Abhim03 commited on
Commit
616e131
·
verified ·
1 Parent(s): 477fe4f

Add files using upload-large-folder tool

Browse files
Files changed (20) hide show
  1. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000000/ep_meta.json +527 -0
  2. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000001/ep_meta.json +683 -0
  3. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000002/ep_meta.json +498 -0
  4. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000008/ep_meta.json +622 -0
  5. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000011/ep_meta.json +543 -0
  6. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000014/ep_meta.json +542 -0
  7. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000027/ep_meta.json +550 -0
  8. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000028/ep_meta.json +485 -0
  9. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000033/ep_meta.json +578 -0
  10. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000048/ep_meta.json +542 -0
  11. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000053/ep_meta.json +466 -0
  12. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000060/ep_meta.json +516 -0
  13. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000071/ep_meta.json +616 -0
  14. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000072/ep_meta.json +435 -0
  15. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000073/ep_meta.json +551 -0
  16. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000074/ep_meta.json +554 -0
  17. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000076/ep_meta.json +597 -0
  18. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000080/ep_meta.json +484 -0
  19. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000092/ep_meta.json +541 -0
  20. pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000100/ep_meta.json +535 -0
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000000/ep_meta.json ADDED
@@ -0,0 +1,527 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 53,
3
+ "style_id": 56,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_4_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_right_group_1",
12
+ "min_size": [
13
+ 0.24705742527000002,
14
+ 0.24545688741000002,
15
+ 0.02023132842
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.09786,
47
+ 0.650027
48
+ ],
49
+ "offset": [
50
+ 0.0,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "hot_dog",
79
+ "cooked_food",
80
+ "food",
81
+ "in_container"
82
+ ],
83
+ "groups": [
84
+ "food"
85
+ ],
86
+ "cat": "hot_dog",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml"
89
+ }
90
+ },
91
+ {
92
+ "name": "container",
93
+ "obj_groups": "plate",
94
+ "placement": {
95
+ "fixture": "microwave_right_group_1",
96
+ "size": [
97
+ 0.05,
98
+ 0.05
99
+ ],
100
+ "ensure_object_boundary_in_range": false
101
+ },
102
+ "type": "object",
103
+ "info": {
104
+ "groups_containing_sampled_obj": [
105
+ "all",
106
+ "plate",
107
+ "receptacle",
108
+ "container",
109
+ "container_set2"
110
+ ],
111
+ "groups": [
112
+ "plate"
113
+ ],
114
+ "cat": "plate",
115
+ "split": "train",
116
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml"
117
+ },
118
+ "reset_region": {
119
+ "offset": [
120
+ -0.053962144789393124,
121
+ 0.04836509561278877,
122
+ -0.15594497132464974
123
+ ],
124
+ "size": [
125
+ 0.2806220485701288,
126
+ 0.29127646447289557
127
+ ],
128
+ "height": 0.31999260839485133,
129
+ "name": "tray"
130
+ }
131
+ },
132
+ {
133
+ "name": "distr_counter",
134
+ "obj_groups": "all",
135
+ "placement": {
136
+ "fixture": "counter_4_right_group_1",
137
+ "sample_region_kwargs": {
138
+ "ref": "microwave_right_group_1",
139
+ "min_size": [
140
+ 0.06387232930000003,
141
+ 0.06089007860000002,
142
+ 0.05594997655000003
143
+ ]
144
+ },
145
+ "size": [
146
+ 0.3,
147
+ 0.3
148
+ ],
149
+ "pos": [
150
+ "ref",
151
+ 1.0
152
+ ]
153
+ },
154
+ "type": "object",
155
+ "info": {
156
+ "groups_containing_sampled_obj": [
157
+ "all",
158
+ "tomato",
159
+ "vegetable",
160
+ "food",
161
+ "in_container"
162
+ ],
163
+ "groups": [
164
+ "all"
165
+ ],
166
+ "cat": "tomato",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml"
169
+ },
170
+ "reset_region": {
171
+ "size": [
172
+ 1.09786,
173
+ 0.650027
174
+ ],
175
+ "offset": [
176
+ 0.0,
177
+ 0.0,
178
+ 0.46
179
+ ],
180
+ "name": "geom_0"
181
+ }
182
+ }
183
+ ],
184
+ "fixtures": {
185
+ "wall_main_1_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_main_1_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_front_1_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_front_1_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_right_1_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_right_1_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_front_4_room": {
210
+ "cls": "Wall"
211
+ },
212
+ "wall_front_4_backing_room": {
213
+ "cls": "Wall"
214
+ },
215
+ "wall_front_3_room": {
216
+ "cls": "Wall"
217
+ },
218
+ "wall_front_3_backing_room": {
219
+ "cls": "Wall"
220
+ },
221
+ "floor_1_room": {
222
+ "cls": "Floor"
223
+ },
224
+ "floor_1_backing_room": {
225
+ "cls": "Floor"
226
+ },
227
+ "floor_2_room": {
228
+ "cls": "Floor"
229
+ },
230
+ "floor_2_backing_room": {
231
+ "cls": "Floor"
232
+ },
233
+ "wallaccessory_1_room": {
234
+ "cls": "WallAccessory"
235
+ },
236
+ "wallaccessory_2_room": {
237
+ "cls": "WallAccessory"
238
+ },
239
+ "wallaccessory_3_room": {
240
+ "cls": "WallAccessory"
241
+ },
242
+ "wallaccessory_4_room": {
243
+ "cls": "WallAccessory"
244
+ },
245
+ "wallaccessory_5_room": {
246
+ "cls": "WallAccessory"
247
+ },
248
+ "window_group_1_room": {
249
+ "cls": "Window"
250
+ },
251
+ "window_group_2_room": {
252
+ "cls": "Window"
253
+ },
254
+ "stool_2_room": {
255
+ "cls": "Stool"
256
+ },
257
+ "stool_3_room": {
258
+ "cls": "Stool"
259
+ },
260
+ "stool_1_room": {
261
+ "cls": "Stool"
262
+ },
263
+ "hingecabinet_3_main_group_1": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "singlecabinet_1_main_group_1": {
267
+ "cls": "SingleCabinet"
268
+ },
269
+ "sink_main_group_1": {
270
+ "cls": "Sink"
271
+ },
272
+ "counter_1_main_group_1": {
273
+ "cls": "Counter"
274
+ },
275
+ "counter_2_main_group_1": {
276
+ "cls": "Counter"
277
+ },
278
+ "cube_2_main_group_1": {
279
+ "cls": "Box"
280
+ },
281
+ "cube_3_main_group_1": {
282
+ "cls": "Box"
283
+ },
284
+ "stack_1_main_group_1_base": {
285
+ "cls": "Box"
286
+ },
287
+ "stack_1_main_group_1_1": {
288
+ "cls": "HingeCabinet"
289
+ },
290
+ "stack_1_main_group_1_2": {
291
+ "cls": "PanelCabinet"
292
+ },
293
+ "stack_2_main_group_1_base": {
294
+ "cls": "Box"
295
+ },
296
+ "stack_2_main_group_1_1": {
297
+ "cls": "SingleCabinet"
298
+ },
299
+ "dishwasher_1_main_group_1": {
300
+ "cls": "Dishwasher"
301
+ },
302
+ "paper_towel_main_group_1": {
303
+ "cls": "Accessory"
304
+ },
305
+ "dining_dining_area_group_1": {
306
+ "cls": "Counter"
307
+ },
308
+ "stack_3_dining_area_group_1_base": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_3_dining_area_group_1_1": {
312
+ "cls": "SingleCabinet"
313
+ },
314
+ "stack_4_dining_area_group_1_base": {
315
+ "cls": "Box"
316
+ },
317
+ "stack_4_dining_area_group_1_1": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_4_dining_area_group_1_2": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_4_dining_area_group_1_3": {
324
+ "cls": "Drawer"
325
+ },
326
+ "stack_5_dining_area_group_1_base": {
327
+ "cls": "Box"
328
+ },
329
+ "stack_5_dining_area_group_1_1": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "stack_5_dining_area_group_1_2": {
333
+ "cls": "Drawer"
334
+ },
335
+ "cube_6_dining_area_group_1": {
336
+ "cls": "Box"
337
+ },
338
+ "cube_1_dining_area_group_1": {
339
+ "cls": "Box"
340
+ },
341
+ "cube_4_right_group_1": {
342
+ "cls": "Box"
343
+ },
344
+ "hingecabinet_1_right_group_1": {
345
+ "cls": "HingeCabinet"
346
+ },
347
+ "singlecabinet_2_right_group_1": {
348
+ "cls": "SingleCabinet"
349
+ },
350
+ "singlecabinet_3_right_group_1": {
351
+ "cls": "SingleCabinet"
352
+ },
353
+ "counter_4_right_group_1": {
354
+ "cls": "Counter"
355
+ },
356
+ "counter_5_right_group_1": {
357
+ "cls": "Counter"
358
+ },
359
+ "counter_corner_1_right_group_1": {
360
+ "cls": "Counter"
361
+ },
362
+ "stove_right_group_1": {
363
+ "cls": "Stove"
364
+ },
365
+ "microwave_right_group_1": {
366
+ "cls": "Microwave"
367
+ },
368
+ "micro_cab_right_group_1": {
369
+ "cls": "HingeCabinet"
370
+ },
371
+ "stack_6_right_group_1_base": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_6_right_group_1_1": {
375
+ "cls": "SingleCabinet"
376
+ },
377
+ "stack_6_right_group_1_2": {
378
+ "cls": "Drawer"
379
+ },
380
+ "stack_7_right_group_1_base": {
381
+ "cls": "Box"
382
+ },
383
+ "stack_7_right_group_1_1": {
384
+ "cls": "SingleCabinet"
385
+ },
386
+ "stack_7_right_group_1_2": {
387
+ "cls": "Drawer"
388
+ },
389
+ "stack_8_right_group_1_base": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_8_right_group_1_1": {
393
+ "cls": "SingleCabinet"
394
+ },
395
+ "toaster_oven_right_group_1": {
396
+ "cls": "ToasterOven"
397
+ },
398
+ "toaster_right_group_1": {
399
+ "cls": "Toaster"
400
+ },
401
+ "hingecabinet_4_front_group_1": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "counter_3_front_group_1": {
405
+ "cls": "Counter"
406
+ },
407
+ "stack_9_front_group_1_base": {
408
+ "cls": "Box"
409
+ },
410
+ "stack_9_front_group_1_1": {
411
+ "cls": "SingleCabinet"
412
+ },
413
+ "cube_1_front_group_1": {
414
+ "cls": "Box"
415
+ },
416
+ "fridgefrenchdoor_front_group_1": {
417
+ "cls": "FridgeFrenchDoor"
418
+ },
419
+ "fridgefrenchdoor_housing_front_group_1": {
420
+ "cls": "HousingCabinet"
421
+ },
422
+ "hingecabinet_2_front_group_1": {
423
+ "cls": "HingeCabinet"
424
+ },
425
+ "coffee_machine_front_group_1": {
426
+ "cls": "CoffeeMachine"
427
+ }
428
+ },
429
+ "gen_textures": {},
430
+ "lang": "Pick the hot dog from the counter and place it in the microwave.",
431
+ "fixture_refs": {
432
+ "microwave": "microwave_right_group_1",
433
+ "counter": "counter_4_right_group_1",
434
+ "distr_counter": "counter_4_right_group_1"
435
+ },
436
+ "cam_configs": {
437
+ "robot0_agentview_center": {
438
+ "pos": [
439
+ -0.6,
440
+ 0.0,
441
+ 1.15
442
+ ],
443
+ "quat": [
444
+ 0.636945903301239,
445
+ 0.3325185477733612,
446
+ -0.3199238181114197,
447
+ -0.6175596117973328
448
+ ],
449
+ "parent_body": "mobilebase0_support"
450
+ },
451
+ "robot0_agentview_left": {
452
+ "pos": [
453
+ -0.5,
454
+ 0.35,
455
+ 1.05
456
+ ],
457
+ "quat": [
458
+ 0.55623853,
459
+ 0.29935253,
460
+ -0.37678665,
461
+ -0.6775092
462
+ ],
463
+ "camera_attribs": {
464
+ "fovy": "60"
465
+ },
466
+ "parent_body": "mobilebase0_support"
467
+ },
468
+ "robot0_agentview_right": {
469
+ "pos": [
470
+ -0.5,
471
+ -0.35,
472
+ 1.05
473
+ ],
474
+ "quat": [
475
+ 0.6775091886520386,
476
+ 0.3767866790294647,
477
+ -0.2993525564670563,
478
+ -0.55623859167099
479
+ ],
480
+ "camera_attribs": {
481
+ "fovy": "60"
482
+ },
483
+ "parent_body": "mobilebase0_support"
484
+ },
485
+ "robot0_frontview": {
486
+ "pos": [
487
+ -0.5,
488
+ 0,
489
+ 0.95
490
+ ],
491
+ "quat": [
492
+ 0.6088936924934387,
493
+ 0.3814677894115448,
494
+ -0.3673907518386841,
495
+ -0.5905545353889465
496
+ ],
497
+ "camera_attribs": {
498
+ "fovy": "60"
499
+ },
500
+ "parent_body": "mobilebase0_support"
501
+ },
502
+ "robot0_eye_in_hand": {
503
+ "pos": [
504
+ 0.05,
505
+ 0,
506
+ 0
507
+ ],
508
+ "quat": [
509
+ 0,
510
+ 0.707107,
511
+ 0.707107,
512
+ 0
513
+ ],
514
+ "parent_body": "robot0_right_hand"
515
+ }
516
+ },
517
+ "init_robot_base_pos": [
518
+ 4.879854608410911,
519
+ -3.589287808824343,
520
+ 0.0
521
+ ],
522
+ "init_robot_base_ori": [
523
+ 0.0,
524
+ 0.0,
525
+ -0.0001513629834557495
526
+ ]
527
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000001/ep_meta.json ADDED
@@ -0,0 +1,683 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 39,
3
+ "style_id": 26,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_1_front_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_front_group_1",
12
+ "min_size": [
13
+ 0.23125013257500002,
14
+ 0.23125020817500003,
15
+ 0.018714614625
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 3.25,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.0,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "garlic",
79
+ "vegetable",
80
+ "food",
81
+ "in_container"
82
+ ],
83
+ "groups": [
84
+ "food"
85
+ ],
86
+ "cat": "garlic",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml"
89
+ }
90
+ },
91
+ {
92
+ "name": "container",
93
+ "obj_groups": "plate",
94
+ "placement": {
95
+ "fixture": "microwave_front_group_1",
96
+ "size": [
97
+ 0.05,
98
+ 0.05
99
+ ],
100
+ "ensure_object_boundary_in_range": false
101
+ },
102
+ "type": "object",
103
+ "info": {
104
+ "groups_containing_sampled_obj": [
105
+ "all",
106
+ "plate",
107
+ "receptacle",
108
+ "container",
109
+ "container_set2"
110
+ ],
111
+ "groups": [
112
+ "plate"
113
+ ],
114
+ "cat": "plate",
115
+ "split": "train",
116
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml"
117
+ },
118
+ "reset_region": {
119
+ "offset": [
120
+ -0.06393211027514205,
121
+ 0.015048659457003885,
122
+ -0.17062326591813842
123
+ ],
124
+ "size": [
125
+ 0.3919285992089001,
126
+ 0.340859750028603
127
+ ],
128
+ "height": 0.3596307378002173,
129
+ "name": "tray"
130
+ }
131
+ },
132
+ {
133
+ "name": "distr_counter",
134
+ "obj_groups": "all",
135
+ "placement": {
136
+ "fixture": "counter_1_front_group_1",
137
+ "sample_region_kwargs": {
138
+ "ref": "microwave_front_group_1",
139
+ "min_size": [
140
+ 0.06250404000000001,
141
+ 0.20437475,
142
+ 0.0701376
143
+ ]
144
+ },
145
+ "size": [
146
+ 0.3,
147
+ 0.3
148
+ ],
149
+ "pos": [
150
+ "ref",
151
+ 1.0
152
+ ]
153
+ },
154
+ "type": "object",
155
+ "info": {
156
+ "groups_containing_sampled_obj": [
157
+ "all",
158
+ "dish_brush",
159
+ "tool",
160
+ "cleaner",
161
+ "in_container"
162
+ ],
163
+ "groups": [
164
+ "all"
165
+ ],
166
+ "cat": "dish_brush",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml"
169
+ },
170
+ "reset_region": {
171
+ "size": [
172
+ 3.25,
173
+ 0.65
174
+ ],
175
+ "offset": [
176
+ 0.0,
177
+ 0.0,
178
+ 0.46
179
+ ],
180
+ "name": "geom_0"
181
+ }
182
+ }
183
+ ],
184
+ "fixtures": {
185
+ "wall_main_1_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_main_1_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_main_2_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_main_2_backing_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "wall_right_2_room": {
204
+ "cls": "Wall"
205
+ },
206
+ "wall_right_2_backing_room": {
207
+ "cls": "Wall"
208
+ },
209
+ "wall_front_1_room": {
210
+ "cls": "Wall"
211
+ },
212
+ "wall_front_1_backing_room": {
213
+ "cls": "Wall"
214
+ },
215
+ "wall_front_5_room": {
216
+ "cls": "Wall"
217
+ },
218
+ "wall_front_5_backing_room": {
219
+ "cls": "Wall"
220
+ },
221
+ "wall_right_5_room": {
222
+ "cls": "Wall"
223
+ },
224
+ "wall_right_5_backing_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "wall_front_4_room": {
228
+ "cls": "Wall"
229
+ },
230
+ "wall_front_4_backing_room": {
231
+ "cls": "Wall"
232
+ },
233
+ "wall_right_4_room": {
234
+ "cls": "Wall"
235
+ },
236
+ "wall_right_4_backing_room": {
237
+ "cls": "Wall"
238
+ },
239
+ "wall_right_3_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_right_3_backing_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_front_3_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_front_3_backing_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_front_2_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "wall_front_2_backing_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "wall_front_6_room": {
258
+ "cls": "Wall"
259
+ },
260
+ "wall_front_6_backing_room": {
261
+ "cls": "Wall"
262
+ },
263
+ "wall_front_7_room": {
264
+ "cls": "Wall"
265
+ },
266
+ "wall_front_7_backing_room": {
267
+ "cls": "Wall"
268
+ },
269
+ "floor_1_room": {
270
+ "cls": "Floor"
271
+ },
272
+ "floor_1_backing_room": {
273
+ "cls": "Floor"
274
+ },
275
+ "floor_2_room": {
276
+ "cls": "Floor"
277
+ },
278
+ "floor_2_backing_room": {
279
+ "cls": "Floor"
280
+ },
281
+ "floor_3_room": {
282
+ "cls": "Floor"
283
+ },
284
+ "floor_3_backing_room": {
285
+ "cls": "Floor"
286
+ },
287
+ "wallaccessory_2_room": {
288
+ "cls": "WallAccessory"
289
+ },
290
+ "wallaccessory_1_room": {
291
+ "cls": "WallAccessory"
292
+ },
293
+ "wallaccessory_4_room": {
294
+ "cls": "WallAccessory"
295
+ },
296
+ "wallaccessory_3_room": {
297
+ "cls": "WallAccessory"
298
+ },
299
+ "lightswitch_room": {
300
+ "cls": "WallAccessory"
301
+ },
302
+ "wallaccessory_5_room": {
303
+ "cls": "WallAccessory"
304
+ },
305
+ "wallaccessory_6.001_room": {
306
+ "cls": "WallAccessory"
307
+ },
308
+ "window_group_room": {
309
+ "cls": "Window"
310
+ },
311
+ "sink_main_group_1": {
312
+ "cls": "Sink"
313
+ },
314
+ "counter_1_main_group_1": {
315
+ "cls": "Counter"
316
+ },
317
+ "fridgefrenchdoor_main_group_1": {
318
+ "cls": "FridgeFrenchDoor"
319
+ },
320
+ "fridgefrenchdoor_housing_main_group_1": {
321
+ "cls": "HousingCabinet"
322
+ },
323
+ "hingecabinet_1_main_group_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "singlecabinet_5_main_group_1": {
327
+ "cls": "SingleCabinet"
328
+ },
329
+ "singlecabinet_4_main_group_1": {
330
+ "cls": "SingleCabinet"
331
+ },
332
+ "singlecabinet_1_main_group_1": {
333
+ "cls": "SingleCabinet"
334
+ },
335
+ "singlecabinet_2_main_group_1": {
336
+ "cls": "SingleCabinet"
337
+ },
338
+ "singlecabinet_3_main_group_1": {
339
+ "cls": "SingleCabinet"
340
+ },
341
+ "stack_1_main_group_1_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_1_main_group_1_1": {
345
+ "cls": "SingleCabinet"
346
+ },
347
+ "stack_1_main_group_1_2": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_2_main_group_1_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_2_main_group_1_1": {
354
+ "cls": "SingleCabinet"
355
+ },
356
+ "stack_2_main_group_1_2": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_3_main_group_1_base": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_3_main_group_1_1": {
363
+ "cls": "Drawer"
364
+ },
365
+ "stack_3_main_group_1_2": {
