ "stack_04_right_group_1_1": {
278
+ "cls": "SingleCabinet"
279
+ },
280
+ "stack_06_right_group_1_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_06_right_group_1_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "cube_2_right_group_1": {
287
+ "cls": "Box"
288
+ },
289
+ "cube_1_right_group_1": {
290
+ "cls": "Box"
291
+ },
292
+ "toaster_right_group_1": {
293
+ "cls": "Toaster"
294
+ },
295
+ "island_island_group_1": {
296
+ "cls": "Counter"
297
+ },
298
+ "stack_07_island_group_1_base": {
299
+ "cls": "Box"
300
+ },
301
+ "stack_07_island_group_1_1": {
302
+ "cls": "SingleCabinet"
303
+ },
304
+ "stack_07_island_group_1_2": {
305
+ "cls": "Drawer"
306
+ },
307
+ "stack_08_island_group_1_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_08_island_group_1_1": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "stack_08_island_group_1_2": {
314
+ "cls": "Drawer"
315
+ },
316
+ "cube_3_island_group_1": {
317
+ "cls": "Box"
318
+ },
319
+ "cube_4_island_group_1": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_06_island_group_1_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_06_island_group_1_1": {
326
+ "cls": "SingleCabinet"
327
+ },
328
+ "stack_06_island_group_1_2": {
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
+ "dishwasher_1_island_group_1": {
338
+ "cls": "Dishwasher"
339
+ },
340
+ "plant_island_group_1": {
341
+ "cls": "Accessory"
342
+ }
343
+ },
344
+ "gen_textures": {},
345
+ "lang": "Turn on the sink faucet.",
346
+ "fixture_refs": {},
347
+ "cam_configs": {
348
+ "robot0_agentview_center": {
349
+ "pos": [
350
+ -0.6,
351
+ 0.0,
352
+ 1.15
353
+ ],
354
+ "quat": [
355
+ 0.636945903301239,
356
+ 0.3325185477733612,
357
+ -0.3199238181114197,
358
+ -0.6175596117973328
359
+ ],
360
+ "parent_body": "mobilebase0_support"
361
+ },
362
+ "robot0_agentview_left": {
363
+ "pos": [
364
+ -0.5,
365
+ 0.35,
366
+ 1.05
367
+ ],
368
+ "quat": [
369
+ 0.55623853,
370
+ 0.29935253,
371
+ -0.37678665,
372
+ -0.6775092
373
+ ],
374
+ "camera_attribs": {
375
+ "fovy": "60"
376
+ },
377
+ "parent_body": "mobilebase0_support"
378
+ },
379
+ "robot0_agentview_right": {
380
+ "pos": [
381
+ -0.5,
382
+ -0.35,
383
+ 1.05
384
+ ],
385
+ "quat": [
386
+ 0.6775091886520386,
387
+ 0.3767866790294647,
388
+ -0.2993525564670563,
389
+ -0.55623859167099
390
+ ],
391
+ "camera_attribs": {
392
+ "fovy": "60"
393
+ },
394
+ "parent_body": "mobilebase0_support"
395
+ },
396
+ "robot0_frontview": {
397
+ "pos": [
398
+ -0.5,
399
+ 0,
400
+ 0.95
401
+ ],
402
+ "quat": [
403
+ 0.6088936924934387,
404
+ 0.3814677894115448,
405
+ -0.3673907518386841,
406
+ -0.5905545353889465
407
+ ],
408
+ "camera_attribs": {
409
+ "fovy": "60"
410
+ },
411
+ "parent_body": "mobilebase0_support"
412
+ },
413
+ "robot0_eye_in_hand": {
414
+ "pos": [
415
+ 0.05,
416
+ 0,
417
+ 0
418
+ ],
419
+ "quat": [
420
+ 0,
421
+ 0.707107,
422
+ 0.707107,
423
+ 0
424
+ ],
425
+ "parent_body": "robot0_right_hand"
426
+ }
427
+ },
428
+ "init_robot_base_pos": [
429
+ 4.916339073421464,
430
+ -1.9238691860238601,
431
+ 0.0
432
+ ],
433
+ "init_robot_base_ori": [
434
+ 0.0,
435
+ 0.0,
436
+ -0.0001619848215634878
437
+ ]
438
+ }