366
+ "cls": "Drawer"
367
+ },
368
+ "stack_3_main_group_1_3": {
369
+ "cls": "Drawer"
370
+ },
371
+ "stack_4_main_group_1_base": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_4_main_group_1_1": {
375
+ "cls": "SingleCabinet"
376
+ },
377
+ "stack_4_main_group_1_2": {
378
+ "cls": "Drawer"
379
+ },
380
+ "cube_1_main_group_1": {
381
+ "cls": "Box"
382
+ },
383
+ "stack_5_main_group_1_base": {
384
+ "cls": "Box"
385
+ },
386
+ "stack_5_main_group_1_1": {
387
+ "cls": "SingleCabinet"
388
+ },
389
+ "stack_5_main_group_1_2": {
390
+ "cls": "Drawer"
391
+ },
392
+ "stack_6_main_group_1_base": {
393
+ "cls": "Box"
394
+ },
395
+ "stack_6_main_group_1_1": {
396
+ "cls": "SingleCabinet"
397
+ },
398
+ "stack_6_main_group_1_2": {
399
+ "cls": "Drawer"
400
+ },
401
+ "stack_7_main_group_1_base": {
402
+ "cls": "Box"
403
+ },
404
+ "stack_7_main_group_1_1": {
405
+ "cls": "HingeCabinet"
406
+ },
407
+ "stack_7_main_group_1_2": {
408
+ "cls": "PanelCabinet"
409
+ },
410
+ "dishwasher_1_main_group_1": {
411
+ "cls": "Dishwasher"
412
+ },
413
+ "toaster_main_group_1": {
414
+ "cls": "Toaster"
415
+ },
416
+ "knifeblock_main_group_1": {
417
+ "cls": "Accessory"
418
+ },
419
+ "papertowel_main_group_1": {
420
+ "cls": "Accessory"
421
+ },
422
+ "stovetop_island_group_1": {
423
+ "cls": "Stovetop"
424
+ },
425
+ "island_island_group_1": {
426
+ "cls": "Counter"
427
+ },
428
+ "stack_1_island_group_1_base": {
429
+ "cls": "Box"
430
+ },
431
+ "stack_1_island_group_1_1": {
432
+ "cls": "SingleCabinet"
433
+ },
434
+ "stack_1_island_group_1_2": {
435
+ "cls": "Drawer"
436
+ },
437
+ "stack_2_island_group_1_base": {
438
+ "cls": "Box"
439
+ },
440
+ "stack_2_island_group_1_1": {
441
+ "cls": "SingleCabinet"
442
+ },
443
+ "stack_2_island_group_1_2": {
444
+ "cls": "Drawer"
445
+ },
446
+ "stack_3_island_group_1_base": {
447
+ "cls": "Box"
448
+ },
449
+ "stack_3_island_group_1_1": {
450
+ "cls": "SingleCabinet"
451
+ },
452
+ "stack_3_island_group_1_2": {
453
+ "cls": "Drawer"
454
+ },
455
+ "stack_4_island_group_1_base": {
456
+ "cls": "Box"
457
+ },
458
+ "stack_4_island_group_1_1": {
459
+ "cls": "SingleCabinet"
460
+ },
461
+ "stack_4_island_group_1_2": {
462
+ "cls": "Drawer"
463
+ },
464
+ "stack_5_island_group_2.001_base": {
465
+ "cls": "Box"
466
+ },
467
+ "stack_5_island_group_2.001_1": {
468
+ "cls": "SingleCabinet"
469
+ },
470
+ "stack_5_island_group_2.001_2": {
471
+ "cls": "Drawer"
472
+ },
473
+ "stack_6_island_group_2.001_base": {
474
+ "cls": "Box"
475
+ },
476
+ "stack_6_island_group_2.001_1": {
477
+ "cls": "SingleCabinet"
478
+ },
479
+ "stack_6_island_group_2.001_2": {
480
+ "cls": "Drawer"
481
+ },
482
+ "stack_7_island_group_2.001_base": {
483
+ "cls": "Box"
484
+ },
485
+ "stack_7_island_group_2.001_1": {
486
+ "cls": "SingleCabinet"
487
+ },
488
+ "stack_7_island_group_2.001_2": {
489
+ "cls": "Drawer"
490
+ },
491
+ "stack_8_island_group_2.001_base": {
492
+ "cls": "Box"
493
+ },
494
+ "stack_8_island_group_2.001_1": {
495
+ "cls": "SingleCabinet"
496
+ },
497
+ "stack_8_island_group_2.001_2": {
498
+ "cls": "Drawer"
499
+ },
500
+ "counter_1_front_group_1": {
501
+ "cls": "Counter"
502
+ },
503
+ "hingecabinet_2_front_group_1": {
504
+ "cls": "HingeCabinet"
505
+ },
506
+ "hingecabinet_1_front_group_1": {
507
+ "cls": "HingeCabinet"
508
+ },
509
+ "stack_1_front_group_1_base": {
510
+ "cls": "Box"
511
+ },
512
+ "stack_1_front_group_1_1": {
513
+ "cls": "SingleCabinet"
514
+ },
515
+ "stack_1_front_group_1_2": {
516
+ "cls": "Drawer"
517
+ },
518
+ "stack_2_front_group_1_base": {
519
+ "cls": "Box"
520
+ },
521
+ "stack_2_front_group_1_1": {
522
+ "cls": "SingleCabinet"
523
+ },
524
+ "stack_2_front_group_1_2": {
525
+ "cls": "Drawer"
526
+ },
527
+ "stack_3_front_group_1_base": {
528
+ "cls": "Box"
529
+ },
530
+ "stack_3_front_group_1_1": {
531
+ "cls": "SingleCabinet"
532
+ },
533
+ "stack_3_front_group_1_2": {
534
+ "cls": "Drawer"
535
+ },
536
+ "stack_4_front_group_1_base": {
537
+ "cls": "Box"
538
+ },
539
+ "stack_4_front_group_1_1": {
540
+ "cls": "SingleCabinet"
541
+ },
542
+ "stack_4_front_group_1_2": {
543
+ "cls": "Drawer"
544
+ },
545
+ "stack_5_front_group_1_base": {
546
+ "cls": "Box"
547
+ },
548
+ "stack_5_front_group_1_1": {
549
+ "cls": "Drawer"
550
+ },
551
+ "stack_5_front_group_1_2": {
552
+ "cls": "Drawer"
553
+ },
554
+ "stack_5_front_group_1_3": {
555
+ "cls": "Drawer"
556
+ },
557
+ "bottom_front_group_1_base": {
558
+ "cls": "Box"
559
+ },
560
+ "bottom_front_group_1_1": {
561
+ "cls": "Drawer"
562
+ },
563
+ "oven_front_group_1": {
564
+ "cls": "Oven"
565
+ },
566
+ "oven_housing_front_group_1": {
567
+ "cls": "HousingCabinet"
568
+ },
569
+ "microwave_front_group_1": {
570
+ "cls": "Microwave"
571
+ },
572
+ "microwave_housing_front_group_1": {
573
+ "cls": "HousingCabinet"
574
+ },
575
+ "top_front_group_1": {
576
+ "cls": "HingeCabinet"
577
+ },
578
+ "coffeemachine_front_group_1": {
579
+ "cls": "CoffeeMachine"
580
+ },
581
+ "toaster_oven_front_group_1": {
582
+ "cls": "ToasterOven"
583
+ }
584
+ },
585
+ "gen_textures": {},
586
+ "lang": "Pick the garlic from the counter and place it in the microwave.",
587
+ "fixture_refs": {
588
+ "microwave": "microwave_front_group_1",
589
+ "counter": "counter_1_front_group_1",
590
+ "distr_counter": "counter_1_front_group_1"
591
+ },
592
+ "cam_configs": {
593
+ "robot0_agentview_center": {
594
+ "pos": [
595
+ -0.6,
596
+ 0.0,
597
+ 1.15
598
+ ],
599
+ "quat": [
600
+ 0.636945903301239,
601
+ 0.3325185477733612,
602
+ -0.3199238181114197,
603
+ -0.6175596117973328
604
+ ],
605
+ "parent_body": "mobilebase0_support"
606
+ },
607
+ "robot0_agentview_left": {
608
+ "pos": [
609
+ -0.5,
610
+ 0.35,
611
+ 1.05
612
+ ],
613
+ "quat": [
614
+ 0.55623853,
615
+ 0.29935253,
616
+ -0.37678665,
617
+ -0.6775092
618
+ ],
619
+ "camera_attribs": {
620
+ "fovy": "60"
621
+ },
622
+ "parent_body": "mobilebase0_support"
623
+ },
624
+ "robot0_agentview_right": {
625
+ "pos": [
626
+ -0.5,
627
+ -0.35,
628
+ 1.05
629
+ ],
630
+ "quat": [
631
+ 0.6775091886520386,
632
+ 0.3767866790294647,
633
+ -0.2993525564670563,
634
+ -0.55623859167099
635
+ ],
636
+ "camera_attribs": {
637
+ "fovy": "60"
638
+ },
639
+ "parent_body": "mobilebase0_support"
640
+ },
641
+ "robot0_frontview": {
642
+ "pos": [
643
+ -0.5,
644
+ 0,
645
+ 0.95
646
+ ],
647
+ "quat": [
648
+ 0.6088936924934387,
649
+ 0.3814677894115448,
650
+ -0.3673907518386841,
651
+ -0.5905545353889465
652
+ ],
653
+ "camera_attribs": {
654
+ "fovy": "60"
655
+ },
656
+ "parent_body": "mobilebase0_support"
657
+ },
658
+ "robot0_eye_in_hand": {
659
+ "pos": [
660
+ 0.05,
661
+ 0,
662
+ 0
663
+ ],
664
+ "quat": [
665
+ 0,
666
+ 0.707107,
667
+ 0.707107,
668
+ 0
669
+ ],
670
+ "parent_body": "robot0_right_hand"
671
+ }
672
+ },
673
+ "init_robot_base_pos": [
674
+ 3.7463993238585847,
675
+ -5.37838995250314,
676
+ 0.0
677
+ ],
678
+ "init_robot_base_ori": [
679
+ 0.0,
680
+ 0.0,
681
+ -1.57079623937212
682
+ ]
683
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000002/ep_meta.json ADDED
@@ -0,0 +1,498 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 14,
3
+ "style_id": 12,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_2_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_main_group_1",
12
+ "min_size": [
13
+ 0.24705742527000002,
14
+ 0.24545688741000002,
15
+ 0.02023132842
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.085,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.0,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "egg",
79
+ "dairy",
80
+ "food",
81
+ "in_container",
82
+ "food_set1"
83
+ ],
84
+ "groups": [
85
+ "food"
86
+ ],
87
+ "cat": "egg",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_3/model.xml"
90
+ }
91
+ },
92
+ {
93
+ "name": "container",
94
+ "obj_groups": "plate",
95
+ "placement": {
96
+ "fixture": "microwave_main_group_1",
97
+ "size": [
98
+ 0.05,
99
+ 0.05
100
+ ],
101
+ "ensure_object_boundary_in_range": false
102
+ },
103
+ "type": "object",
104
+ "info": {
105
+ "groups_containing_sampled_obj": [
106
+ "all",
107
+ "plate",
108
+ "receptacle",
109
+ "container",
110
+ "container_set2"
111
+ ],
112
+ "groups": [
113
+ "plate"
114
+ ],
115
+ "cat": "plate",
116
+ "split": "train",
117
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml"
118
+ },
119
+ "reset_region": {
120
+ "offset": [
121
+ -0.09419740107107795,
122
+ -0.0027137561555638234,
123
+ -0.19414385366826978
124
+ ],
125
+ "size": [
126
+ 0.5003357309489358,
127
+ 0.3023457928893496
128
+ ],
129
+ "height": 0.3654809522141269,
130
+ "name": "tray"
131
+ }
132
+ },
133
+ {
134
+ "name": "distr_counter",
135
+ "obj_groups": "all",
136
+ "placement": {
137
+ "fixture": "counter_2_main_group_1",
138
+ "sample_region_kwargs": {
139
+ "ref": "microwave_main_group_1",
140
+ "min_size": [
141
+ 0.06145135064999997,
142
+ 0.06749999999999996,
143
+ 0.06435373049999997
144
+ ]
145
+ },
146
+ "size": [
147
+ 0.3,
148
+ 0.3
149
+ ],
150
+ "pos": [
151
+ "ref",
152
+ 1.0
153
+ ]
154
+ },
155
+ "type": "object",
156
+ "info": {
157
+ "groups_containing_sampled_obj": [
158
+ "all",
159
+ "bell_pepper",
160
+ "vegetable",
161
+ "food",
162
+ "in_container"
163
+ ],
164
+ "groups": [
165
+ "all"
166
+ ],
167
+ "cat": "bell_pepper",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml"
170
+ },
171
+ "reset_region": {
172
+ "size": [
173
+ 1.085,
174
+ 0.65
175
+ ],
176
+ "offset": [
177
+ 0.0,
178
+ 0.0,
179
+ 0.46
180
+ ],
181
+ "name": "geom_0"
182
+ }
183
+ }
184
+ ],
185
+ "fixtures": {
186
+ "wall_left_1_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_left_1_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_main_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_main_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_right_1_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "wall_right_1_backing_room": {
202
+ "cls": "Wall"
203
+ },
204
+ "window_group_room": {
205
+ "cls": "Window"
206
+ },
207
+ "floor_1_room": {
208
+ "cls": "Floor"
209
+ },
210
+ "floor_1_backing_room": {
211
+ "cls": "Floor"
212
+ },
213
+ "wall_accessory_1_room": {
214
+ "cls": "WallAccessory"
215
+ },
216
+ "wall_accessory_2_room": {
217
+ "cls": "WallAccessory"
218
+ },
219
+ "wall_accessory_3_room": {
220
+ "cls": "WallAccessory"
221
+ },
222
+ "light_switch_room": {
223
+ "cls": "WallAccessory"
224
+ },
225
+ "wall_accessory_4_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "stool_1_room": {
229
+ "cls": "Stool"
230
+ },
231
+ "stool_2_room": {
232
+ "cls": "Stool"
233
+ },
234
+ "stool_3_room": {
235
+ "cls": "Stool"
236
+ },
237
+ "counter_1_main_group_1": {
238
+ "cls": "Counter"
239
+ },
240
+ "stove_main_group_1": {
241
+ "cls": "Stove"
242
+ },
243
+ "counter_2_main_group_1": {
244
+ "cls": "Counter"
245
+ },
246
+ "stack_1_main_group_1_base": {
247
+ "cls": "Box"
248
+ },
249
+ "stack_1_main_group_1_1": {
250
+ "cls": "HingeCabinet"
251
+ },
252
+ "stack_1_main_group_1_2": {
253
+ "cls": "Drawer"
254
+ },
255
+ "stack_1_main_group_1_3": {
256
+ "cls": "Drawer"
257
+ },
258
+ "stack_2_main_group_1_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_2_main_group_1_1": {
262
+ "cls": "SingleCabinet"
263
+ },
264
+ "stack_2_main_group_1_2": {
265
+ "cls": "Drawer"
266
+ },
267
+ "stack_3_main_group_1_base": {
268
+ "cls": "Box"
269
+ },
270
+ "stack_3_main_group_1_1": {
271
+ "cls": "SingleCabinet"
272
+ },
273
+ "box_1_main_group_1": {
274
+ "cls": "Box"
275
+ },
276
+ "stack_4_main_group_1_base": {
277
+ "cls": "Box"
278
+ },
279
+ "stack_4_main_group_1_1": {
280
+ "cls": "HingeCabinet"
281
+ },
282
+ "stack_4_main_group_1_2": {
283
+ "cls": "Drawer"
284
+ },
285
+ "stack_4_main_group_1_3": {
286
+ "cls": "Drawer"
287
+ },
288
+ "cab_1_main_group_1": {
289
+ "cls": "HingeCabinet"
290
+ },
291
+ "microwave_main_group_1": {
292
+ "cls": "Microwave"
293
+ },
294
+ "micro_cab_main_group_1": {
295
+ "cls": "HingeCabinet"
296
+ },
297
+ "toaster_main_group_1": {
298
+ "cls": "Toaster"
299
+ },
300
+ "coffee_machine_main_group_1": {
301
+ "cls": "CoffeeMachine"
302
+ },
303
+ "paper_towel_main_group_1": {
304
+ "cls": "Accessory"
305
+ },
306
+ "counter_1_left_group_1": {
307
+ "cls": "Counter"
308
+ },
309
+ "counter_corner_left_group_1": {
310
+ "cls": "Counter"
311
+ },
312
+ "fridge_left_group_1": {
313
+ "cls": "FridgeBottomFreezer"
314
+ },
315
+ "fridge_housing_left_group_1": {
316
+ "cls": "HousingCabinet"
317
+ },
318
+ "hingecabinet_1.002_left_group_1": {
319
+ "cls": "HingeCabinet"
320
+ },
321
+ "stack_1_left_group_1_base": {
322
+ "cls": "Box"
323
+ },
324
+ "stack_1_left_group_1_1": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "stack_1_left_group_1_2": {
328
+ "cls": "Drawer"
329
+ },
330
+ "stack_2_left_group_1_base": {
331
+ "cls": "Box"
332
+ },
333
+ "stack_2_left_group_1_1": {
334
+ "cls": "HingeCabinet"
335
+ },
336
+ "stack_2_left_group_1_2": {
337
+ "cls": "Drawer"
338
+ },
339
+ "stack_3_left_group_1_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_3_left_group_1_1": {
343
+ "cls": "SingleCabinet"
344
+ },
345
+ "box_1_left_group_1": {
346
+ "cls": "Box"
347
+ },
348
+ "cab_1_left_group_1": {
349
+ "cls": "SingleCabinet"
350
+ },
351
+ "cab_2_left_group_1": {
352
+ "cls": "HingeCabinet"
353
+ },
354
+ "cab_3_left_group_1": {
355
+ "cls": "HingeCabinet"
356
+ },
357
+ "toaster_oven_left_group_1": {
358
+ "cls": "ToasterOven"
359
+ },
360
+ "knife_block_left_group_1": {
361
+ "cls": "Accessory"
362
+ },
363
+ "sink_1_island_group_1": {
364
+ "cls": "Sink"
365
+ },
366
+ "counter_1_island_group_1": {
367
+ "cls": "Counter"
368
+ },
369
+ "island_island_group_1": {
370
+ "cls": "Counter"
371
+ },
372
+ "box_island_group_1": {
373
+ "cls": "Box"
374
+ },
375
+ "panel_stack_1_island_group_1_base": {
376
+ "cls": "Box"
377
+ },
378
+ "panel_stack_1_island_group_1_1": {
379
+ "cls": "PanelCabinet"
380
+ },
381
+ "stack_1_island_group_1_base": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_1_island_group_1_1": {
385
+ "cls": "HingeCabinet"
386
+ },
387
+ "stack_1_island_group_1_2": {
388
+ "cls": "PanelCabinet"
389
+ },
390
+ "dishwasher_island_group_1": {
391
+ "cls": "Dishwasher"
392
+ },
393
+ "panel_stack_2_island_group_1_base": {
394
+ "cls": "Box"
395
+ },
396
+ "panel_stack_2_island_group_1_1": {
397
+ "cls": "PanelCabinet"
398
+ }
399
+ },
400
+ "gen_textures": {},
401
+ "lang": "Pick the egg from the counter and place it in the microwave.",
402
+ "fixture_refs": {
403
+ "microwave": "microwave_main_group_1",
404
+ "counter": "counter_2_main_group_1",
405
+ "distr_counter": "counter_2_main_group_1"
406
+ },
407
+ "cam_configs": {
408
+ "robot0_agentview_center": {
409
+ "pos": [
410
+ -0.6,
411
+ 0.0,
412
+ 1.15
413
+ ],
414
+ "quat": [
415
+ 0.636945903301239,
416
+ 0.3325185477733612,
417
+ -0.3199238181114197,
418
+ -0.6175596117973328
419
+ ],
420
+ "parent_body": "mobilebase0_support"
421
+ },
422
+ "robot0_agentview_left": {
423
+ "pos": [
424
+ -0.5,
425
+ 0.35,
426
+ 1.05
427
+ ],
428
+ "quat": [
429
+ 0.55623853,
430
+ 0.29935253,
431
+ -0.37678665,
432
+ -0.6775092
433
+ ],
434
+ "camera_attribs": {
435
+ "fovy": "60"
436
+ },
437
+ "parent_body": "mobilebase0_support"
438
+ },
439
+ "robot0_agentview_right": {
440
+ "pos": [
441
+ -0.5,
442
+ -0.35,
443
+ 1.05
444
+ ],
445
+ "quat": [
446
+ 0.6775091886520386,
447
+ 0.3767866790294647,
448
+ -0.2993525564670563,
449
+ -0.55623859167099
450
+ ],
451
+ "camera_attribs": {
452
+ "fovy": "60"
453
+ },
454
+ "parent_body": "mobilebase0_support"
455
+ },
456
+ "robot0_frontview": {
457
+ "pos": [
458
+ -0.5,
459
+ 0,
460
+ 0.95
461
+ ],
462
+ "quat": [
463
+ 0.6088936924934387,
464
+ 0.3814677894115448,
465
+ -0.3673907518386841,
466
+ -0.5905545353889465
467
+ ],
468
+ "camera_attribs": {
469
+ "fovy": "60"
470
+ },
471
+ "parent_body": "mobilebase0_support"
472
+ },
473
+ "robot0_eye_in_hand": {
474
+ "pos": [
475
+ 0.05,
476
+ 0,
477
+ 0
478
+ ],
479
+ "quat": [
480
+ 0,
481
+ 0.707107,
482
+ 0.707107,
483
+ 0
484
+ ],
485
+ "parent_body": "robot0_right_hand"
486
+ }
487
+ },
488
+ "init_robot_base_pos": [
489
+ 3.0640737280468904,
490
+ -0.8527418062473661,
491
+ 0.0
492
+ ],
493
+ "init_robot_base_ori": [
494
+ 0.0,
495
+ 0.0,
496
+ 1.5707963267948966
497
+ ]
498
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000008/ep_meta.json ADDED
@@ -0,0 +1,622 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 12,
3
+ "style_id": 17,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_right_group_1",
12
+ "min_size": [
13
+ 0.23310807345,
14
+ 0.23310807345,
15
+ 0.023453234437499998
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.7988082961913228,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 1.037595851904339,
51
+ -3.469446951953614e-17,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "cheese",
79
+ "dairy",
80
+ "food",
81
+ "in_container",
82
+ "food_set1"
83
+ ],
84
+ "groups": [
85
+ "food"
86
+ ],
87
+ "cat": "cheese",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml"
90
+ }
91
+ },
92
+ {
93
+ "name": "container",
94
+ "obj_groups": "plate",
95
+ "placement": {
96
+ "fixture": "microwave_right_group_1",
97
+ "size": [
98
+ 0.05,
99
+ 0.05
100
+ ],
101
+ "ensure_object_boundary_in_range": false
102
+ },
103
+ "type": "object",
104
+ "info": {
105
+ "groups_containing_sampled_obj": [
106
+ "all",
107
+ "plate",
108
+ "receptacle",
109
+ "container",
110
+ "container_set2"
111
+ ],
112
+ "groups": [
113
+ "plate"
114
+ ],
115
+ "cat": "plate",
116
+ "split": "train",
117
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml"
118
+ },
119
+ "reset_region": {
120
+ "offset": [
121
+ -0.05655244651657713,
122
+ 0.048209522727802406,
123
+ -0.17323534115411016
124
+ ],
125
+ "size": [
126
+ 0.3511439903313572,
127
+ 0.2569580282807115
128
+ ],
129
+ "height": 0.36007116430286384,
130
+ "name": "tray"
131
+ }
132
+ },
133
+ {
134
+ "name": "distr_counter",
135
+ "obj_groups": "all",
136
+ "placement": {
137
+ "fixture": "counter_1_main_group",
138
+ "sample_region_kwargs": {
139
+ "ref": "microwave_right_group_1",
140
+ "min_size": [
141
+ 0.053910776399999964,
142
+ 0.05559512279999995,
143
+ 0.12124407239999993
144
+ ]
145
+ },
146
+ "size": [
147
+ 0.3,
148
+ 0.3
149
+ ],
150
+ "pos": [
151
+ "ref",
152
+ 1.0
153
+ ]
154
+ },
155
+ "type": "object",
156
+ "info": {
157
+ "groups_containing_sampled_obj": [
158
+ "all",
159
+ "milk",
160
+ "drink",
161
+ "dairy",
162
+ "food",
163
+ "in_container"
164
+ ],
165
+ "groups": [
166
+ "all"
167
+ ],
168
+ "cat": "milk",
169
+ "split": "train",
170
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_1/model.xml"
171
+ },
172
+ "reset_region": {
173
+ "size": [
174
+ 1.7988082961913228,
175
+ 0.65
176
+ ],
177
+ "offset": [
178
+ 1.037595851904339,
179
+ -3.469446951953614e-17,
180
+ 0.46
181
+ ],
182
+ "name": "geom_0"
183
+ }
184
+ }
185
+ ],
186
+ "fixtures": {
187
+ "wall_left_1_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_left_1_backing_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_main_1_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_main_1_backing_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_right_1_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_right_1_backing_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_right_2_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_right_2_backing_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "wall_right_3_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "wall_right_3_backing_room": {
215
+ "cls": "Wall"
216
+ },
217
+ "floor_1_room": {
218
+ "cls": "Floor"
219
+ },
220
+ "floor_1_backing_room": {
221
+ "cls": "Floor"
222
+ },
223
+ "wall_accessory_1_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "wall_accessory_2_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "wall_accessory_3_room": {
230
+ "cls": "WallAccessory"
231
+ },
232
+ "light_switch_1_room": {
233
+ "cls": "WallAccessory"
234
+ },
235
+ "wall_accessory_4_room": {
236
+ "cls": "WallAccessory"
237
+ },
238
+ "wall_accessory_5_room": {
239
+ "cls": "WallAccessory"
240
+ },
241
+ "window_group_room": {
242
+ "cls": "Window"
243
+ },
244
+ "stool_1_room": {
245
+ "cls": "Stool"
246
+ },
247
+ "stool_2_room": {
248
+ "cls": "Stool"
249
+ },
250
+ "stool_3_room": {
251
+ "cls": "Stool"
252
+ },
253
+ "stool_4_room": {
254
+ "cls": "Stool"
255
+ },
256
+ "stool_5_room": {
257
+ "cls": "Stool"
258
+ },
259
+ "stool_6_room": {
260
+ "cls": "Stool"
261
+ },
262
+ "counter_corner_1_main_group": {
263
+ "cls": "Counter"
264
+ },
265
+ "sink_1_main_group": {
266
+ "cls": "Sink"
267
+ },
268
+ "counter_1_main_group": {
269
+ "cls": "Counter"
270
+ },
271
+ "counter_corner_2_main_group": {
272
+ "cls": "Counter"
273
+ },
274
+ "box_1_main_group": {
275
+ "cls": "Box"
276
+ },
277
+ "stack_1_main_group_base": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_1_main_group_1": {
281
+ "cls": "Drawer"
282
+ },
283
+ "stack_1_main_group_2": {
284
+ "cls": "Drawer"
285
+ },
286
+ "stack_1_main_group_3": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_2_main_group_base": {
290
+ "cls": "Box"
291
+ },
292
+ "stack_2_main_group_1": {
293
+ "cls": "SingleCabinet"
294
+ },
295
+ "stack_2_main_group_2": {
296
+ "cls": "Drawer"
297
+ },
298
+ "stack_3_main_group_base": {
299
+ "cls": "Box"
300
+ },
301
+ "stack_3_main_group_1": {
302
+ "cls": "HingeCabinet"
303
+ },
304
+ "dishwasher_1_main_group": {
305
+ "cls": "Dishwasher"
306
+ },
307
+ "stack_4_main_group_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_4_main_group_1": {
311
+ "cls": "SingleCabinet"
312
+ },
313
+ "stack_4_main_group_2": {
314
+ "cls": "Drawer"
315
+ },
316
+ "stack_5_main_group_base": {
317
+ "cls": "Box"
318
+ },
319
+ "stack_5_main_group_1": {
320
+ "cls": "SingleCabinet"
321
+ },
322
+ "box_2_main_group": {
323
+ "cls": "Box"
324
+ },
325
+ "top_corner_1_main_group": {
326
+ "cls": "Box"
327
+ },
328
+ "cab_1_main_group": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "cab_2_main_group": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "top_corner_2_main_group": {
335
+ "cls": "Box"
336
+ },
337
+ "paper_towel_main_group": {
338
+ "cls": "Accessory"
339
+ },
340
+ "coffee_machine_main_group": {
341
+ "cls": "CoffeeMachine"
342
+ },
343
+ "toaster_main_group": {
344
+ "cls": "Toaster"
345
+ },
346
+ "knife_block_main_group": {
347
+ "cls": "Accessory"
348
+ },
349
+ "stovetop_left_group": {
350
+ "cls": "Stovetop"
351
+ },
352
+ "counter_1_left_group": {
353
+ "cls": "Counter"
354
+ },
355
+ "box_1_left_group": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_1_left_group_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_1_left_group_1": {
362
+ "cls": "SingleCabinet"
363
+ },
364
+ "stack_2_left_group_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_2_left_group_1": {
368
+ "cls": "Drawer"
369
+ },
370
+ "stack_2_left_group_2": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_2_left_group_3": {
374
+ "cls": "PanelCabinet"
375
+ },
376
+ "box_3_left_group": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_3_left_group_base": {
380
+ "cls": "Box"
381
+ },
382
+ "stack_3_left_group_1": {
383
+ "cls": "Drawer"
384
+ },
385
+ "stack_3_left_group_2": {
386
+ "cls": "Drawer"
387
+ },
388
+ "stack_3_left_group_3": {
389
+ "cls": "Drawer"
390
+ },
391
+ "box_2_left_group": {
392
+ "cls": "Box"
393
+ },
394
+ "fridge_1_left_group": {
395
+ "cls": "FridgeFrenchDoor"
396
+ },
397
+ "fridge_1_housing_left_group": {
398
+ "cls": "HousingCabinet"
399
+ },
400
+ "hood_left_group": {
401
+ "cls": "Hood"
402
+ },
403
+ "cab_1_left_group": {
404
+ "cls": "HingeCabinet"
405
+ },
406
+ "cab_2_left_group": {
407
+ "cls": "SingleCabinet"
408
+ },
409
+ "cab_3_left_group": {
410
+ "cls": "HingeCabinet"
411
+ },
412
+ "toaster_oven_left_group": {
413
+ "cls": "ToasterOven"
414
+ },
415
+ "bottom_right_group_1_base": {
416
+ "cls": "Box"
417
+ },
418
+ "bottom_right_group_1_1": {
419
+ "cls": "Drawer"
420
+ },
421
+ "oven_right_group_1": {
422
+ "cls": "Oven"
423
+ },
424
+ "oven_housing_right_group_1": {
425
+ "cls": "HousingCabinet"
426
+ },
427
+ "microwave_right_group_1": {
428
+ "cls": "Microwave"
429
+ },
430
+ "microwave_housing_right_group_1": {
431
+ "cls": "HousingCabinet"
432
+ },
433
+ "top_right_group_1": {
434
+ "cls": "HingeCabinet"
435
+ },
436
+ "stack_1_right_group_1_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_1_right_group_1_1": {
440
+ "cls": "HingeCabinet"
441
+ },
442
+ "stack_2_right_group_1_base": {
443
+ "cls": "Box"
444
+ },
445
+ "stack_2_right_group_1_1": {
446
+ "cls": "PanelCabinet"
447
+ },
448
+ "box_right_group_1": {
449
+ "cls": "Box"
450
+ },
451
+ "stack_3_right_group_1_base": {
452
+ "cls": "Box"
453
+ },
454
+ "stack_3_right_group_1_1": {
455
+ "cls": "HingeCabinet"
456
+ },
457
+ "counter_1_right_group_1": {
458
+ "cls": "Counter"
459
+ },
460
+ "cab_1_right_group_1": {
461
+ "cls": "HingeCabinet"
462
+ },
463
+ "cab_2_right_group_1": {
464
+ "cls": "SingleCabinet"
465
+ },
466
+ "cab_3_right_group_1": {
467
+ "cls": "HingeCabinet"
468
+ },
469
+ "island_island_group": {
470
+ "cls": "Counter"
471
+ },
472
+ "panel_stack_1_island_group_base": {
473
+ "cls": "Box"
474
+ },
475
+ "panel_stack_1_island_group_1": {
476
+ "cls": "PanelCabinet"
477
+ },
478
+ "stack_1_island_group_base": {
479
+ "cls": "Box"
480
+ },
481
+ "stack_1_island_group_1": {
482
+ "cls": "HingeCabinet"
483
+ },
484
+ "stack_1_island_group_2": {
485
+ "cls": "Drawer"
486
+ },
487
+ "stack_2_island_group_base": {
488
+ "cls": "Box"
489
+ },
490
+ "stack_2_island_group_1": {
491
+ "cls": "HingeCabinet"
492
+ },
493
+ "stack_2_island_group_2": {
494
+ "cls": "Drawer"
495
+ },
496
+ "stack_3_island_group_base": {
497
+ "cls": "Box"
498
+ },
499
+ "stack_3_island_group_1": {
500
+ "cls": "HingeCabinet"
501
+ },
502
+ "stack_3_island_group_2": {
503
+ "cls": "Drawer"
504
+ },
505
+ "stack_4_island_group_base": {
506
+ "cls": "Box"
507
+ },
508
+ "stack_4_island_group_1": {
509
+ "cls": "HingeCabinet"
510
+ },
511
+ "stack_4_island_group_2": {
512
+ "cls": "Drawer"
513
+ },
514
+ "panel_stack_2_island_group_base": {
515
+ "cls": "Box"
516
+ },
517
+ "panel_stack_2_island_group_1": {
518
+ "cls": "PanelCabinet"
519
+ },
520
+ "box_1_island_group": {
521
+ "cls": "Box"
522
+ }
523
+ },
524
+ "gen_textures": {},
525
+ "lang": "Pick the cheese from the counter and place it in the microwave.",
526
+ "fixture_refs": {
527
+ "microwave": "microwave_right_group_1",
528
+ "counter": "counter_1_main_group",
529
+ "distr_counter": "counter_1_main_group"
530
+ },
531
+ "cam_configs": {
532
+ "robot0_agentview_center": {
533
+ "pos": [
534
+ -0.6,
535
+ 0.0,
536
+ 1.15
537
+ ],
538
+ "quat": [
539
+ 0.636945903301239,
540
+ 0.3325185477733612,
541
+ -0.3199238181114197,
542
+ -0.6175596117973328
543
+ ],
544
+ "parent_body": "mobilebase0_support"
545
+ },
546
+ "robot0_agentview_left": {
547
+ "pos": [
548
+ -0.5,
549
+ 0.35,
550
+ 1.05
551
+ ],
552
+ "quat": [
553
+ 0.55623853,
554
+ 0.29935253,
555
+ -0.37678665,
556
+ -0.6775092
557
+ ],
558
+ "camera_attribs": {
559
+ "fovy": "60"
560
+ },
561
+ "parent_body": "mobilebase0_support"
562
+ },
563
+ "robot0_agentview_right": {
564
+ "pos": [
565
+ -0.5,
566
+ -0.35,
567
+ 1.05
568
+ ],
569
+ "quat": [
570
+ 0.6775091886520386,
571
+ 0.3767866790294647,
572
+ -0.2993525564670563,
573
+ -0.55623859167099
574
+ ],
575
+ "camera_attribs": {
576
+ "fovy": "60"
577
+ },
578
+ "parent_body": "mobilebase0_support"
579
+ },
580
+ "robot0_frontview": {
581
+ "pos": [
582
+ -0.5,
583
+ 0,
584
+ 0.95
585
+ ],
586
+ "quat": [
587
+ 0.6088936924934387,
588
+ 0.3814677894115448,
589
+ -0.3673907518386841,
590
+ -0.5905545353889465
591
+ ],
592
+ "camera_attribs": {
593
+ "fovy": "60"
594
+ },
595
+ "parent_body": "mobilebase0_support"
596
+ },
597
+ "robot0_eye_in_hand": {
598
+ "pos": [
599
+ 0.05,
600
+ 0,
601
+ 0
602
+ ],
603
+ "quat": [
604
+ 0,
605
+ 0.707107,
606
+ 0.707107,
607
+ 0
608
+ ],
609
+ "parent_body": "robot0_right_hand"
610
+ }
611
+ },
612
+ "init_robot_base_pos": [
613
+ 4.157270927621264,
614
+ -1.3094362865557663,
615
+ 0.0
616
+ ],
617
+ "init_robot_base_ori": [
618
+ 0.0,
619
+ 0.0,
620
+ 3.422854288892552e-08
621
+ ]
622
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000011/ep_meta.json ADDED
@@ -0,0 +1,543 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 46,
3
+ "style_id": 32,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_main_group_1",
12
+ "min_size": [
13
+ 0.24709981284000002,
14
+ 0.24709756509000005,
15
+ 0.021416774287499996
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 0.999707,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.0,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "egg",
79
+ "dairy",
80
+ "food",
81
+ "in_container",
82
+ "food_set1"
83
+ ],
84
+ "groups": [
85
+ "food"
86
+ ],
87
+ "cat": "egg",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_4/model.xml"
90
+ }
91
+ },
92
+ {
93
+ "name": "container",
94
+ "obj_groups": "plate",
95
+ "placement": {
96
+ "fixture": "microwave_main_group_1",
97
+ "size": [
98
+ 0.05,
99
+ 0.05
100
+ ],
101
+ "ensure_object_boundary_in_range": false
102
+ },
103
+ "type": "object",
104
+ "info": {
105
+ "groups_containing_sampled_obj": [
106
+ "all",
107
+ "plate",
108
+ "receptacle",
109
+ "container",
110
+ "container_set2"
111
+ ],
112
+ "groups": [
113
+ "plate"
114
+ ],
115
+ "cat": "plate",
116
+ "split": "train",
117
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml"
118
+ },
119
+ "reset_region": {
120
+ "offset": [
121
+ -0.07968455426808113,
122
+ 0.020383485144178683,
123
+ -0.15975329689585296
124
+ ],
125
+ "size": [
126
+ 0.27444786707736657,
127
+ 0.2553602756731213
128
+ ],
129
+ "height": 0.3388365338927893,
130
+ "name": "tray"
131
+ }
132
+ },
133
+ {
134
+ "name": "distr_counter",
135
+ "obj_groups": "all",
136
+ "placement": {
137
+ "fixture": "counter_1_main_group_1",
138
+ "sample_region_kwargs": {
139
+ "ref": "microwave_main_group_1",
140
+ "min_size": [
141
+ 0.23310807345,
142
+ 0.23310807345,
143
+ 0.023453234437499998
144
+ ]
145
+ },
146
+ "size": [
147
+ 0.3,
148
+ 0.3
149
+ ],
150
+ "pos": [
151
+ "ref",
152
+ 1.0
153
+ ]
154
+ },
155
+ "type": "object",
156
+ "info": {
157
+ "groups_containing_sampled_obj": [
158
+ "all",
159
+ "plate",
160
+ "receptacle",
161
+ "container",
162
+ "container_set2"
163
+ ],
164
+ "groups": [
165
+ "all"
166
+ ],
167
+ "cat": "plate",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml"
170
+ },
171
+ "reset_region": {
172
+ "size": [
173
+ 0.999707,
174
+ 0.65
175
+ ],
176
+ "offset": [
177
+ 0.0,
178
+ 0.0,
179
+ 0.46
180
+ ],
181
+ "name": "geom_0"
182
+ }
183
+ }
184
+ ],
185
+ "fixtures": {
186
+ "wall_right_1_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_right_1_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_main_1_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_main_1_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_right_2_room": {
205
+ "cls": "Wall"
206
+ },
207
+ "wall_right_2_backing_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_main_2_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_main_2_backing_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "floor_1_room": {
217
+ "cls": "Floor"
218
+ },
219
+ "floor_1_backing_room": {
220
+ "cls": "Floor"
221
+ },
222
+ "floor_2_room": {
223
+ "cls": "Floor"
224
+ },
225
+ "floor_2_backing_room": {
226
+ "cls": "Floor"
227
+ },
228
+ "wallaccessory_06_room": {
229
+ "cls": "WallAccessory"
230
+ },
231
+ "lightswitch_01_room": {
232
+ "cls": "WallAccessory"
233
+ },
234
+ "wallaccessory_03_room": {
235
+ "cls": "WallAccessory"
236
+ },
237
+ "wallaccessory_04_room": {
238
+ "cls": "WallAccessory"
239
+ },
240
+ "stool_1_room": {
241
+ "cls": "Stool"
242
+ },
243
+ "stool_2_room": {
244
+ "cls": "Stool"
245
+ },
246
+ "stool_3_room": {
247
+ "cls": "Stool"
248
+ },
249
+ "stool_4_room": {
250
+ "cls": "Stool"
251
+ },
252
+ "stool_5_room": {
253
+ "cls": "Stool"
254
+ },
255
+ "stool_6_room": {
256
+ "cls": "Stool"
257
+ },
258
+ "dining_dining_area_group": {
259
+ "cls": "Counter"
260
+ },
261
+ "cube_1_dining_area_group": {
262
+ "cls": "Box"
263
+ },
264
+ "cube_2_dining_area_group": {
265
+ "cls": "Box"
266
+ },
267
+ "fridgefrenchdoor_main_group_1": {
268
+ "cls": "FridgeFrenchDoor"
269
+ },
270
+ "fridgefrenchdoor_housing_main_group_1": {
271
+ "cls": "HousingCabinet"
272
+ },
273
+ "bottom_main_group_1_base": {
274
+ "cls": "Box"
275
+ },
276
+ "bottom_main_group_1_1": {
277
+ "cls": "Drawer"
278
+ },
279
+ "microwave_main_group_1": {
280
+ "cls": "Microwave"
281
+ },
282
+ "hingecabinet_02_main_group_1": {
283
+ "cls": "HingeCabinet"
284
+ },
285
+ "oven_cabinet_main_group_1": {
286
+ "cls": "HingeCabinet"
287
+ },
288
+ "microwave_housing_main_group_1": {
289
+ "cls": "HousingCabinet"
290
+ },
291
+ "top_main_group_1": {
292
+ "cls": "HingeCabinet"
293
+ },
294
+ "hingecabinet_01_main_group_1": {
295
+ "cls": "HingeCabinet"
296
+ },
297
+ "singlecabinet_1_main_group_1": {
298
+ "cls": "SingleCabinet"
299
+ },
300
+ "singlecabinet_2_main_group_1": {
301
+ "cls": "SingleCabinet"
302
+ },
303
+ "counter_2_main_group_1": {
304
+ "cls": "Counter"
305
+ },
306
+ "counter_1_main_group_1": {
307
+ "cls": "Counter"
308
+ },
309
+ "stove_main_group_1": {
310
+ "cls": "Stove"
311
+ },
312
+ "stove_hood_main_group_1": {
313
+ "cls": "Hood"
314
+ },
315
+ "stack_01_main_group_1_base": {
316
+ "cls": "Box"
317
+ },
318
+ "stack_01_main_group_1_1": {
319
+ "cls": "Drawer"
320
+ },
321
+ "stack_01_main_group_1_2": {
322
+ "cls": "Drawer"
323
+ },
324
+ "stack_01_main_group_1_3": {
325
+ "cls": "Drawer"
326
+ },
327
+ "stack_02_main_group_1_base": {
328
+ "cls": "Box"
329
+ },
330
+ "stack_02_main_group_1_1": {
331
+ "cls": "Drawer"
332
+ },
333
+ "stack_02_main_group_1_2": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_02_main_group_1_3": {
337
+ "cls": "Drawer"
338
+ },
339
+ "stack_03_main_group_1_base": {
340
+ "cls": "Box"
341
+ },
342
+ "stack_03_main_group_1_1": {
343
+ "cls": "HingeCabinet"
344
+ },
345
+ "stack_03_main_group_1_2": {
346
+ "cls": "Drawer"
347
+ },
348
+ "coffee_machine_main_group_1": {
349
+ "cls": "CoffeeMachine"
350
+ },
351
+ "toaster_main_group_1": {
352
+ "cls": "Toaster"
353
+ },
354
+ "toaster_oven_main_group_1": {
355
+ "cls": "ToasterOven"
356
+ },
357
+ "sink_front_group_1": {
358
+ "cls": "Sink"
359
+ },
360
+ "counter_2_front_group_1": {
361
+ "cls": "Counter"
362
+ },
363
+ "stack_05_front_group_1_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_05_front_group_1_1": {
367
+ "cls": "HingeCabinet"
368
+ },
369
+ "stack_05_front_group_1_2": {
370
+ "cls": "PanelCabinet"
371
+ },
372
+ "stack_08_front_group_1_base": {
373
+ "cls": "Box"
374
+ },
375
+ "stack_08_front_group_1_1": {
376
+ "cls": "HingeCabinet"
377
+ },
378
+ "stack_08_front_group_1_2": {
379
+ "cls": "Drawer"
380
+ },
381
+ "stack_06_front_group_1_base": {
382
+ "cls": "Box"
383
+ },
384
+ "stack_06_front_group_1_1": {
385
+ "cls": "SingleCabinet"
386
+ },
387
+ "stack_04_front_group_1_base": {
388
+ "cls": "Box"
389
+ },
390
+ "stack_04_front_group_1_1": {
391
+ "cls": "HingeCabinet"
392
+ },
393
+ "stack_04_front_group_1_2": {
394
+ "cls": "Drawer"
395
+ },
396
+ "dishwasher_1_front_group_1": {
397
+ "cls": "Dishwasher"
398
+ },
399
+ "stack_12_front_group_1_base": {
400
+ "cls": "Box"
401
+ },
402
+ "stack_12_front_group_1_1": {
403
+ "cls": "HingeCabinet"
404
+ },
405
+ "stack_12_front_group_1_2": {
406
+ "cls": "Drawer"
407
+ },
408
+ "plant_front_group_1": {
409
+ "cls": "Accessory"
410
+ },
411
+ "paper_towel_front_group_1": {
412
+ "cls": "Accessory"
413
+ },
414
+ "cube_1_front_group_2": {
415
+ "cls": "Box"
416
+ },
417
+ "stack_11_front_group_2_base": {
418
+ "cls": "Box"
419
+ },
420
+ "stack_11_front_group_2_1": {
421
+ "cls": "HingeCabinet"
422
+ },
423
+ "stack_10_front_group_2_base": {
424
+ "cls": "Box"
425
+ },
426
+ "stack_10_front_group_2_1": {
427
+ "cls": "HingeCabinet"
428
+ },
429
+ "stack_09_front_group_2_base": {
430
+ "cls": "Box"
431
+ },
432
+ "stack_09_front_group_2_1": {
433
+ "cls": "HingeCabinet"
434
+ },
435
+ "cube_2_front_group_2": {
436
+ "cls": "Box"
437
+ },
438
+ "stack_13_front_group_2_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_13_front_group_2_1": {
442
+ "cls": "SingleCabinet"
443
+ }
444
+ },
445
+ "gen_textures": {},
446
+ "lang": "Pick the egg from the counter and place it in the microwave.",
447
+ "fixture_refs": {
448
+ "microwave": "microwave_main_group_1",
449
+ "counter": "counter_1_main_group_1",
450
+ "distr_counter": "counter_1_main_group_1"
451
+ },
452
+ "cam_configs": {
453
+ "robot0_agentview_center": {
454
+ "pos": [
455
+ -0.6,
456
+ 0.0,
457
+ 1.15
458
+ ],
459
+ "quat": [
460
+ 0.636945903301239,
461
+ 0.3325185477733612,
462
+ -0.3199238181114197,
463
+ -0.6175596117973328
464
+ ],
465
+ "parent_body": "mobilebase0_support"
466
+ },
467
+ "robot0_agentview_left": {
468
+ "pos": [
469
+ -0.5,
470
+ 0.35,
471
+ 1.05
472
+ ],
473
+ "quat": [
474
+ 0.55623853,
475
+ 0.29935253,
476
+ -0.37678665,
477
+ -0.6775092
478
+ ],
479
+ "camera_attribs": {
480
+ "fovy": "60"
481
+ },
482
+ "parent_body": "mobilebase0_support"
483
+ },
484
+ "robot0_agentview_right": {
485
+ "pos": [
486
+ -0.5,
487
+ -0.35,
488
+ 1.05
489
+ ],
490
+ "quat": [
491
+ 0.6775091886520386,
492
+ 0.3767866790294647,
493
+ -0.2993525564670563,
494
+ -0.55623859167099
495
+ ],
496
+ "camera_attribs": {
497
+ "fovy": "60"
498
+ },
499
+ "parent_body": "mobilebase0_support"
500
+ },
501
+ "robot0_frontview": {
502
+ "pos": [
503
+ -0.5,
504
+ 0,
505
+ 0.95
506
+ ],
507
+ "quat": [
508
+ 0.6088936924934387,
509
+ 0.3814677894115448,
510
+ -0.3673907518386841,
511
+ -0.5905545353889465
512
+ ],
513
+ "camera_attribs": {
514
+ "fovy": "60"
515
+ },
516
+ "parent_body": "mobilebase0_support"
517
+ },
518
+ "robot0_eye_in_hand": {
519
+ "pos": [
520
+ 0.05,
521
+ 0,
522
+ 0
523
+ ],
524
+ "quat": [
525
+ 0,
526
+ 0.707107,
527
+ 0.707107,
528
+ 0
529
+ ],
530
+ "parent_body": "robot0_right_hand"
531
+ }
532
+ },
533
+ "init_robot_base_pos": [
534
+ 1.46622018725639,
535
+ -1.2041900370803322,
536
+ 0.0
537
+ ],
538
+ "init_robot_base_ori": [
539
+ 0.0,
540
+ 0.0,
541
+ 1.5706378976484208
542
+ ]
543
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000014/ep_meta.json ADDED
@@ -0,0 +1,542 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 31,
3
+ "style_id": 50,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "island_island_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_main_group_1",
12
+ "min_size": [
13
+ 0.24705742527000002,
14
+ 0.24545688741000002,
15
+ 0.02023132842
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.7206792278749714,
47
+ 1.3
48
+ ],
49
+ "offset": [
50
+ 1.1896418860625135,
51
+ 2.0816681711721685e-17,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "carrot",
79
+ "vegetable",
80
+ "food",
81
+ "in_container",
82
+ "food_set1",
83
+ "group1"
84
+ ],
85
+ "groups": [
86
+ "food"
87
+ ],
88
+ "cat": "carrot",
89
+ "split": "train",
90
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_2/model.xml"
91
+ }
92
+ },
93
+ {
94
+ "name": "container",
95
+ "obj_groups": "plate",
96
+ "placement": {
97
+ "fixture": "microwave_main_group_1",
98
+ "size": [
99
+ 0.05,
100
+ 0.05
101
+ ],
102
+ "ensure_object_boundary_in_range": false
103
+ },
104
+ "type": "object",
105
+ "info": {
106
+ "groups_containing_sampled_obj": [
107
+ "all",
108
+ "plate",
109
+ "receptacle",
110
+ "container",
111
+ "container_set2"
112
+ ],
113
+ "groups": [
114
+ "plate"
115
+ ],
116
+ "cat": "plate",
117
+ "split": "train",
118
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml"
119
+ },
120
+ "reset_region": {
121
+ "offset": [
122
+ -0.06311871883702735,
123
+ -0.004143536407979334,
124
+ -0.16217768356107554
125
+ ],
126
+ "size": [
127
+ 0.39650613433713966,
128
+ 0.3140232922187045
129
+ ],
130
+ "height": 0.34059419153750087,
131
+ "name": "tray"
132
+ }
133
+ },
134
+ {
135
+ "name": "distr_counter",
136
+ "obj_groups": "all",
137
+ "placement": {
138
+ "fixture": "island_island_group_1",
139
+ "sample_region_kwargs": {
140
+ "ref": "microwave_main_group_1",
141
+ "min_size": [
142
+ 0.04778983815000001,
143
+ 0.0636933288,
144
+ 0.047437008675
145
+ ]
146
+ },
147
+ "size": [
148
+ 0.3,
149
+ 0.3
150
+ ],
151
+ "pos": [
152
+ "ref",
153
+ 1.0
154
+ ]
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "egg",
161
+ "dairy",
162
+ "food",
163
+ "in_container",
164
+ "food_set1"
165
+ ],
166
+ "groups": [
167
+ "all"
168
+ ],
169
+ "cat": "egg",
170
+ "split": "train",
171
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_1/model.xml"
172
+ },
173
+ "reset_region": {
174
+ "size": [
175
+ 1.7206792278749714,
176
+ 1.3
177
+ ],
178
+ "offset": [
179
+ 1.1896418860625135,
180
+ 2.0816681711721685e-17,
181
+ 0.46
182
+ ],
183
+ "name": "geom_0"
184
+ }
185
+ }
186
+ ],
187
+ "fixtures": {
188
+ "wall_main_1_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_main_1_backing_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_right_1_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_right_1_backing_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_main_2_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "wall_main_2_backing_room": {
204
+ "cls": "Wall"
205
+ },
206
+ "wall_left_1_room": {
207
+ "cls": "Wall"
208
+ },
209
+ "wall_left_1_backing_room": {
210
+ "cls": "Wall"
211
+ },
212
+ "wall_main_3_room": {
213
+ "cls": "Wall"
214
+ },
215
+ "wall_main_3_backing_room": {
216
+ "cls": "Wall"
217
+ },
218
+ "floor_1_room": {
219
+ "cls": "Floor"
220
+ },
221
+ "floor_1_backing_room": {
222
+ "cls": "Floor"
223
+ },
224
+ "floor_2_room": {
225
+ "cls": "Floor"
226
+ },
227
+ "floor_2_backing_room": {
228
+ "cls": "Floor"
229
+ },
230
+ "stool_3_room": {
231
+ "cls": "Stool"
232
+ },
233
+ "stool_2_room": {
234
+ "cls": "Stool"
235
+ },
236
+ "stool_1_room": {
237
+ "cls": "Stool"
238
+ },
239
+ "stack_1_main_group_1_base": {
240
+ "cls": "Box"
241
+ },
242
+ "stack_1_main_group_1_1": {
243
+ "cls": "HingeCabinet"
244
+ },
245
+ "fridgebottomfreezer_main_group_1": {
246
+ "cls": "FridgeBottomFreezer"
247
+ },
248
+ "fridgebottomfreezer_housing_main_group_1": {
249
+ "cls": "HousingCabinet"
250
+ },
251
+ "bottom_main_group_1_base": {
252
+ "cls": "Box"
253
+ },
254
+ "bottom_main_group_1_1": {
255
+ "cls": "Drawer"
256
+ },
257
+ "oven_main_group_1": {
258
+ "cls": "Oven"
259
+ },
260
+ "microwave_main_group_1": {
261
+ "cls": "Microwave"
262
+ },
263
+ "hingecabinet_2_main_group_1": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "hingecabinet_3_main_group_1": {
267
+ "cls": "HingeCabinet"
268
+ },
269
+ "cube_2_main_group_1": {
270
+ "cls": "Box"
271
+ },
272
+ "cube_3_main_group_1": {
273
+ "cls": "Box"
274
+ },
275
+ "cube_1_main_group_1": {
276
+ "cls": "Box"
277
+ },
278
+ "oven_housing_main_group_1": {
279
+ "cls": "HousingCabinet"
280
+ },
281
+ "hingecabinet_1_main_group_1": {
282
+ "cls": "HingeCabinet"
283
+ },
284
+ "microwave_housing_main_group_1": {
285
+ "cls": "HousingCabinet"
286
+ },
287
+ "top_main_group_1": {
288
+ "cls": "HingeCabinet"
289
+ },
290
+ "stovetop_right_group_1": {
291
+ "cls": "Stovetop"
292
+ },
293
+ "counter_1_right_group_1": {
294
+ "cls": "Counter"
295
+ },
296
+ "hingecabinet_1_right_group_1": {
297
+ "cls": "HingeCabinet"
298
+ },
299
+ "hingecabinet_2_right_group_1": {
300
+ "cls": "HingeCabinet"
301
+ },
302
+ "hingecabinet_3_right_group_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "hingecabinet_4_right_group_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "hood_right_group_1": {
309
+ "cls": "Hood"
310
+ },
311
+ "stack_2_right_group_1_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_2_right_group_1_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "stack_2_right_group_1_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_1_right_group_1_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_1_right_group_1_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "stack_1_right_group_1_2": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_4_right_group_1_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_4_right_group_1_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "stack_4_right_group_1_2": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_3_right_group_1_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_3_right_group_1_1": {
342
+ "cls": "Drawer"
343
+ },
344
+ "stack_3_right_group_1_2": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_3_right_group_1_3": {
348
+ "cls": "PanelCabinet"
349
+ },
350
+ "stack_5_right_group_1_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_5_right_group_1_1": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "stack_5_right_group_1_2": {
357
+ "cls": "Drawer"
358
+ },
359
+ "coffee_machine_right_group_1": {
360
+ "cls": "CoffeeMachine"
361
+ },
362
+ "toaster_right_group_1": {
363
+ "cls": "Toaster"
364
+ },
365
+ "papertowel_right_group_1": {
366
+ "cls": "Accessory"
367
+ },
368
+ "toaster_oven_right_group_1": {
369
+ "cls": "ToasterOven"
370
+ },
371
+ "sink_island_group_1": {
372
+ "cls": "Sink"
373
+ },
374
+ "island_island_group_1": {
375
+ "cls": "Counter"
376
+ },
377
+ "cube_1_island_group_1": {
378
+ "cls": "Box"
379
+ },
380
+ "cube_2_island_group_1": {
381
+ "cls": "Box"
382
+ },
383
+ "cube_3_island_group_1": {
384
+ "cls": "Box"
385
+ },
386
+ "cube_4_island_group_1": {
387
+ "cls": "Box"
388
+ },
389
+ "cube_5_island_group_1": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_1_island_group_1_base": {
393
+ "cls": "Box"
394
+ },
395
+ "stack_1_island_group_1_1": {
396
+ "cls": "Drawer"
397
+ },
398
+ "stack_1_island_group_1_2": {
399
+ "cls": "Drawer"
400
+ },
401
+ "stack_1_island_group_1_3": {
402
+ "cls": "Drawer"
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_3_island_group_1_base": {
411
+ "cls": "Box"
412
+ },
413
+ "stack_3_island_group_1_1": {
414
+ "cls": "SingleCabinet"
415
+ },
416
+ "stack_4_island_group_1_base": {
417
+ "cls": "Box"
418
+ },
419
+ "stack_4_island_group_1_1": {
420
+ "cls": "SingleCabinet"
421
+ },
422
+ "stack_5_island_group_1_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_5_island_group_1_1": {
426
+ "cls": "Drawer"
427
+ },
428
+ "stack_5_island_group_1_2": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_5_island_group_1_3": {
432
+ "cls": "Drawer"
433
+ },
434
+ "cube_6_island_group_1": {
435
+ "cls": "Box"
436
+ },
437
+ "cube_7_island_group_1": {
438
+ "cls": "Box"
439
+ },
440
+ "dishwasher_1_island_group_1": {
441
+ "cls": "Dishwasher"
442
+ }
443
+ },
444
+ "gen_textures": {},
445
+ "lang": "Pick the carrot from the counter and place it in the microwave.",
446
+ "fixture_refs": {
447
+ "microwave": "microwave_main_group_1",
448
+ "counter": "island_island_group_1",
449
+ "distr_counter": "island_island_group_1"
450
+ },
451
+ "cam_configs": {
452
+ "robot0_agentview_center": {
453
+ "pos": [
454
+ -0.6,
455
+ 0.0,
456
+ 1.15
457
+ ],
458
+ "quat": [
459
+ 0.636945903301239,
460
+ 0.3325185477733612,
461
+ -0.3199238181114197,
462
+ -0.6175596117973328
463
+ ],
464
+ "parent_body": "mobilebase0_support"
465
+ },
466
+ "robot0_agentview_left": {
467
+ "pos": [
468
+ -0.5,
469
+ 0.35,
470
+ 1.05
471
+ ],
472
+ "quat": [
473
+ 0.55623853,
474
+ 0.29935253,
475
+ -0.37678665,
476
+ -0.6775092
477
+ ],
478
+ "camera_attribs": {
479
+ "fovy": "60"
480
+ },
481
+ "parent_body": "mobilebase0_support"
482
+ },
483
+ "robot0_agentview_right": {
484
+ "pos": [
485
+ -0.5,
486
+ -0.35,
487
+ 1.05
488
+ ],
489
+ "quat": [
490
+ 0.6775091886520386,
491
+ 0.3767866790294647,
492
+ -0.2993525564670563,
493
+ -0.55623859167099
494
+ ],
495
+ "camera_attribs": {
496
+ "fovy": "60"
497
+ },
498
+ "parent_body": "mobilebase0_support"
499
+ },
500
+ "robot0_frontview": {
501
+ "pos": [
502
+ -0.5,
503
+ 0,
504
+ 0.95
505
+ ],
506
+ "quat": [
507
+ 0.6088936924934387,
508
+ 0.3814677894115448,
509
+ -0.3673907518386841,
510
+ -0.5905545353889465
511
+ ],
512
+ "camera_attribs": {
513
+ "fovy": "60"
514
+ },
515
+ "parent_body": "mobilebase0_support"
516
+ },
517
+ "robot0_eye_in_hand": {
518
+ "pos": [
519
+ 0.05,
520
+ 0,
521
+ 0
522
+ ],
523
+ "quat": [
524
+ 0,
525
+ 0.707107,
526
+ 0.707107,
527
+ 0
528
+ ],
529
+ "parent_body": "robot0_right_hand"
530
+ }
531
+ },
532
+ "init_robot_base_pos": [
533
+ 1.929189519485756,
534
+ -1.113315645070571,
535
+ 0.0
536
+ ],
537
+ "init_robot_base_ori": [
538
+ 0.0,
539
+ 0.0,
540
+ 1.5707963267948966
541
+ ]
542
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000027/ep_meta.json ADDED
@@ -0,0 +1,550 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 28,
3
+ "style_id": 11,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_2_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_main_group",
12
+ "min_size": [
13
+ 0.2566317107223312,
14
+ 0.2543053154683122,
15
+ 0.07540958341449114
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.3433916980517522,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ -1.1683041509741239,
51
+ -3.469446951953614e-17,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
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
+ "food"
86
+ ],
87
+ "cat": "broccoli",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_0/model.xml"
90
+ }
91
+ },
92
+ {
93
+ "name": "container",
94
+ "obj_groups": "plate",
95
+ "placement": {
96
+ "fixture": "microwave_main_group",
97
+ "size": [
98
+ 0.05,
99
+ 0.05
100
+ ],
101
+ "ensure_object_boundary_in_range": false
102
+ },
103
+ "type": "object",
104
+ "info": {
105
+ "groups_containing_sampled_obj": [
106
+ "all",
107
+ "plate",
108
+ "receptacle",
109
+ "container",
110
+ "container_set2"
111
+ ],
112
+ "groups": [
113
+ "plate"
114
+ ],
115
+ "cat": "plate",
116
+ "split": "train",
117
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml"
118
+ },
119
+ "reset_region": {
120
+ "offset": [
121
+ -0.05658731065029442,
122
+ -0.007843840680985661,
123
+ -0.16304872173545232
124
+ ],
125
+ "size": [
126
+ 0.44571181338992827,
127
+ 0.32836182920739365
128
+ ],
129
+ "height": 0.34558511535194275,
130
+ "name": "tray"
131
+ }
132
+ },
133
+ {
134
+ "name": "distr_counter",
135
+ "obj_groups": "all",
136
+ "placement": {
137
+ "fixture": "counter_2_main_group",
138
+ "sample_region_kwargs": {
139
+ "ref": "microwave_main_group",
140
+ "min_size": [
141
+ 0.055746491054499595,
142
+ 0.055746491054499595,
143
+ 0.1364849973
144
+ ]
145
+ },
146
+ "size": [
147
+ 0.3,
148
+ 0.3
149
+ ],
150
+ "pos": [
151
+ "ref",
152
+ 1.0
153
+ ]
154
+ },
155
+ "type": "object",
156
+ "info": {
157
+ "groups_containing_sampled_obj": [
158
+ "all",
159
+ "soap_dispenser",
160
+ "cleaner"
161
+ ],
162
+ "groups": [
163
+ "all"
164
+ ],
165
+ "cat": "soap_dispenser",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/soap_dispenser/soap_dispenser_1/model.xml"
168
+ },
169
+ "reset_region": {
170
+ "size": [
171
+ 1.3433916980517522,
172
+ 0.65
173
+ ],
174
+ "offset": [
175
+ -1.1683041509741239,
176
+ -3.469446951953614e-17,
177
+ 0.46
178
+ ],
179
+ "name": "geom_0"
180
+ }
181
+ }
182
+ ],
183
+ "fixtures": {
184
+ "wall_left_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_left_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_main_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_main_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_right_1_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_right_1_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_right_3_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_right_3_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_left_3_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "wall_left_3_backing_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "wall_left_2_room": {
215
+ "cls": "Wall"
216
+ },
217
+ "wall_left_2_backing_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "wall_right_2_room": {
221
+ "cls": "Wall"
222
+ },
223
+ "wall_right_2_backing_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "floor_1_room": {
227
+ "cls": "Floor"
228
+ },
229
+ "floor_1_backing_room": {
230
+ "cls": "Floor"
231
+ },
232
+ "wall_accessory_1_room": {
233
+ "cls": "WallAccessory"
234
+ },
235
+ "wall_accessory_2_room": {
236
+ "cls": "WallAccessory"
237
+ },
238
+ "light_switch_1_room": {
239
+ "cls": "WallAccessory"
240
+ },
241
+ "window_group_room": {
242
+ "cls": "Window"
243
+ },
244
+ "stool_1_room": {
245
+ "cls": "Stool"
246
+ },
247
+ "stool_2_room": {
248
+ "cls": "Stool"
249
+ },
250
+ "stool_3_room": {
251
+ "cls": "Stool"
252
+ },
253
+ "stool_4_room": {
254
+ "cls": "Stool"
255
+ },
256
+ "bottom_main_group_base": {
257
+ "cls": "Box"
258
+ },
259
+ "bottom_main_group_1": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "microwave_main_group": {
263
+ "cls": "Microwave"
264
+ },
265
+ "microwave_housing_main_group": {
266
+ "cls": "HousingCabinet"
267
+ },
268
+ "top_main_group": {
269
+ "cls": "HingeCabinet"
270
+ },
271
+ "counter_1_main_group": {
272
+ "cls": "Counter"
273
+ },
274
+ "sink_main_group": {
275
+ "cls": "Sink"
276
+ },
277
+ "counter_2_main_group": {
278
+ "cls": "Counter"
279
+ },
280
+ "stack_1_main_group_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_1_main_group_1": {
284
+ "cls": "SingleCabinet"
285
+ },
286
+ "stack_1_main_group_2": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_2_main_group_base": {
290
+ "cls": "Box"
291
+ },
292
+ "stack_2_main_group_1": {
293
+ "cls": "SingleCabinet"
294
+ },
295
+ "stack_2_main_group_2": {
296
+ "cls": "Drawer"
297
+ },
298
+ "stack_3_main_group_base": {
299
+ "cls": "Box"
300
+ },
301
+ "stack_3_main_group_1": {
302
+ "cls": "SingleCabinet"
303
+ },
304
+ "stack_3_main_group_2": {
305
+ "cls": "Drawer"
306
+ },
307
+ "stack_4_main_group_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_4_main_group_1": {
311
+ "cls": "SingleCabinet"
312
+ },
313
+ "stack_4_main_group_2": {
314
+ "cls": "Drawer"
315
+ },
316
+ "stack_5_main_group_base": {
317
+ "cls": "Box"
318
+ },
319
+ "stack_5_main_group_1": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "oven_main_group": {
323
+ "cls": "Oven"
324
+ },
325
+ "stack_6_main_group_base": {
326
+ "cls": "Box"
327
+ },
328
+ "stack_6_main_group_1": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "stack_6_main_group_2": {
332
+ "cls": "Drawer"
333
+ },
334
+ "stack_7_main_group_base": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_7_main_group_1": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_7_main_group_2": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "stack_7_main_group_3": {
344
+ "cls": "SingleCabinet"
345
+ },
346
+ "cab_1_main_group": {
347
+ "cls": "SingleCabinet"
348
+ },
349
+ "cab_2_main_group": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "cab_3_main_group": {
353
+ "cls": "HingeCabinet"
354
+ },
355
+ "coffee_machine_main_group": {
356
+ "cls": "CoffeeMachine"
357
+ },
358
+ "toaster_main_group": {
359
+ "cls": "Toaster"
360
+ },
361
+ "toaster_oven_main_group": {
362
+ "cls": "ToasterOven"
363
+ },
364
+ "paper_towel_main_group": {
365
+ "cls": "Accessory"
366
+ },
367
+ "fridge_right_group": {
368
+ "cls": "FridgeBottomFreezer"
369
+ },
370
+ "fridge_housing_right_group": {
371
+ "cls": "HousingCabinet"
372
+ },
373
+ "fridge_top_right_group": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stovetop_island_group": {
377
+ "cls": "Stovetop"
378
+ },
379
+ "counter_1_island_group": {
380
+ "cls": "Counter"
381
+ },
382
+ "island_island_group": {
383
+ "cls": "Counter"
384
+ },
385
+ "cube_island_group": {
386
+ "cls": "Box"
387
+ },
388
+ "panel_cab_1_island_group_base": {
389
+ "cls": "Box"
390
+ },
391
+ "panel_cab_1_island_group_1": {
392
+ "cls": "PanelCabinet"
393
+ },
394
+ "stack_1_island_group_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_1_island_group_1": {
398
+ "cls": "SingleCabinet"
399
+ },
400
+ "stack_1_island_group_2": {
401
+ "cls": "Drawer"
402
+ },
403
+ "dishwasher_island_group": {
404
+ "cls": "Dishwasher"
405
+ },
406
+ "stack_2_island_group_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_2_island_group_1": {
410
+ "cls": "HingeCabinet"
411
+ },
412
+ "stack_3_island_group_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_3_island_group_1": {
416
+ "cls": "Drawer"
417
+ },
418
+ "stack_3_island_group_2": {
419
+ "cls": "Drawer"
420
+ },
421
+ "stack_3_island_group_3": {
422
+ "cls": "Drawer"
423
+ },
424
+ "stack_4_island_group_base": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_4_island_group_1": {
428
+ "cls": "Drawer"
429
+ },
430
+ "stack_4_island_group_2": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_4_island_group_3": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_5_island_group_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_5_island_group_1": {
440
+ "cls": "SingleCabinet"
441
+ },
442
+ "stack_5_island_group_2": {
443
+ "cls": "Drawer"
444
+ },
445
+ "panel_cab_2_island_group_base": {
446
+ "cls": "Box"
447
+ },
448
+ "panel_cab_2_island_group_1": {
449
+ "cls": "PanelCabinet"
450
+ }
451
+ },
452
+ "gen_textures": {},
453
+ "lang": "Pick the broccoli from the counter and place it in the microwave.",
454
+ "fixture_refs": {
455
+ "microwave": "microwave_main_group",
456
+ "counter": "counter_2_main_group",
457
+ "distr_counter": "counter_2_main_group"
458
+ },
459
+ "cam_configs": {
460
+ "robot0_agentview_center": {
461
+ "pos": [
462
+ -0.6,
463
+ 0.0,
464
+ 1.15
465
+ ],
466
+ "quat": [
467
+ 0.636945903301239,
468
+ 0.3325185477733612,
469
+ -0.3199238181114197,
470
+ -0.6175596117973328
471
+ ],
472
+ "parent_body": "mobilebase0_support"
473
+ },
474
+ "robot0_agentview_left": {
475
+ "pos": [
476
+ -0.5,
477
+ 0.35,
478
+ 1.05
479
+ ],
480
+ "quat": [
481
+ 0.55623853,
482
+ 0.29935253,
483
+ -0.37678665,
484
+ -0.6775092
485
+ ],
486
+ "camera_attribs": {
487
+ "fovy": "60"
488
+ },
489
+ "parent_body": "mobilebase0_support"
490
+ },
491
+ "robot0_agentview_right": {
492
+ "pos": [
493
+ -0.5,
494
+ -0.35,
495
+ 1.05
496
+ ],
497
+ "quat": [
498
+ 0.6775091886520386,
499
+ 0.3767866790294647,
500
+ -0.2993525564670563,
501
+ -0.55623859167099
502
+ ],
503
+ "camera_attribs": {
504
+ "fovy": "60"
505
+ },
506
+ "parent_body": "mobilebase0_support"
507
+ },
508
+ "robot0_frontview": {
509
+ "pos": [
510
+ -0.5,
511
+ 0,
512
+ 0.95
513
+ ],
514
+ "quat": [
515
+ 0.6088936924934387,
516
+ 0.3814677894115448,
517
+ -0.3673907518386841,
518
+ -0.5905545353889465
519
+ ],
520
+ "camera_attribs": {
521
+ "fovy": "60"
522
+ },
523
+ "parent_body": "mobilebase0_support"
524
+ },
525
+ "robot0_eye_in_hand": {
526
+ "pos": [
527
+ 0.05,
528
+ 0,
529
+ 0
530
+ ],
531
+ "quat": [
532
+ 0,
533
+ 0.707107,
534
+ 0.707107,
535
+ 0
536
+ ],
537
+ "parent_body": "robot0_right_hand"
538
+ }
539
+ },
540
+ "init_robot_base_pos": [
541
+ 0.9869369960007972,
542
+ -0.9805413639518045,
543
+ 0.0
544
+ ],
545
+ "init_robot_base_ori": [
546
+ 0.0,
547
+ 0.0,
548
+ 1.5707963267948966
549
+ ]
550
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000028/ep_meta.json ADDED
@@ -0,0 +1,485 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 41,
3
+ "style_id": 58,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_main_group_1",
12
+ "min_size": [
13
+ 0.2566317107223312,
14
+ 0.2543053154683122,
15
+ 0.07540958341449114
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 0.8173957706143345,
47
+ 0.650008
48
+ ],
49
+ "offset": [
50
+ 0.9007161146928329,
51
+ -3.469446951953614e-17,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "carrot",
79
+ "vegetable",
80
+ "food",
81
+ "in_container",
82
+ "food_set1",
83
+ "group1"
84
+ ],
85
+ "groups": [
86
+ "food"
87
+ ],
88
+ "cat": "carrot",
89
+ "split": "train",
90
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml"
91
+ }
92
+ },
93
+ {
94
+ "name": "container",
95
+ "obj_groups": "plate",
96
+ "placement": {
97
+ "fixture": "microwave_main_group_1",
98
+ "size": [
99
+ 0.05,
100
+ 0.05
101
+ ],
102
+ "ensure_object_boundary_in_range": false
103
+ },
104
+ "type": "object",
105
+ "info": {
106
+ "groups_containing_sampled_obj": [
107
+ "all",
108
+ "plate",
109
+ "receptacle",
110
+ "container",
111
+ "container_set2"
112
+ ],
113
+ "groups": [
114
+ "plate"
115
+ ],
116
+ "cat": "plate",
117
+ "split": "train",
118
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml"
119
+ },
120
+ "reset_region": {
121
+ "offset": [
122
+ -0.07908312453162634,
123
+ 0.016819478571742513,
124
+ -0.18853883490499376
125
+ ],
126
+ "size": [
127
+ 0.30951738357214487,
128
+ 0.34233886128394075
129
+ ],
130
+ "height": 0.3570184657396056,
131
+ "name": "tray"
132
+ }
133
+ },
134
+ {
135
+ "name": "distr_counter",
136
+ "obj_groups": "all",
137
+ "placement": {
138
+ "fixture": "counter_1_main_group_1",
139
+ "sample_region_kwargs": {
140
+ "ref": "microwave_main_group_1",
141
+ "min_size": [
142
+ 0.05321475,
143
+ 0.053213525,
144
+ 0.18842733750000001
145
+ ]
146
+ },
147
+ "size": [
148
+ 0.3,
149
+ 0.3
150
+ ],
151
+ "pos": [
152
+ "ref",
153
+ 1.0
154
+ ]
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "mustard",
161
+ "condiment"
162
+ ],
163
+ "groups": [
164
+ "all"
165
+ ],
166
+ "cat": "mustard",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard003/model.xml"
169
+ },
170
+ "reset_region": {
171
+ "size": [
172
+ 0.8173957706143345,
173
+ 0.650008
174
+ ],
175
+ "offset": [
176
+ 0.9007161146928329,
177
+ -3.469446951953614e-17,
178
+ 0.46
179
+ ],
180
+ "name": "geom_0"
181
+ }
182
+ }
183
+ ],
184
+ "fixtures": {
185
+ "wall_main_1_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_main_1_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_right_3_room": {
204
+ "cls": "Wall"
205
+ },
206
+ "wall_right_3_backing_room": {
207
+ "cls": "Wall"
208
+ },
209
+ "floor_1_room": {
210
+ "cls": "Floor"
211
+ },
212
+ "floor_1_backing_room": {
213
+ "cls": "Floor"
214
+ },
215
+ "lightswitch_room": {
216
+ "cls": "WallAccessory"
217
+ },
218
+ "wallaccessory.003_room": {
219
+ "cls": "WallAccessory"
220
+ },
221
+ "wallaccessory.001_room": {
222
+ "cls": "WallAccessory"
223
+ },
224
+ "window_group_room": {
225
+ "cls": "Window"
226
+ },
227
+ "stool_1_room": {
228
+ "cls": "Stool"
229
+ },
230
+ "stool_2_room": {
231
+ "cls": "Stool"
232
+ },
233
+ "sink_main_group_1": {
234
+ "cls": "Sink"
235
+ },
236
+ "counter_1_main_group_1": {
237
+ "cls": "Counter"
238
+ },
239
+ "singlecabinet_1_main_group_1": {
240
+ "cls": "SingleCabinet"
241
+ },
242
+ "singlecabinet_2_main_group_1": {
243
+ "cls": "SingleCabinet"
244
+ },
245
+ "stack_1_main_group_1_base": {
246
+ "cls": "Box"
247
+ },
248
+ "stack_1_main_group_1_1": {
249
+ "cls": "HingeCabinet"
250
+ },
251
+ "stack_1_main_group_1_2": {
252
+ "cls": "Drawer"
253
+ },
254
+ "stack_2_main_group_1_base": {
255
+ "cls": "Box"
256
+ },
257
+ "stack_2_main_group_1_1": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "stack_2_main_group_1_2": {
261
+ "cls": "PanelCabinet"
262
+ },
263
+ "cube_1_main_group_1": {
264
+ "cls": "Box"
265
+ },
266
+ "dishwasher_1_main_group_1": {
267
+ "cls": "Dishwasher"
268
+ },
269
+ "bottom_main_group_1_base": {
270
+ "cls": "Box"
271
+ },
272
+ "bottom_main_group_1_1": {
273
+ "cls": "Drawer"
274
+ },
275
+ "microwave_main_group_1": {
276
+ "cls": "Microwave"
277
+ },
278
+ "fridgesidebyside_main_group_1": {
279
+ "cls": "FridgeSideBySide"
280
+ },
281
+ "fridgesidebyside_housing_main_group_1": {
282
+ "cls": "HousingCabinet"
283
+ },
284
+ "oven_cabinet_main_group_1": {
285
+ "cls": "HingeCabinet"
286
+ },
287
+ "hingecabinet_1_main_group_1": {
288
+ "cls": "HingeCabinet"
289
+ },
290
+ "microwave_housing_main_group_1": {
291
+ "cls": "HousingCabinet"
292
+ },
293
+ "top_main_group_1": {
294
+ "cls": "HingeCabinet"
295
+ },
296
+ "coffee_machine_main_group_1": {
297
+ "cls": "CoffeeMachine"
298
+ },
299
+ "knife_block_main_group_1": {
300
+ "cls": "Accessory"
301
+ },
302
+ "counter_1_right_group_1": {
303
+ "cls": "Counter"
304
+ },
305
+ "counter_2_right_group_1": {
306
+ "cls": "Counter"
307
+ },
308
+ "stove_right_group_1": {
309
+ "cls": "Stove"
310
+ },
311
+ "stove_hood_right_group_1": {
312
+ "cls": "Hood"
313
+ },
314
+ "singlecabinet_1_right_group_1": {
315
+ "cls": "SingleCabinet"
316
+ },
317
+ "singlecabinet_2_right_group_1": {
318
+ "cls": "SingleCabinet"
319
+ },
320
+ "stack_1_right_group_1_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_1_right_group_1_1": {
324
+ "cls": "HingeCabinet"
325
+ },
326
+ "stack_1_right_group_1_2": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_2_right_group_1_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_2_right_group_1_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "stack_2_right_group_1_2": {
336
+ "cls": "Drawer"
337
+ },
338
+ "toaster_right_group_1": {
339
+ "cls": "Toaster"
340
+ },
341
+ "stack_1_island_group_1_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_1_island_group_1_1": {
345
+ "cls": "HingeCabinet"
346
+ },
347
+ "stack_1_island_group_1_2": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_2_island_group_1_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_2_island_group_1_1": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "stack_2_island_group_1_2": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_3_island_group_1_base": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_3_island_group_1_1": {
363
+ "cls": "Drawer"
364
+ },
365
+ "stack_3_island_group_1_2": {
366
+ "cls": "Drawer"
367
+ },
368
+ "island_island_group_2": {
369
+ "cls": "Counter"
370
+ },
371
+ "stack_4_island_group_2_base": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_4_island_group_2_1": {
375
+ "cls": "SingleCabinet"
376
+ },
377
+ "stack_5_island_group_2_base": {
378
+ "cls": "Box"
379
+ },
380
+ "stack_5_island_group_2_1": {
381
+ "cls": "SingleCabinet"
382
+ },
383
+ "paper_towel_island_group_2": {
384
+ "cls": "Accessory"
385
+ }
386
+ },
387
+ "gen_textures": {},
388
+ "lang": "Pick the carrot from the counter and place it in the microwave.",
389
+ "fixture_refs": {
390
+ "microwave": "microwave_main_group_1",
391
+ "counter": "counter_1_main_group_1",
392
+ "distr_counter": "counter_1_main_group_1"
393
+ },
394
+ "cam_configs": {
395
+ "robot0_agentview_center": {
396
+ "pos": [
397
+ -0.6,
398
+ 0.0,
399
+ 1.15
400
+ ],
401
+ "quat": [
402
+ 0.636945903301239,
403
+ 0.3325185477733612,
404
+ -0.3199238181114197,
405
+ -0.6175596117973328
406
+ ],
407
+ "parent_body": "mobilebase0_support"
408
+ },
409
+ "robot0_agentview_left": {
410
+ "pos": [
411
+ -0.5,
412
+ 0.35,
413
+ 1.05
414
+ ],
415
+ "quat": [
416
+ 0.55623853,
417
+ 0.29935253,
418
+ -0.37678665,
419
+ -0.6775092
420
+ ],
421
+ "camera_attribs": {
422
+ "fovy": "60"
423
+ },
424
+ "parent_body": "mobilebase0_support"
425
+ },
426
+ "robot0_agentview_right": {
427
+ "pos": [
428
+ -0.5,
429
+ -0.35,
430
+ 1.05
431
+ ],
432
+ "quat": [
433
+ 0.6775091886520386,
434
+ 0.3767866790294647,
435
+ -0.2993525564670563,
436
+ -0.55623859167099
437
+ ],
438
+ "camera_attribs": {
439
+ "fovy": "60"
440
+ },
441
+ "parent_body": "mobilebase0_support"
442
+ },
443
+ "robot0_frontview": {
444
+ "pos": [
445
+ -0.5,
446
+ 0,
447
+ 0.95
448
+ ],
449
+ "quat": [
450
+ 0.6088936924934387,
451
+ 0.3814677894115448,
452
+ -0.3673907518386841,
453
+ -0.5905545353889465
454
+ ],
455
+ "camera_attribs": {
456
+ "fovy": "60"
457
+ },
458
+ "parent_body": "mobilebase0_support"
459
+ },
460
+ "robot0_eye_in_hand": {
461
+ "pos": [
462
+ 0.05,
463
+ 0,
464
+ 0
465
+ ],
466
+ "quat": [
467
+ 0,
468
+ 0.707107,
469
+ 0.707107,
470
+ 0
471
+ ],
472
+ "parent_body": "robot0_right_hand"
473
+ }
474
+ },
475
+ "init_robot_base_pos": [
476
+ 5.241916492620051,
477
+ -1.1186935659787722,
478
+ 0.0
479
+ ],
480
+ "init_robot_base_ori": [
481
+ 0.0,
482
+ 0.0,
483
+ 1.5707963267948966
484
+ ]
485
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000033/ep_meta.json ADDED
@@ -0,0 +1,578 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 43,
3
+ "style_id": 18,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_1_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_right_group_1",
12
+ "min_size": [
13
+ 0.24499104372000002,
14
+ 0.24499081394999997,
15
+ 0.02685923388
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.0745,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.0,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "carrot",
79
+ "vegetable",
80
+ "food",
81
+ "in_container",
82
+ "food_set1",
83
+ "group1"
84
+ ],
85
+ "groups": [
86
+ "food"
87
+ ],
88
+ "cat": "carrot",
89
+ "split": "train",
90
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_1/model.xml"
91
+ }
92
+ },
93
+ {
94
+ "name": "container",
95
+ "obj_groups": "plate",
96
+ "placement": {
97
+ "fixture": "microwave_right_group_1",
98
+ "size": [
99
+ 0.05,
100
+ 0.05
101
+ ],
102
+ "ensure_object_boundary_in_range": false
103
+ },
104
+ "type": "object",
105
+ "info": {
106
+ "groups_containing_sampled_obj": [
107
+ "all",
108
+ "plate",
109
+ "receptacle",
110
+ "container",
111
+ "container_set2"
112
+ ],
113
+ "groups": [
114
+ "plate"
115
+ ],
116
+ "cat": "plate",
117
+ "split": "train",
118
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
119
+ },
120
+ "reset_region": {
121
+ "offset": [
122
+ -0.07493209797591419,
123
+ 0.005448550017310261,
124
+ -0.1540293904999975
125
+ ],
126
+ "size": [
127
+ 0.35460993155596027,
128
+ 0.35158685185119815
129
+ ],
130
+ "height": 0.3271394379015179,
131
+ "name": "tray"
132
+ }
133
+ },
134
+ {
135
+ "name": "distr_counter",
136
+ "obj_groups": "all",
137
+ "placement": {
138
+ "fixture": "counter_1_right_group_1",
139
+ "sample_region_kwargs": {
140
+ "ref": "microwave_right_group_1",
141
+ "min_size": [
142
+ 0.07020072690000005,
143
+ 0.07020074400000004,
144
+ 0.049208070075000034
145
+ ]
146
+ },
147
+ "size": [
148
+ 0.3,
149
+ 0.3
150
+ ],
151
+ "pos": [
152
+ "ref",
153
+ 1.0
154
+ ]
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "yogurt",
161
+ "dairy",
162
+ "packaged_food",
163
+ "food",
164
+ "in_container"
165
+ ],
166
+ "groups": [
167
+ "all"
168
+ ],
169
+ "cat": "yogurt",
170
+ "split": "train",
171
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_1/model.xml"
172
+ },
173
+ "reset_region": {
174
+ "size": [
175
+ 1.0745,
176
+ 0.65
177
+ ],
178
+ "offset": [
179
+ 0.0,
180
+ 0.0,
181
+ 0.46
182
+ ],
183
+ "name": "geom_0"
184
+ }
185
+ }
186
+ ],
187
+ "fixtures": {
188
+ "wall_main_1_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_main_1_backing_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_right_1_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_right_1_backing_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_left_1_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "wall_left_1_backing_room": {
204
+ "cls": "Wall"
205
+ },
206
+ "wall_main_2_room": {
207
+ "cls": "Wall"
208
+ },
209
+ "wall_main_2_backing_room": {
210
+ "cls": "Wall"
211
+ },
212
+ "wall_left_2_room": {
213
+ "cls": "Wall"
214
+ },
215
+ "wall_right_2_room": {
216
+ "cls": "Wall"
217
+ },
218
+ "wall_main_3_room": {
219
+ "cls": "Wall"
220
+ },
221
+ "floor_1_room": {
222
+ "cls": "Floor"
223
+ },
224
+ "floor_1_backing_room": {
225
+ "cls": "Floor"
226
+ },
227
+ "floor_1.001_room": {
228
+ "cls": "Floor"
229
+ },
230
+ "floor_1.001_backing_room": {
231
+ "cls": "Floor"
232
+ },
233
+ "wallaccessory.001_room": {
234
+ "cls": "WallAccessory"
235
+ },
236
+ "wallaccessory.005_room": {
237
+ "cls": "WallAccessory"
238
+ },
239
+ "wallaccessory.003_room": {
240
+ "cls": "WallAccessory"
241
+ },
242
+ "wallaccessory.004_room": {
243
+ "cls": "WallAccessory"
244
+ },
245
+ "wallaccessory.002_room": {
246
+ "cls": "WallAccessory"
247
+ },
248
+ "wallaccessory_room": {
249
+ "cls": "WallAccessory"
250
+ },
251
+ "wallaccessory.006_room": {
252
+ "cls": "WallAccessory"
253
+ },
254
+ "counter_corner_1_main_group_1": {
255
+ "cls": "Counter"
256
+ },
257
+ "counter_1_main_group_1": {
258
+ "cls": "Counter"
259
+ },
260
+ "counter_2_main_group_1": {
261
+ "cls": "Counter"
262
+ },
263
+ "stove_main_group_1": {
264
+ "cls": "Stove"
265
+ },
266
+ "counter_corner_2_main_group_1": {
267
+ "cls": "Counter"
268
+ },
269
+ "stove_hood_main_group_1": {
270
+ "cls": "Hood"
271
+ },
272
+ "hingecabinet_1_main_group_1": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "cube_1_main_group_1": {
276
+ "cls": "Box"
277
+ },
278
+ "hingecabinet_2_main_group_1": {
279
+ "cls": "HingeCabinet"
280
+ },
281
+ "cube_2_main_group_1": {
282
+ "cls": "Box"
283
+ },
284
+ "coffeemachine_main_group_1": {
285
+ "cls": "CoffeeMachine"
286
+ },
287
+ "toaster_main_group_1": {
288
+ "cls": "Toaster"
289
+ },
290
+ "papertowel_main_group_1": {
291
+ "cls": "Accessory"
292
+ },
293
+ "plant_main_group_1": {
294
+ "cls": "Accessory"
295
+ },
296
+ "stack_1_main_group_1_base": {
297
+ "cls": "Box"
298
+ },
299
+ "stack_1_main_group_1_1": {
300
+ "cls": "HingeCabinet"
301
+ },
302
+ "stack_2_main_group_1_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_2_main_group_1_1": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_2_main_group_1_2": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_3_main_group_1_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_3_main_group_1_1": {
315
+ "cls": "SingleCabinet"
316
+ },
317
+ "cube_3_main_group_1": {
318
+ "cls": "Box"
319
+ },
320
+ "cube_4_main_group_1": {
321
+ "cls": "Box"
322
+ },
323
+ "counter_1_front_group_1": {
324
+ "cls": "Counter"
325
+ },
326
+ "stack_1_front_group_1_base": {
327
+ "cls": "Box"
328
+ },
329
+ "stack_1_front_group_1_1": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "stack_1_front_group_1_2": {
333
+ "cls": "Drawer"
334
+ },
335
+ "cube_1_front_group_1": {
336
+ "cls": "Box"
337
+ },
338
+ "cube_2_front_group_1": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_2_front_group_1_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_2_front_group_1_1": {
345
+ "cls": "SingleCabinet"
346
+ },
347
+ "counter_1_right_group_1": {
348
+ "cls": "Counter"
349
+ },
350
+ "singlecabinet_1_right_group_1": {
351
+ "cls": "SingleCabinet"
352
+ },
353
+ "hingecabinet_1_right_group_1": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "opencabinet_1_right_group_1": {
357
+ "cls": "OpenCabinet"
358
+ },
359
+ "cube_1_right_group_1": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_1_right_group_1_base": {
363
+ "cls": "Box"
364
+ },
365
+ "stack_1_right_group_1_1": {
366
+ "cls": "SingleCabinet"
367
+ },
368
+ "stack_2_right_group_1_base": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_2_right_group_1_1": {
372
+ "cls": "Drawer"
373
+ },
374
+ "stack_2_right_group_1_2": {
375
+ "cls": "Drawer"
376
+ },
377
+ "stack_2_right_group_1_3": {
378
+ "cls": "Drawer"
379
+ },
380
+ "fridgesidebyside_right_group_1": {
381
+ "cls": "FridgeSideBySide"
382
+ },
383
+ "fridgesidebyside_housing_right_group_1": {
384
+ "cls": "HousingCabinet"
385
+ },
386
+ "bottom_right_group_1_base": {
387
+ "cls": "Box"
388
+ },
389
+ "bottom_right_group_1_1": {
390
+ "cls": "Drawer"
391
+ },
392
+ "microwave_right_group_1": {
393
+ "cls": "Microwave"
394
+ },
395
+ "singlecabinet_3_right_group_1": {
396
+ "cls": "SingleCabinet"
397
+ },
398
+ "stack_3_right_group_1_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_3_right_group_1_1": {
402
+ "cls": "SingleCabinet"
403
+ },
404
+ "oven_cabinet_right_group_1": {
405
+ "cls": "HingeCabinet"
406
+ },
407
+ "hingecabinet_2_right_group_1": {
408
+ "cls": "HingeCabinet"
409
+ },
410
+ "microwave_housing_right_group_1": {
411
+ "cls": "HousingCabinet"
412
+ },
413
+ "singlecabinet_2_right_group_1": {
414
+ "cls": "SingleCabinet"
415
+ },
416
+ "top_right_group_1": {
417
+ "cls": "HingeCabinet"
418
+ },
419
+ "toaster_oven_right_group_1": {
420
+ "cls": "ToasterOven"
421
+ },
422
+ "sink_left_group_1": {
423
+ "cls": "Sink"
424
+ },
425
+ "counter_1_left_group_1": {
426
+ "cls": "Counter"
427
+ },
428
+ "counter_corner_1_left_group_1": {
429
+ "cls": "Counter"
430
+ },
431
+ "counter_2_left_group_1": {
432
+ "cls": "Counter"
433
+ },
434
+ "singlecabinet_1_left_group_1": {
435
+ "cls": "SingleCabinet"
436
+ },
437
+ "hingecabinet_1_left_group_1": {
438
+ "cls": "HingeCabinet"
439
+ },
440
+ "stack_3_left_group_1_base": {
441
+ "cls": "Box"
442
+ },
443
+ "stack_3_left_group_1_1": {
444
+ "cls": "HingeCabinet"
445
+ },
446
+ "dishwasher_1_left_group_1": {
447
+ "cls": "Dishwasher"
448
+ },
449
+ "cube_3_left_group_1": {
450
+ "cls": "Box"
451
+ },
452
+ "stack_2_left_group_1_base": {
453
+ "cls": "Box"
454
+ },
455
+ "stack_2_left_group_1_1": {
456
+ "cls": "SingleCabinet"
457
+ },
458
+ "stack_1_left_group_1_base": {
459
+ "cls": "Box"
460
+ },
461
+ "stack_1_left_group_1_1": {
462
+ "cls": "Drawer"
463
+ },
464
+ "stack_1_left_group_1_2": {
465
+ "cls": "Drawer"
466
+ },
467
+ "stack_1_left_group_1_3": {
468
+ "cls": "Drawer"
469
+ },
470
+ "cube_2_left_group_1": {
471
+ "cls": "Box"
472
+ },
473
+ "cube_1_left_group_1": {
474
+ "cls": "Box"
475
+ },
476
+ "knife_block_left_group_1": {
477
+ "cls": "Accessory"
478
+ }
479
+ },
480
+ "gen_textures": {},
481
+ "lang": "Pick the carrot from the counter and place it in the microwave.",
482
+ "fixture_refs": {
483
+ "microwave": "microwave_right_group_1",
484
+ "counter": "counter_1_right_group_1",
485
+ "distr_counter": "counter_1_right_group_1"
486
+ },
487
+ "cam_configs": {
488
+ "robot0_agentview_center": {
489
+ "pos": [
490
+ -0.6,
491
+ 0.0,
492
+ 1.15
493
+ ],
494
+ "quat": [
495
+ 0.636945903301239,
496
+ 0.3325185477733612,
497
+ -0.3199238181114197,
498
+ -0.6175596117973328
499
+ ],
500
+ "parent_body": "mobilebase0_support"
501
+ },
502
+ "robot0_agentview_left": {
503
+ "pos": [
504
+ -0.5,
505
+ 0.35,
506
+ 1.05
507
+ ],
508
+ "quat": [
509
+ 0.55623853,
510
+ 0.29935253,
511
+ -0.37678665,
512
+ -0.6775092
513
+ ],
514
+ "camera_attribs": {
515
+ "fovy": "60"
516
+ },
517
+ "parent_body": "mobilebase0_support"
518
+ },
519
+ "robot0_agentview_right": {
520
+ "pos": [
521
+ -0.5,
522
+ -0.35,
523
+ 1.05
524
+ ],
525
+ "quat": [
526
+ 0.6775091886520386,
527
+ 0.3767866790294647,
528
+ -0.2993525564670563,
529
+ -0.55623859167099
530
+ ],
531
+ "camera_attribs": {
532
+ "fovy": "60"
533
+ },
534
+ "parent_body": "mobilebase0_support"
535
+ },
536
+ "robot0_frontview": {
537
+ "pos": [
538
+ -0.5,
539
+ 0,
540
+ 0.95
541
+ ],
542
+ "quat": [
543
+ 0.6088936924934387,
544
+ 0.3814677894115448,
545
+ -0.3673907518386841,
546
+ -0.5905545353889465
547
+ ],
548
+ "camera_attribs": {
549
+ "fovy": "60"
550
+ },
551
+ "parent_body": "mobilebase0_support"
552
+ },
553
+ "robot0_eye_in_hand": {
554
+ "pos": [
555
+ 0.05,
556
+ 0,
557
+ 0
558
+ ],
559
+ "quat": [
560
+ 0,
561
+ 0.707107,
562
+ 0.707107,
563
+ 0
564
+ ],
565
+ "parent_body": "robot0_right_hand"
566
+ }
567
+ },
568
+ "init_robot_base_pos": [
569
+ 4.973296376204885,
570
+ -3.299400378133906,
571
+ 0.0
572
+ ],
573
+ "init_robot_base_ori": [
574
+ 0.0,
575
+ 0.0,
576
+ 0.00030199704781619374
577
+ ]
578
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000048/ep_meta.json ADDED
@@ -0,0 +1,542 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 33,
3
+ "style_id": 32,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_2_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_right_group_1",
12
+ "min_size": [
13
+ 0.23270280075,
14
+ 0.23270367960000002,
15
+ 0.0122388154875
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.0,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.0,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "hot_dog",
79
+ "cooked_food",
80
+ "food",
81
+ "in_container"
82
+ ],
83
+ "groups": [
84
+ "food"
85
+ ],
86
+ "cat": "hot_dog",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml"
89
+ }
90
+ },
91
+ {
92
+ "name": "container",
93
+ "obj_groups": "plate",
94
+ "placement": {
95
+ "fixture": "microwave_right_group_1",
96
+ "size": [
97
+ 0.05,
98
+ 0.05
99
+ ],
100
+ "ensure_object_boundary_in_range": false
101
+ },
102
+ "type": "object",
103
+ "info": {
104
+ "groups_containing_sampled_obj": [
105
+ "all",
106
+ "plate",
107
+ "receptacle",
108
+ "container",
109
+ "container_set2"
110
+ ],
111
+ "groups": [
112
+ "plate"
113
+ ],
114
+ "cat": "plate",
115
+ "split": "train",
116
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
117
+ },
118
+ "reset_region": {
119
+ "offset": [
120
+ -0.07968455426808113,
121
+ 0.020383485144178683,
122
+ -0.15975329689585296
123
+ ],
124
+ "size": [
125
+ 0.27444786707736657,
126
+ 0.2553602756731213
127
+ ],
128
+ "height": 0.3388365338927893,
129
+ "name": "tray"
130
+ }
131
+ },
132
+ {
133
+ "name": "distr_counter",
134
+ "obj_groups": "all",
135
+ "placement": {
136
+ "fixture": "counter_2_right_group_1",
137
+ "sample_region_kwargs": {
138
+ "ref": "microwave_right_group_1",
139
+ "min_size": [
140
+ 0.1109960355,
141
+ 0.125383608,
142
+ 0.0904473255
143
+ ]
144
+ },
145
+ "size": [
146
+ 0.3,
147
+ 0.3
148
+ ],
149
+ "pos": [
150
+ "ref",
151
+ 1.0
152
+ ]
153
+ },
154
+ "type": "object",
155
+ "info": {
156
+ "groups_containing_sampled_obj": [
157
+ "all",
158
+ "lettuce",
159
+ "vegetable",
160
+ "food",
161
+ "in_container"
162
+ ],
163
+ "groups": [
164
+ "all"
165
+ ],
166
+ "cat": "lettuce",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce004/model.xml"
169
+ },
170
+ "reset_region": {
171
+ "size": [
172
+ 1.0,
173
+ 0.65
174
+ ],
175
+ "offset": [
176
+ 0.0,
177
+ 0.0,
178
+ 0.46
179
+ ],
180
+ "name": "geom_0"
181
+ }
182
+ }
183
+ ],
184
+ "fixtures": {
185
+ "wall_main_1_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_main_1_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_left_1_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_left_1_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_right_1_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_right_1_backing_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "wall_main_2_room": {
204
+ "cls": "Wall"
205
+ },
206
+ "wall_main_2_backing_room": {
207
+ "cls": "Wall"
208
+ },
209
+ "wall_main_3.001_room": {
210
+ "cls": "Wall"
211
+ },
212
+ "wall_main_3.001_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_2.001_room": {
222
+ "cls": "Floor"
223
+ },
224
+ "floor_2.001_backing_room": {
225
+ "cls": "Floor"
226
+ },
227
+ "stool_1_room": {
228
+ "cls": "Stool"
229
+ },
230
+ "stool_2_room": {
231
+ "cls": "Stool"
232
+ },
233
+ "stool_3_room": {
234
+ "cls": "Stool"
235
+ },
236
+ "stool_4_room": {
237
+ "cls": "Stool"
238
+ },
239
+ "counter_2_right_group_1": {
240
+ "cls": "Counter"
241
+ },
242
+ "hingecabinet_1_right_group_1": {
243
+ "cls": "HingeCabinet"
244
+ },
245
+ "hingecabinet_2_right_group_1": {
246
+ "cls": "HingeCabinet"
247
+ },
248
+ "hingecabinet_3_right_group_1": {
249
+ "cls": "HingeCabinet"
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_2_right_group_1_base": {
261
+ "cls": "Box"
262
+ },
263
+ "stack_2_right_group_1_1": {
264
+ "cls": "HingeCabinet"
265
+ },
266
+ "stack_2_right_group_1_2": {
267
+ "cls": "Drawer"
268
+ },
269
+ "stack_3_right_group_1_base": {
270
+ "cls": "Box"
271
+ },
272
+ "stack_3_right_group_1_1": {
273
+ "cls": "HingeCabinet"
274
+ },
275
+ "stack_3_right_group_1_2": {
276
+ "cls": "Drawer"
277
+ },
278
+ "counter_1_right_group_1": {
279
+ "cls": "Counter"
280
+ },
281
+ "fridgefrenchdoor_right_group_1": {
282
+ "cls": "FridgeFrenchDoor"
283
+ },
284
+ "fridgefrenchdoor_housing_right_group_1": {
285
+ "cls": "HousingCabinet"
286
+ },
287
+ "hingecabinet_4_right_group_1": {
288
+ "cls": "HingeCabinet"
289
+ },
290
+ "bottom_right_group_1_base": {
291
+ "cls": "Box"
292
+ },
293
+ "bottom_right_group_1_1": {
294
+ "cls": "Drawer"
295
+ },
296
+ "microwave_right_group_1": {
297
+ "cls": "Microwave"
298
+ },
299
+ "oven_cabinet_right_group_1": {
300
+ "cls": "HingeCabinet"
301
+ },
302
+ "microwave_housing_right_group_1": {
303
+ "cls": "HousingCabinet"
304
+ },
305
+ "top_right_group_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "coffee_machine_right_group_1": {
309
+ "cls": "CoffeeMachine"
310
+ },
311
+ "toaster_right_group_1": {
312
+ "cls": "Toaster"
313
+ },
314
+ "hingecabinet_1_main_group_1": {
315
+ "cls": "HingeCabinet"
316
+ },
317
+ "hingecabinet_2_main_group_1": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "singlecabinet_1_main_group_1": {
321
+ "cls": "SingleCabinet"
322
+ },
323
+ "singlecabinet_2_main_group_1": {
324
+ "cls": "SingleCabinet"
325
+ },
326
+ "counter_1_main_group_1": {
327
+ "cls": "Counter"
328
+ },
329
+ "counter_2_main_group_1": {
330
+ "cls": "Counter"
331
+ },
332
+ "widestove_main_group_1": {
333
+ "cls": "Stove"
334
+ },
335
+ "widestove_hood_main_group_1": {
336
+ "cls": "Hood"
337
+ },
338
+ "stack_1_main_group_1_base": {
339
+ "cls": "Box"
340
+ },
341
+ "stack_1_main_group_1_1": {
342
+ "cls": "HingeCabinet"
343
+ },
344
+ "stack_1_main_group_1_2": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_4_main_group_1_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_4_main_group_1_1": {
351
+ "cls": "HingeCabinet"
352
+ },
353
+ "stack_4_main_group_1_2": {
354
+ "cls": "Drawer"
355
+ },
356
+ "stack_2_main_group_1_base": {
357
+ "cls": "Box"
358
+ },
359
+ "stack_2_main_group_1_1": {
360
+ "cls": "Drawer"
361
+ },
362
+ "stack_2_main_group_1_2": {
363
+ "cls": "Drawer"
364
+ },
365
+ "stack_2_main_group_1_3": {
366
+ "cls": "Drawer"
367
+ },
368
+ "stack_3_main_group_1_base": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_3_main_group_1_1": {
372
+ "cls": "Drawer"
373
+ },
374
+ "stack_3_main_group_1_2": {
375
+ "cls": "Drawer"
376
+ },
377
+ "stack_3_main_group_1_3": {
378
+ "cls": "Drawer"
379
+ },
380
+ "knife_block_main_group_1": {
381
+ "cls": "Accessory"
382
+ },
383
+ "paper_towel_main_group_1": {
384
+ "cls": "Accessory"
385
+ },
386
+ "toaster_oven_main_group_1": {
387
+ "cls": "ToasterOven"
388
+ },
389
+ "sink_island_group_1": {
390
+ "cls": "Sink"
391
+ },
392
+ "island_island_group_1": {
393
+ "cls": "Counter"
394
+ },
395
+ "stack_2_island_group_1_base": {
396
+ "cls": "Box"
397
+ },
398
+ "stack_2_island_group_1_1": {
399
+ "cls": "SingleCabinet"
400
+ },
401
+ "stack_2_island_group_1_2": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_1_island_group_1_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_1_island_group_1_1": {
408
+ "cls": "HingeCabinet"
409
+ },
410
+ "stack_1_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": "PanelCabinet"
421
+ },
422
+ "stack_4_island_group_1_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_4_island_group_1_1": {
426
+ "cls": "SingleCabinet"
427
+ },
428
+ "stack_4_island_group_1_2": {
429
+ "cls": "Drawer"
430
+ },
431
+ "cube_1_island_group_1": {
432
+ "cls": "Box"
433
+ },
434
+ "cube_2_island_group_1": {
435
+ "cls": "Box"
436
+ },
437
+ "cube_3_island_group_1": {
438
+ "cls": "Box"
439
+ },
440
+ "dishwasher_1_island_group_1": {
441
+ "cls": "Dishwasher"
442
+ }
443
+ },
444
+ "gen_textures": {},
445
+ "lang": "Pick the hot dog from the counter and place it in the microwave.",
446
+ "fixture_refs": {
447
+ "microwave": "microwave_right_group_1",
448
+ "counter": "counter_2_right_group_1",
449
+ "distr_counter": "counter_2_right_group_1"
450
+ },
451
+ "cam_configs": {
452
+ "robot0_agentview_center": {
453
+ "pos": [
454
+ -0.6,
455
+ 0.0,
456
+ 1.15
457
+ ],
458
+ "quat": [
459
+ 0.636945903301239,
460
+ 0.3325185477733612,
461
+ -0.3199238181114197,
462
+ -0.6175596117973328
463
+ ],
464
+ "parent_body": "mobilebase0_support"
465
+ },
466
+ "robot0_agentview_left": {
467
+ "pos": [
468
+ -0.5,
469
+ 0.35,
470
+ 1.05
471
+ ],
472
+ "quat": [
473
+ 0.55623853,
474
+ 0.29935253,
475
+ -0.37678665,
476
+ -0.6775092
477
+ ],
478
+ "camera_attribs": {
479
+ "fovy": "60"
480
+ },
481
+ "parent_body": "mobilebase0_support"
482
+ },
483
+ "robot0_agentview_right": {
484
+ "pos": [
485
+ -0.5,
486
+ -0.35,
487
+ 1.05
488
+ ],
489
+ "quat": [
490
+ 0.6775091886520386,
491
+ 0.3767866790294647,
492
+ -0.2993525564670563,
493
+ -0.55623859167099
494
+ ],
495
+ "camera_attribs": {
496
+ "fovy": "60"
497
+ },
498
+ "parent_body": "mobilebase0_support"
499
+ },
500
+ "robot0_frontview": {
501
+ "pos": [
502
+ -0.5,
503
+ 0,
504
+ 0.95
505
+ ],
506
+ "quat": [
507
+ 0.6088936924934387,
508
+ 0.3814677894115448,
509
+ -0.3673907518386841,
510
+ -0.5905545353889465
511
+ ],
512
+ "camera_attribs": {
513
+ "fovy": "60"
514
+ },
515
+ "parent_body": "mobilebase0_support"
516
+ },
517
+ "robot0_eye_in_hand": {
518
+ "pos": [
519
+ 0.05,
520
+ 0,
521
+ 0
522
+ ],
523
+ "quat": [
524
+ 0,
525
+ 0.707107,
526
+ 0.707107,
527
+ 0
528
+ ],
529
+ "parent_body": "robot0_right_hand"
530
+ }
531
+ },
532
+ "init_robot_base_pos": [
533
+ 5.718072410488317,
534
+ -3.2836368108768004,
535
+ 0.0
536
+ ],
537
+ "init_robot_base_ori": [
538
+ 0.0,
539
+ 0.0,
540
+ 0.00030199704781619374
541
+ ]
542
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000053/ep_meta.json ADDED
@@ -0,0 +1,466 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 52,
3
+ "style_id": 22,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_1_left_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_left_group_1",
12
+ "min_size": [
13
+ 0.23125013257500002,
14
+ 0.23125020817500003,
15
+ 0.018714614625
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 0.7489999999999997,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ -0.13000000000000012,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "onion",
79
+ "vegetable",
80
+ "food",
81
+ "in_container"
82
+ ],
83
+ "groups": [
84
+ "food"
85
+ ],
86
+ "cat": "onion",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml"
89
+ }
90
+ },
91
+ {
92
+ "name": "container",
93
+ "obj_groups": "plate",
94
+ "placement": {
95
+ "fixture": "microwave_left_group_1",
96
+ "size": [
97
+ 0.05,
98
+ 0.05
99
+ ],
100
+ "ensure_object_boundary_in_range": false
101
+ },
102
+ "type": "object",
103
+ "info": {
104
+ "groups_containing_sampled_obj": [
105
+ "all",
106
+ "plate",
107
+ "receptacle",
108
+ "container",
109
+ "container_set2"
110
+ ],
111
+ "groups": [
112
+ "plate"
113
+ ],
114
+ "cat": "plate",
115
+ "split": "train",
116
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml"
117
+ },
118
+ "reset_region": {
119
+ "offset": [
120
+ -0.069841467347648,
121
+ -0.029036920244731833,
122
+ -0.16941893781068557
123
+ ],
124
+ "size": [
125
+ 0.34635533719228195,
126
+ 0.2843515277270208
127
+ ],
128
+ "height": 0.35235277660176445,
129
+ "name": "tray"
130
+ }
131
+ },
132
+ {
133
+ "name": "distr_counter",
134
+ "obj_groups": "all",
135
+ "placement": {
136
+ "fixture": "counter_1_left_group_1",
137
+ "sample_region_kwargs": {
138
+ "ref": "microwave_left_group_1",
139
+ "min_size": [
140
+ 0.07405411,
141
+ 0.24610438,
142
+ 0.0993482
143
+ ]
144
+ },
145
+ "size": [
146
+ 0.3,
147
+ 0.3
148
+ ],
149
+ "pos": [
150
+ "ref",
151
+ 1.0
152
+ ]
153
+ },
154
+ "type": "object",
155
+ "info": {
156
+ "groups_containing_sampled_obj": [
157
+ "all",
158
+ "pizza_cutter",
159
+ "tool",
160
+ "in_container"
161
+ ],
162
+ "groups": [
163
+ "all"
164
+ ],
165
+ "cat": "pizza_cutter",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter001/model.xml"
168
+ },
169
+ "reset_region": {
170
+ "size": [
171
+ 0.7489999999999997,
172
+ 0.65
173
+ ],
174
+ "offset": [
175
+ -0.13000000000000012,
176
+ 0.0,
177
+ 0.46
178
+ ],
179
+ "name": "geom_0"
180
+ }
181
+ }
182
+ ],
183
+ "fixtures": {
184
+ "wall_main_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_main_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_1_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_right_1_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_left_1_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_left_1_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_front_1.001_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_front_1.001_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_front_2.002_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "wall_front_2.002_backing_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "wall_front_3.003_room": {
215
+ "cls": "Wall"
216
+ },
217
+ "wall_front_3.003_backing_room": {
218
+ "cls": "Wall"
219
+ },
220
+ "floor_1_room": {
221
+ "cls": "Floor"
222
+ },
223
+ "floor_1_backing_room": {
224
+ "cls": "Floor"
225
+ },
226
+ "wallaccessory_4_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "wallaccessory_3_room": {
230
+ "cls": "WallAccessory"
231
+ },
232
+ "wallaccessory_2_room": {
233
+ "cls": "WallAccessory"
234
+ },
235
+ "cube_4_main_group_1": {
236
+ "cls": "Box"
237
+ },
238
+ "cube_5_main_group_1": {
239
+ "cls": "Box"
240
+ },
241
+ "hingecabinet_2_main_group_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "singlecabinet_2_main_group_1": {
245
+ "cls": "SingleCabinet"
246
+ },
247
+ "hingecabinet_1_main_group_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "counter_corner_1_main_group_1": {
251
+ "cls": "Counter"
252
+ },
253
+ "counter_corner_2_main_group_1": {
254
+ "cls": "Counter"
255
+ },
256
+ "counter_2_main_group_1": {
257
+ "cls": "Counter"
258
+ },
259
+ "counter_3_main_group_1": {
260
+ "cls": "Counter"
261
+ },
262
+ "stove_main_group_1": {
263
+ "cls": "Stove"
264
+ },
265
+ "stack_04_main_group_1_base": {
266
+ "cls": "Box"
267
+ },
268
+ "stack_04_main_group_1_1": {
269
+ "cls": "SingleCabinet"
270
+ },
271
+ "stack_03_main_group_1_base": {
272
+ "cls": "Box"
273
+ },
274
+ "stack_03_main_group_1_1": {
275
+ "cls": "SingleCabinet"
276
+ },
277
+ "coffee_machine_main_group_1": {
278
+ "cls": "CoffeeMachine"
279
+ },
280
+ "papertowel_main_group_1": {
281
+ "cls": "Accessory"
282
+ },
283
+ "hingecabinet_3_right_group_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "hingecabinet_4_right_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "hingecabinet_5_right_group_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "sink_right_group_1": {
293
+ "cls": "Sink"
294
+ },
295
+ "counter_4_right_group_1": {
296
+ "cls": "Counter"
297
+ },
298
+ "cube_1_right_group_1": {
299
+ "cls": "Box"
300
+ },
301
+ "stack_2_right_group_1_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_2_right_group_1_1": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "stack_2_right_group_1_2": {
308
+ "cls": "PanelCabinet"
309
+ },
310
+ "dishwasher_1_right_group_1": {
311
+ "cls": "Dishwasher"
312
+ },
313
+ "cube_2_right_group_1": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_01_right_group_1_base": {
317
+ "cls": "Box"
318
+ },
319
+ "stack_01_right_group_1_1": {
320
+ "cls": "Drawer"
321
+ },
322
+ "stack_01_right_group_1_2": {
323
+ "cls": "Drawer"
324
+ },
325
+ "stack_01_right_group_1_3": {
326
+ "cls": "Drawer"
327
+ },
328
+ "toaster_right_group_1": {
329
+ "cls": "Toaster"
330
+ },
331
+ "counter_1_left_group_1": {
332
+ "cls": "Counter"
333
+ },
334
+ "stack_05_left_group_1_base": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_05_left_group_1_1": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_05_left_group_1_2": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_05_left_group_1_3": {
344
+ "cls": "Drawer"
345
+ },
346
+ "cube_1_left_group_1": {
347
+ "cls": "Box"
348
+ },
349
+ "fridgebottomfreezer_left_group_1": {
350
+ "cls": "FridgeBottomFreezer"
351
+ },
352
+ "fridgebottomfreezer_housing_left_group_1": {
353
+ "cls": "HousingCabinet"
354
+ },
355
+ "hingecabinet_5_left_group_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "singlecabinet_1_left_group_1": {
359
+ "cls": "SingleCabinet"
360
+ },
361
+ "microwave_left_group_1": {
362
+ "cls": "Microwave"
363
+ },
364
+ "cab_micro_left_group_1": {
365
+ "cls": "HingeCabinet"
366
+ }
367
+ },
368
+ "gen_textures": {},
369
+ "lang": "Pick the onion from the counter and place it in the microwave.",
370
+ "fixture_refs": {
371
+ "microwave": "microwave_left_group_1",
372
+ "counter": "counter_1_left_group_1",
373
+ "distr_counter": "counter_1_left_group_1"
374
+ },
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
+ 0.8174570163511824,
458
+ -1.281824625124632,
459
+ 0.0
460
+ ],
461
+ "init_robot_base_ori": [
462
+ 0.0,
463
+ 0.0,
464
+ 3.1414412336089432
465
+ ]
466
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000060/ep_meta.json ADDED
@@ -0,0 +1,516 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 30,
3
+ "style_id": 38,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_1_left_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_left_group",
12
+ "min_size": [
13
+ 0.23187298679999999,
14
+ 0.231873067125,
15
+ 0.014080967775000001
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 0.8,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.0,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "marshmallow",
79
+ "sweets",
80
+ "food",
81
+ "in_container"
82
+ ],
83
+ "groups": [
84
+ "food"
85
+ ],
86
+ "cat": "marshmallow",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml"
89
+ }
90
+ },
91
+ {
92
+ "name": "container",
93
+ "obj_groups": "plate",
94
+ "placement": {
95
+ "fixture": "microwave_left_group",
96
+ "size": [
97
+ 0.05,
98
+ 0.05
99
+ ],
100
+ "ensure_object_boundary_in_range": false
101
+ },
102
+ "type": "object",
103
+ "info": {
104
+ "groups_containing_sampled_obj": [
105
+ "all",
106
+ "plate",
107
+ "receptacle",
108
+ "container",
109
+ "container_set2"
110
+ ],
111
+ "groups": [
112
+ "plate"
113
+ ],
114
+ "cat": "plate",
115
+ "split": "train",
116
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml"
117
+ },
118
+ "reset_region": {
119
+ "offset": [
120
+ -0.0005216328376732998,
121
+ 0.0121457666891846,
122
+ -0.14991802589477896
123
+ ],
124
+ "size": [
125
+ 0.2724506474900532,
126
+ 0.30497268320643156
127
+ ],
128
+ "height": 0.3108317979657754,
129
+ "name": "tray"
130
+ }
131
+ },
132
+ {
133
+ "name": "distr_counter",
134
+ "obj_groups": "all",
135
+ "placement": {
136
+ "fixture": "counter_1_left_group",
137
+ "sample_region_kwargs": {
138
+ "ref": "microwave_left_group",
139
+ "min_size": [
140
+ 0.06052125750000001,
141
+ 0.27648372400000004,
142
+ 0.0257316895
143
+ ]
144
+ },
145
+ "size": [
146
+ 0.3,
147
+ 0.3
148
+ ],
149
+ "pos": [
150
+ "ref",
151
+ 1.0
152
+ ]
153
+ },
154
+ "type": "object",
155
+ "info": {
156
+ "groups_containing_sampled_obj": [
157
+ "all",
158
+ "spatula",
159
+ "utensil"
160
+ ],
161
+ "groups": [
162
+ "all"
163
+ ],
164
+ "cat": "spatula",
165
+ "split": "train",
166
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spatula/spatula_12/model.xml"
167
+ },
168
+ "reset_region": {
169
+ "size": [
170
+ 0.8,
171
+ 0.65
172
+ ],
173
+ "offset": [
174
+ 0.0,
175
+ 0.0,
176
+ 0.46
177
+ ],
178
+ "name": "geom_0"
179
+ }
180
+ }
181
+ ],
182
+ "fixtures": {
183
+ "wall_main_1_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_main_1_backing_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_left_1_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_left_1_backing_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_right_1_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_right_1_backing_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "floor_1_room": {
202
+ "cls": "Floor"
203
+ },
204
+ "floor_1_backing_room": {
205
+ "cls": "Floor"
206
+ },
207
+ "wall_accessory_1_room": {
208
+ "cls": "WallAccessory"
209
+ },
210
+ "wall_accessory_2_room": {
211
+ "cls": "WallAccessory"
212
+ },
213
+ "light_switch_1_room": {
214
+ "cls": "WallAccessory"
215
+ },
216
+ "ligh_switch_2_room": {
217
+ "cls": "WallAccessory"
218
+ },
219
+ "light_switch_3_room": {
220
+ "cls": "WallAccessory"
221
+ },
222
+ "light_switch_4_room": {
223
+ "cls": "WallAccessory"
224
+ },
225
+ "wall_accessory_3_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "wall_accessory_4_room": {
229
+ "cls": "WallAccessory"
230
+ },
231
+ "wall_accessory_5_room": {
232
+ "cls": "WallAccessory"
233
+ },
234
+ "window_group_1_room": {
235
+ "cls": "Window"
236
+ },
237
+ "window_group_2_room": {
238
+ "cls": "Window"
239
+ },
240
+ "window_group_3_room": {
241
+ "cls": "Window"
242
+ },
243
+ "stool_1_room": {
244
+ "cls": "Stool"
245
+ },
246
+ "stool_2_room": {
247
+ "cls": "Stool"
248
+ },
249
+ "counter_1_left_group": {
250
+ "cls": "Counter"
251
+ },
252
+ "stove_left_group": {
253
+ "cls": "Stove"
254
+ },
255
+ "counter_2_left_group": {
256
+ "cls": "Counter"
257
+ },
258
+ "stack_1_left_group_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_1_left_group_1": {
262
+ "cls": "Drawer"
263
+ },
264
+ "stack_1_left_group_2": {
265
+ "cls": "Drawer"
266
+ },
267
+ "stack_1_left_group_3": {
268
+ "cls": "Drawer"
269
+ },
270
+ "stack_2_left_group_base": {
271
+ "cls": "Box"
272
+ },
273
+ "stack_2_left_group_1": {
274
+ "cls": "Drawer"
275
+ },
276
+ "stack_2_left_group_2": {
277
+ "cls": "Drawer"
278
+ },
279
+ "stack_2_left_group_3": {
280
+ "cls": "Drawer"
281
+ },
282
+ "stack_3_left_group_base": {
283
+ "cls": "Box"
284
+ },
285
+ "stack_3_left_group_1": {
286
+ "cls": "Drawer"
287
+ },
288
+ "stack_3_left_group_2": {
289
+ "cls": "Drawer"
290
+ },
291
+ "stack_3_left_group_3": {
292
+ "cls": "Drawer"
293
+ },
294
+ "stack_4_left_group_base": {
295
+ "cls": "Box"
296
+ },
297
+ "stack_4_left_group_1": {
298
+ "cls": "Drawer"
299
+ },
300
+ "stack_4_left_group_2": {
301
+ "cls": "Drawer"
302
+ },
303
+ "stack_4_left_group_3": {
304
+ "cls": "Drawer"
305
+ },
306
+ "fridge_left_group": {
307
+ "cls": "FridgeFrenchDoor"
308
+ },
309
+ "fridge_housing_left_group": {
310
+ "cls": "HousingCabinet"
311
+ },
312
+ "cab_1_left_group": {
313
+ "cls": "HingeCabinet"
314
+ },
315
+ "cab_2_left_group": {
316
+ "cls": "HingeCabinet"
317
+ },
318
+ "microwave_left_group": {
319
+ "cls": "Microwave"
320
+ },
321
+ "cab_3_left_group": {
322
+ "cls": "HingeCabinet"
323
+ },
324
+ "cab_4_left_group": {
325
+ "cls": "HingeCabinet"
326
+ },
327
+ "cab_5_left_group": {
328
+ "cls": "HingeCabinet"
329
+ },
330
+ "cab_6_left_group": {
331
+ "cls": "HingeCabinet"
332
+ },
333
+ "toaster_oven_left_group": {
334
+ "cls": "ToasterOven"
335
+ },
336
+ "coffee_machine_left_group": {
337
+ "cls": "CoffeeMachine"
338
+ },
339
+ "paper_towel_left_group": {
340
+ "cls": "Accessory"
341
+ },
342
+ "sink_right_group": {
343
+ "cls": "Sink"
344
+ },
345
+ "counter_1_right_group": {
346
+ "cls": "Counter"
347
+ },
348
+ "stack_1_right_group_base": {
349
+ "cls": "Box"
350
+ },
351
+ "stack_1_right_group_1": {
352
+ "cls": "SingleCabinet"
353
+ },
354
+ "dishwasher_right_group": {
355
+ "cls": "Dishwasher"
356
+ },
357
+ "stack_2_right_group_base": {
358
+ "cls": "Box"
359
+ },
360
+ "stack_2_right_group_1": {
361
+ "cls": "HingeCabinet"
362
+ },
363
+ "stack_3_right_group_base": {
364
+ "cls": "Box"
365
+ },
366
+ "stack_3_right_group_1": {
367
+ "cls": "Drawer"
368
+ },
369
+ "stack_3_right_group_2": {
370
+ "cls": "Drawer"
371
+ },
372
+ "stack_4_right_group_base": {
373
+ "cls": "Box"
374
+ },
375
+ "stack_4_right_group_1": {
376
+ "cls": "SingleCabinet"
377
+ },
378
+ "box_right_group": {
379
+ "cls": "Box"
380
+ },
381
+ "cab_1_right_group": {
382
+ "cls": "OpenCabinet"
383
+ },
384
+ "cab_2_right_group": {
385
+ "cls": "OpenCabinet"
386
+ },
387
+ "toaster_right_group": {
388
+ "cls": "Toaster"
389
+ },
390
+ "dining_front_group": {
391
+ "cls": "Counter"
392
+ },
393
+ "box_front_group": {
394
+ "cls": "Box"
395
+ },
396
+ "stack_1_front_group_base": {
397
+ "cls": "Box"
398
+ },
399
+ "stack_1_front_group_1": {
400
+ "cls": "SingleCabinet"
401
+ },
402
+ "stack_2_front_group_base": {
403
+ "cls": "Box"
404
+ },
405
+ "stack_2_front_group_1": {
406
+ "cls": "Drawer"
407
+ },
408
+ "stack_2_front_group_2": {
409
+ "cls": "Drawer"
410
+ },
411
+ "stack_2_front_group_3": {
412
+ "cls": "Drawer"
413
+ },
414
+ "stack_2_front_group_4": {
415
+ "cls": "Drawer"
416
+ }
417
+ },
418
+ "gen_textures": {},
419
+ "lang": "Pick the marshmallow from the counter and place it in the microwave.",
420
+ "fixture_refs": {
421
+ "microwave": "microwave_left_group",
422
+ "counter": "counter_1_left_group",
423
+ "distr_counter": "counter_1_left_group"
424
+ },
425
+ "cam_configs": {
426
+ "robot0_agentview_center": {
427
+ "pos": [
428
+ -0.6,
429
+ 0.0,
430
+ 1.15
431
+ ],
432
+ "quat": [
433
+ 0.636945903301239,
434
+ 0.3325185477733612,
435
+ -0.3199238181114197,
436
+ -0.6175596117973328
437
+ ],
438
+ "parent_body": "mobilebase0_support"
439
+ },
440
+ "robot0_agentview_left": {
441
+ "pos": [
442
+ -0.5,
443
+ 0.35,
444
+ 1.05
445
+ ],
446
+ "quat": [
447
+ 0.55623853,
448
+ 0.29935253,
449
+ -0.37678665,
450
+ -0.6775092
451
+ ],
452
+ "camera_attribs": {
453
+ "fovy": "60"
454
+ },
455
+ "parent_body": "mobilebase0_support"
456
+ },
457
+ "robot0_agentview_right": {
458
+ "pos": [
459
+ -0.5,
460
+ -0.35,
461
+ 1.05
462
+ ],
463
+ "quat": [
464
+ 0.6775091886520386,
465
+ 0.3767866790294647,
466
+ -0.2993525564670563,
467
+ -0.55623859167099
468
+ ],
469
+ "camera_attribs": {
470
+ "fovy": "60"
471
+ },
472
+ "parent_body": "mobilebase0_support"
473
+ },
474
+ "robot0_frontview": {
475
+ "pos": [
476
+ -0.5,
477
+ 0,
478
+ 0.95
479
+ ],
480
+ "quat": [
481
+ 0.6088936924934387,
482
+ 0.3814677894115448,
483
+ -0.3673907518386841,
484
+ -0.5905545353889465
485
+ ],
486
+ "camera_attribs": {
487
+ "fovy": "60"
488
+ },
489
+ "parent_body": "mobilebase0_support"
490
+ },
491
+ "robot0_eye_in_hand": {
492
+ "pos": [
493
+ 0.05,
494
+ 0,
495
+ 0
496
+ ],
497
+ "quat": [
498
+ 0,
499
+ 0.707107,
500
+ 0.707107,
501
+ 0
502
+ ],
503
+ "parent_body": "robot0_right_hand"
504
+ }
505
+ },
506
+ "init_robot_base_pos": [
507
+ 0.8122151241883878,
508
+ -2.4287240336919957,
509
+ 0.0
510
+ ],
511
+ "init_robot_base_ori": [
512
+ 0.0,
513
+ 0.0,
514
+ 3.1415926193612504
515
+ ]
516
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000071/ep_meta.json ADDED
@@ -0,0 +1,616 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 20,
3
+ "style_id": 40,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_main_group",
12
+ "min_size": [
13
+ 0.23125013257500002,
14
+ 0.23125020817500003,
15
+ 0.018714614625
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.27,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.0,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "egg",
79
+ "dairy",
80
+ "food",
81
+ "in_container",
82
+ "food_set1"
83
+ ],
84
+ "groups": [
85
+ "food"
86
+ ],
87
+ "cat": "egg",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_12/model.xml"
90
+ }
91
+ },
92
+ {
93
+ "name": "container",
94
+ "obj_groups": "plate",
95
+ "placement": {
96
+ "fixture": "microwave_main_group",
97
+ "size": [
98
+ 0.05,
99
+ 0.05
100
+ ],
101
+ "ensure_object_boundary_in_range": false
102
+ },
103
+ "type": "object",
104
+ "info": {
105
+ "groups_containing_sampled_obj": [
106
+ "all",
107
+ "plate",
108
+ "receptacle",
109
+ "container",
110
+ "container_set2"
111
+ ],
112
+ "groups": [
113
+ "plate"
114
+ ],
115
+ "cat": "plate",
116
+ "split": "train",
117
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml"
118
+ },
119
+ "reset_region": {
120
+ "offset": [
121
+ -0.08902790339520145,
122
+ 0.012427838471776323,
123
+ -0.23261179010085375
124
+ ],
125
+ "size": [
126
+ 0.3868647950435915,
127
+ 0.3336744440562758
128
+ ],
129
+ "height": 0.4950353868900138,
130
+ "name": "tray"
131
+ }
132
+ },
133
+ {
134
+ "name": "distr_counter",
135
+ "obj_groups": "all",
136
+ "placement": {
137
+ "fixture": "counter_2_main_group",
138
+ "sample_region_kwargs": {
139
+ "ref": "microwave_main_group",
140
+ "min_size": [
141
+ 0.038329868,
142
+ 0.2,
143
+ 0.039621436
144
+ ]
145
+ },
146
+ "size": [
147
+ 0.3,
148
+ 0.3
149
+ ],
150
+ "pos": [
151
+ "ref",
152
+ 1.0
153
+ ]
154
+ },
155
+ "type": "object",
156
+ "info": {
157
+ "groups_containing_sampled_obj": [
158
+ "all",
159
+ "cucumber",
160
+ "vegetable",
161
+ "food",
162
+ "in_container",
163
+ "food_set1"
164
+ ],
165
+ "groups": [
166
+ "all"
167
+ ],
168
+ "cat": "cucumber",
169
+ "split": "train",
170
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_2/model.xml"
171
+ },
172
+ "reset_region": {
173
+ "size": [
174
+ 1.312,
175
+ 0.65
176
+ ],
177
+ "offset": [
178
+ 0.0,
179
+ 0.0,
180
+ 0.46
181
+ ],
182
+ "name": "geom_0"
183
+ }
184
+ }
185
+ ],
186
+ "fixtures": {
187
+ "wall_left_1_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_left_1_backing_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_main_1_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_main_1_backing_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_front_1_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_front_1_backing_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_front_2_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_front_2_backing_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "wall_front_3_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "wall_front_3_backing_room": {
215
+ "cls": "Wall"
216
+ },
217
+ "floor_1_room": {
218
+ "cls": "Floor"
219
+ },
220
+ "floor_1_backing_room": {
221
+ "cls": "Floor"
222
+ },
223
+ "wall_accessory_1_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "wall_accessory_2_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "wall_accessory_3_room": {
230
+ "cls": "WallAccessory"
231
+ },
232
+ "wall_accessory_4_room": {
233
+ "cls": "WallAccessory"
234
+ },
235
+ "window_group_room": {
236
+ "cls": "Window"
237
+ },
238
+ "counter_corner_main_group": {
239
+ "cls": "Counter"
240
+ },
241
+ "counter_1_main_group": {
242
+ "cls": "Counter"
243
+ },
244
+ "stove_main_group": {
245
+ "cls": "Stove"
246
+ },
247
+ "counter_2_main_group": {
248
+ "cls": "Counter"
249
+ },
250
+ "stack_1_main_group_base": {
251
+ "cls": "Box"
252
+ },
253
+ "stack_1_main_group_1": {
254
+ "cls": "SingleCabinet"
255
+ },
256
+ "stack_1_main_group_2": {
257
+ "cls": "Drawer"
258
+ },
259
+ "stack_2_main_group_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_2_main_group_1": {
263
+ "cls": "SingleCabinet"
264
+ },
265
+ "box_main_group": {
266
+ "cls": "Box"
267
+ },
268
+ "stack_3_main_group_base": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_3_main_group_1": {
272
+ "cls": "SingleCabinet"
273
+ },
274
+ "stack_3_main_group_2": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_4_main_group_base": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_4_main_group_1": {
281
+ "cls": "SingleCabinet"
282
+ },
283
+ "stack_4_main_group_2": {
284
+ "cls": "Drawer"
285
+ },
286
+ "stack_5_main_group_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_5_main_group_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "stack_6_main_group_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_6_main_group_1": {
296
+ "cls": "HingeCabinet"
297
+ },
298
+ "cab_1_main_group": {
299
+ "cls": "HingeCabinet"
300
+ },
301
+ "cab_2_main_group": {
302
+ "cls": "HingeCabinet"
303
+ },
304
+ "cab_3_main_group": {
305
+ "cls": "SingleCabinet"
306
+ },
307
+ "microwave_main_group": {
308
+ "cls": "Microwave"
309
+ },
310
+ "cab_4_main_group": {
311
+ "cls": "HingeCabinet"
312
+ },
313
+ "cab_5_main_group": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "cab_6_main_group": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "coffee_machine_main_group": {
320
+ "cls": "CoffeeMachine"
321
+ },
322
+ "paper_towel_main_group": {
323
+ "cls": "Accessory"
324
+ },
325
+ "counter_corner_1_left_group": {
326
+ "cls": "Counter"
327
+ },
328
+ "sink_1_left_group": {
329
+ "cls": "Sink"
330
+ },
331
+ "counter_1_left_group": {
332
+ "cls": "Counter"
333
+ },
334
+ "box_1_left_group": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_1_left_group_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_1_left_group_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "dishwasher_1_left_group": {
344
+ "cls": "Dishwasher"
345
+ },
346
+ "stack_2_left_group_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_2_left_group_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_3_left_group_base": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_3_left_group_1": {
356
+ "cls": "SingleCabinet"
357
+ },
358
+ "box_2_left_group": {
359
+ "cls": "Box"
360
+ },
361
+ "cab_1_left_group": {
362
+ "cls": "SingleCabinet"
363
+ },
364
+ "cab_2_left_group": {
365
+ "cls": "HingeCabinet"
366
+ },
367
+ "cab_3_left_group": {
368
+ "cls": "SingleCabinet"
369
+ },
370
+ "cab_corner_left_group": {
371
+ "cls": "Box"
372
+ },
373
+ "knife_block_left_group": {
374
+ "cls": "Accessory"
375
+ },
376
+ "island_island_group_1": {
377
+ "cls": "Counter"
378
+ },
379
+ "panel_stack_1_island_group_1_base": {
380
+ "cls": "Box"
381
+ },
382
+ "panel_stack_1_island_group_1_1": {
383
+ "cls": "PanelCabinet"
384
+ },
385
+ "stack_1_island_group_1_base": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_1_island_group_1_1": {
389
+ "cls": "HingeCabinet"
390
+ },
391
+ "stack_2_island_group_1_base": {
392
+ "cls": "Box"
393
+ },
394
+ "stack_2_island_group_1_1": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "stack_3_island_group_1_base": {
398
+ "cls": "Box"
399
+ },
400
+ "stack_3_island_group_1_1": {
401
+ "cls": "HingeCabinet"
402
+ },
403
+ "panel_stack_2_island_group_1_base": {
404
+ "cls": "Box"
405
+ },
406
+ "panel_stack_2_island_group_1_1": {
407
+ "cls": "PanelCabinet"
408
+ },
409
+ "plant_island_group_1": {
410
+ "cls": "Accessory"
411
+ },
412
+ "counter_1_island_group_2": {
413
+ "cls": "Counter"
414
+ },
415
+ "panel_stack_1_island_group_2_base": {
416
+ "cls": "Box"
417
+ },
418
+ "panel_stack_1_island_group_2_1": {
419
+ "cls": "PanelCabinet"
420
+ },
421
+ "stack_1_island_group_2_base": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_1_island_group_2_1": {
425
+ "cls": "Drawer"
426
+ },
427
+ "stack_1_island_group_2_2": {
428
+ "cls": "Drawer"
429
+ },
430
+ "stack_2_island_group_2_base": {
431
+ "cls": "Box"
432
+ },
433
+ "stack_2_island_group_2_1": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_2_island_group_2_2": {
437
+ "cls": "Drawer"
438
+ },
439
+ "stack_3_island_group_2_base": {
440
+ "cls": "Box"
441
+ },
442
+ "stack_3_island_group_2_1": {
443
+ "cls": "Drawer"
444
+ },
445
+ "stack_3_island_group_2_2": {
446
+ "cls": "Drawer"
447
+ },
448
+ "panel_stack_2_island_group_2_base": {
449
+ "cls": "Box"
450
+ },
451
+ "panel_stack_2_island_group_2_1": {
452
+ "cls": "PanelCabinet"
453
+ },
454
+ "counter_1_front_group_1": {
455
+ "cls": "Counter"
456
+ },
457
+ "fridge_1_front_group_1": {
458
+ "cls": "FridgeFrenchDoor"
459
+ },
460
+ "fridge_1_housing_front_group_1": {
461
+ "cls": "HousingCabinet"
462
+ },
463
+ "stack_1_front_group_1_base": {
464
+ "cls": "Box"
465
+ },
466
+ "stack_1_front_group_1_1": {
467
+ "cls": "HingeCabinet"
468
+ },
469
+ "box_front_group_1": {
470
+ "cls": "Box"
471
+ },
472
+ "cab_1_front_group_1": {
473
+ "cls": "HingeCabinet"
474
+ },
475
+ "cab_2_front_group_1": {
476
+ "cls": "SingleCabinet"
477
+ },
478
+ "cab_3_front_group_1": {
479
+ "cls": "SingleCabinet"
480
+ },
481
+ "toaster_front_group_1": {
482
+ "cls": "Toaster"
483
+ },
484
+ "counter_1_front_group_2": {
485
+ "cls": "Counter"
486
+ },
487
+ "stack_1_front_group_2_base": {
488
+ "cls": "Box"
489
+ },
490
+ "stack_1_front_group_2_1": {
491
+ "cls": "SingleCabinet"
492
+ },
493
+ "stack_2_front_group_2_base": {
494
+ "cls": "Box"
495
+ },
496
+ "stack_2_front_group_2_1": {
497
+ "cls": "SingleCabinet"
498
+ },
499
+ "stack_3_front_group_2_base": {
500
+ "cls": "Box"
501
+ },
502
+ "stack_3_front_group_2_1": {
503
+ "cls": "SingleCabinet"
504
+ },
505
+ "cab_1_front_group_2": {
506
+ "cls": "HingeCabinet"
507
+ },
508
+ "cab_2_front_group_2": {
509
+ "cls": "HingeCabinet"
510
+ },
511
+ "cab_3_front_group_2": {
512
+ "cls": "HingeCabinet"
513
+ },
514
+ "toaster_oven_front_group_2": {
515
+ "cls": "ToasterOven"
516
+ }
517
+ },
518
+ "gen_textures": {},
519
+ "lang": "Pick the egg from the counter and place it in the microwave.",
520
+ "fixture_refs": {
521
+ "microwave": "microwave_main_group",
522
+ "counter": "counter_1_main_group",
523
+ "distr_counter": "counter_2_main_group"
524
+ },
525
+ "cam_configs": {
526
+ "robot0_agentview_center": {
527
+ "pos": [
528
+ -0.6,
529
+ 0.0,
530
+ 1.15
531
+ ],
532
+ "quat": [
533
+ 0.636945903301239,
534
+ 0.3325185477733612,
535
+ -0.3199238181114197,
536
+ -0.6175596117973328
537
+ ],
538
+ "parent_body": "mobilebase0_support"
539
+ },
540
+ "robot0_agentview_left": {
541
+ "pos": [
542
+ -0.5,
543
+ 0.35,
544
+ 1.05
545
+ ],
546
+ "quat": [
547
+ 0.55623853,
548
+ 0.29935253,
549
+ -0.37678665,
550
+ -0.6775092
551
+ ],
552
+ "camera_attribs": {
553
+ "fovy": "60"
554
+ },
555
+ "parent_body": "mobilebase0_support"
556
+ },
557
+ "robot0_agentview_right": {
558
+ "pos": [
559
+ -0.5,
560
+ -0.35,
561
+ 1.05
562
+ ],
563
+ "quat": [
564
+ 0.6775091886520386,
565
+ 0.3767866790294647,
566
+ -0.2993525564670563,
567
+ -0.55623859167099
568
+ ],
569
+ "camera_attribs": {
570
+ "fovy": "60"
571
+ },
572
+ "parent_body": "mobilebase0_support"
573
+ },
574
+ "robot0_frontview": {
575
+ "pos": [
576
+ -0.5,
577
+ 0,
578
+ 0.95
579
+ ],
580
+ "quat": [
581
+ 0.6088936924934387,
582
+ 0.3814677894115448,
583
+ -0.3673907518386841,
584
+ -0.5905545353889465
585
+ ],
586
+ "camera_attribs": {
587
+ "fovy": "60"
588
+ },
589
+ "parent_body": "mobilebase0_support"
590
+ },
591
+ "robot0_eye_in_hand": {
592
+ "pos": [
593
+ 0.05,
594
+ 0,
595
+ 0
596
+ ],
597
+ "quat": [
598
+ 0,
599
+ 0.707107,
600
+ 0.707107,
601
+ 0
602
+ ],
603
+ "parent_body": "robot0_right_hand"
604
+ }
605
+ },
606
+ "init_robot_base_pos": [
607
+ 2.386624703869491,
608
+ -0.9481342094001445,
609
+ 0.0
610
+ ],
611
+ "init_robot_base_ori": [
612
+ 0.0,
613
+ 0.0,
614
+ 1.5707963267948966
615
+ ]
616
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000072/ep_meta.json ADDED
@@ -0,0 +1,435 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 40,
3
+ "style_id": 21,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_1_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_right_group_1",
12
+ "min_size": [
13
+ 0.23316937559999998,
14
+ 0.233169455925,
15
+ 0.019775783475
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 0.7425752358958161,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.8462123820520919,
51
+ -3.469446951953614e-17,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "squash",
79
+ "vegetable",
80
+ "food",
81
+ "in_container"
82
+ ],
83
+ "groups": [
84
+ "food"
85
+ ],
86
+ "cat": "squash",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml"
89
+ }
90
+ },
91
+ {
92
+ "name": "container",
93
+ "obj_groups": "plate",
94
+ "placement": {
95
+ "fixture": "microwave_right_group_1",
96
+ "size": [
97
+ 0.05,
98
+ 0.05
99
+ ],
100
+ "ensure_object_boundary_in_range": false
101
+ },
102
+ "type": "object",
103
+ "info": {
104
+ "groups_containing_sampled_obj": [
105
+ "all",
106
+ "plate",
107
+ "receptacle",
108
+ "container",
109
+ "container_set2"
110
+ ],
111
+ "groups": [
112
+ "plate"
113
+ ],
114
+ "cat": "plate",
115
+ "split": "train",
116
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
117
+ },
118
+ "reset_region": {
119
+ "offset": [
120
+ -0.09268829426470072,
121
+ 0.03854963778151615,
122
+ -0.16159859801674964
123
+ ],
124
+ "size": [
125
+ 0.3729765088913902,
126
+ 0.2816993425872131
127
+ ],
128
+ "height": 0.31203384005344115,
129
+ "name": "tray"
130
+ }
131
+ },
132
+ {
133
+ "name": "distr_counter",
134
+ "obj_groups": "all",
135
+ "placement": {
136
+ "fixture": "counter_1_right_group_1",
137
+ "sample_region_kwargs": {
138
+ "ref": "microwave_right_group_1",
139
+ "min_size": [
140
+ 0.04619496,
141
+ 0.04619496,
142
+ 0.10412942400000001
143
+ ]
144
+ },
145
+ "size": [
146
+ 0.3,
147
+ 0.3
148
+ ],
149
+ "pos": [
150
+ "ref",
151
+ 1.0
152
+ ]
153
+ },
154
+ "type": "object",
155
+ "info": {
156
+ "groups_containing_sampled_obj": [
157
+ "all",
158
+ "salt_and_pepper_shaker",
159
+ "spice"
160
+ ],
161
+ "groups": [
162
+ "all"
163
+ ],
164
+ "cat": "salt_and_pepper_shaker",
165
+ "split": "train",
166
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/salt_and_pepper_shaker/SaltShaker001/model.xml"
167
+ },
168
+ "reset_region": {
169
+ "size": [
170
+ 0.7425752358958161,
171
+ 0.65
172
+ ],
173
+ "offset": [
174
+ 0.8462123820520919,
175
+ -3.469446951953614e-17,
176
+ 0.46
177
+ ],
178
+ "name": "geom_0"
179
+ }
180
+ }
181
+ ],
182
+ "fixtures": {
183
+ "wall_left_1_room": {
184
+ "cls": "Wall"
185
+ },
186
+ "wall_left_1_backing_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_main_1_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_main_1_backing_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_right_1_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_right_1_backing_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "wall_main_2_room": {
202
+ "cls": "Wall"
203
+ },
204
+ "wall_main_2_backing_room": {
205
+ "cls": "Wall"
206
+ },
207
+ "floor_1_room": {
208
+ "cls": "Floor"
209
+ },
210
+ "floor_1_backing_room": {
211
+ "cls": "Floor"
212
+ },
213
+ "floor_2_room": {
214
+ "cls": "Floor"
215
+ },
216
+ "floor_2_backing_room": {
217
+ "cls": "Floor"
218
+ },
219
+ "lightswitch_room": {
220
+ "cls": "WallAccessory"
221
+ },
222
+ "wallaccessory.002_room": {
223
+ "cls": "WallAccessory"
224
+ },
225
+ "wallaccessory.001_room": {
226
+ "cls": "WallAccessory"
227
+ },
228
+ "wallaccessory.003_room": {
229
+ "cls": "WallAccessory"
230
+ },
231
+ "window_group_room": {
232
+ "cls": "Window"
233
+ },
234
+ "counter_corner_1_main_group_1": {
235
+ "cls": "Counter"
236
+ },
237
+ "counter_1_main_group_1": {
238
+ "cls": "Counter"
239
+ },
240
+ "hingecabinet_1_main_group_1": {
241
+ "cls": "HingeCabinet"
242
+ },
243
+ "singlecabinet_1_main_group_1": {
244
+ "cls": "SingleCabinet"
245
+ },
246
+ "box_1_main_group_1": {
247
+ "cls": "Box"
248
+ },
249
+ "stack_1_main_group_1_base": {
250
+ "cls": "Box"
251
+ },
252
+ "stack_1_main_group_1_1": {
253
+ "cls": "HingeCabinet"
254
+ },
255
+ "stack_1_main_group_1_2": {
256
+ "cls": "Drawer"
257
+ },
258
+ "stack_2_main_group_1_base": {
259
+ "cls": "Box"
260
+ },
261
+ "stack_2_main_group_1_1": {
262
+ "cls": "SingleCabinet"
263
+ },
264
+ "cube_2_main_group_1": {
265
+ "cls": "Box"
266
+ },
267
+ "coffeemachine_main_group_1": {
268
+ "cls": "CoffeeMachine"
269
+ },
270
+ "papertowel_main_group_1": {
271
+ "cls": "Accessory"
272
+ },
273
+ "sink_right_group_1": {
274
+ "cls": "Sink"
275
+ },
276
+ "counter_1_right_group_1": {
277
+ "cls": "Counter"
278
+ },
279
+ "stove_right_group_1": {
280
+ "cls": "Stove"
281
+ },
282
+ "microwave_right_group_1": {
283
+ "cls": "Microwave"
284
+ },
285
+ "micro_cab_right_group_1": {
286
+ "cls": "HingeCabinet"
287
+ },
288
+ "singlecabinet_1_right_group_1": {
289
+ "cls": "SingleCabinet"
290
+ },
291
+ "singlecabinet_2_right_group_1": {
292
+ "cls": "SingleCabinet"
293
+ },
294
+ "box_1_right_group_1": {
295
+ "cls": "Box"
296
+ },
297
+ "stack_1_right_group_1_base": {
298
+ "cls": "Box"
299
+ },
300
+ "stack_1_right_group_1_1": {
301
+ "cls": "SingleCabinet"
302
+ },
303
+ "stack_2_right_group_1_base": {
304
+ "cls": "Box"
305
+ },
306
+ "stack_2_right_group_1_1": {
307
+ "cls": "SingleCabinet"
308
+ },
309
+ "stack_2_right_group_1_2": {
310
+ "cls": "Drawer"
311
+ },
312
+ "stack_3_right_group_1_base": {
313
+ "cls": "Box"
314
+ },
315
+ "stack_3_right_group_1_1": {
316
+ "cls": "HingeCabinet"
317
+ },
318
+ "dishwasher_1_right_group_1": {
319
+ "cls": "Dishwasher"
320
+ },
321
+ "box_2_right_group_1": {
322
+ "cls": "Box"
323
+ },
324
+ "toaster_right_group_1": {
325
+ "cls": "Toaster"
326
+ },
327
+ "fridgefrenchdoor_right_group_1": {
328
+ "cls": "FridgeFrenchDoor"
329
+ },
330
+ "fridgefrenchdoor_housing_right_group_1": {
331
+ "cls": "HousingCabinet"
332
+ },
333
+ "hingecabinet_1_right_group_1": {
334
+ "cls": "HingeCabinet"
335
+ }
336
+ },
337
+ "gen_textures": {},
338
+ "lang": "Pick the squash from the counter and place it in the microwave.",
339
+ "fixture_refs": {
340
+ "microwave": "microwave_right_group_1",
341
+ "counter": "counter_1_right_group_1",
342
+ "distr_counter": "counter_1_right_group_1"
343
+ },
344
+ "cam_configs": {
345
+ "robot0_agentview_center": {
346
+ "pos": [
347
+ -0.6,
348
+ 0.0,
349
+ 1.15
350
+ ],
351
+ "quat": [
352
+ 0.636945903301239,
353
+ 0.3325185477733612,
354
+ -0.3199238181114197,
355
+ -0.6175596117973328
356
+ ],
357
+ "parent_body": "mobilebase0_support"
358
+ },
359
+ "robot0_agentview_left": {
360
+ "pos": [
361
+ -0.5,
362
+ 0.35,
363
+ 1.05
364
+ ],
365
+ "quat": [
366
+ 0.55623853,
367
+ 0.29935253,
368
+ -0.37678665,
369
+ -0.6775092
370
+ ],
371
+ "camera_attribs": {
372
+ "fovy": "60"
373
+ },
374
+ "parent_body": "mobilebase0_support"
375
+ },
376
+ "robot0_agentview_right": {
377
+ "pos": [
378
+ -0.5,
379
+ -0.35,
380
+ 1.05
381
+ ],
382
+ "quat": [
383
+ 0.6775091886520386,
384
+ 0.3767866790294647,
385
+ -0.2993525564670563,
386
+ -0.55623859167099
387
+ ],
388
+ "camera_attribs": {
389
+ "fovy": "60"
390
+ },
391
+ "parent_body": "mobilebase0_support"
392
+ },
393
+ "robot0_frontview": {
394
+ "pos": [
395
+ -0.5,
396
+ 0,
397
+ 0.95
398
+ ],
399
+ "quat": [
400
+ 0.6088936924934387,
401
+ 0.3814677894115448,
402
+ -0.3673907518386841,
403
+ -0.5905545353889465
404
+ ],
405
+ "camera_attribs": {
406
+ "fovy": "60"
407
+ },
408
+ "parent_body": "mobilebase0_support"
409
+ },
410
+ "robot0_eye_in_hand": {
411
+ "pos": [
412
+ 0.05,
413
+ 0,
414
+ 0
415
+ ],
416
+ "quat": [
417
+ 0,
418
+ 0.707107,
419
+ 0.707107,
420
+ 0
421
+ ],
422
+ "parent_body": "robot0_right_hand"
423
+ }
424
+ },
425
+ "init_robot_base_pos": [
426
+ 2.8783885372880422,
427
+ -3.334713241419942,
428
+ 0.0
429
+ ],
430
+ "init_robot_base_ori": [
431
+ 0.0,
432
+ 0.0,
433
+ 0.00030199704781619374
434
+ ]
435
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000073/ep_meta.json ADDED
@@ -0,0 +1,551 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 28,
3
+ "style_id": 39,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_2_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_main_group",
12
+ "min_size": [
13
+ 0.24499104372000002,
14
+ 0.24499081394999997,
15
+ 0.02685923388
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.3803843019160478,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ -1.1498078490419763,
51
+ -3.469446951953614e-17,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "cheese",
79
+ "dairy",
80
+ "food",
81
+ "in_container",
82
+ "food_set1"
83
+ ],
84
+ "groups": [
85
+ "food"
86
+ ],
87
+ "cat": "cheese",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml"
90
+ }
91
+ },
92
+ {
93
+ "name": "container",
94
+ "obj_groups": "plate",
95
+ "placement": {
96
+ "fixture": "microwave_main_group",
97
+ "size": [
98
+ 0.05,
99
+ 0.05
100
+ ],
101
+ "ensure_object_boundary_in_range": false
102
+ },
103
+ "type": "object",
104
+ "info": {
105
+ "groups_containing_sampled_obj": [
106
+ "all",
107
+ "plate",
108
+ "receptacle",
109
+ "container",
110
+ "container_set2"
111
+ ],
112
+ "groups": [
113
+ "plate"
114
+ ],
115
+ "cat": "plate",
116
+ "split": "train",
117
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml"
118
+ },
119
+ "reset_region": {
120
+ "offset": [
121
+ -0.07813392680594548,
122
+ 0.007897180480536156,
123
+ -0.1701941020746551
124
+ ],
125
+ "size": [
126
+ 0.468924573222375,
127
+ 0.3603031373123089
128
+ ],
129
+ "height": 0.3445813075406271,
130
+ "name": "tray"
131
+ }
132
+ },
133
+ {
134
+ "name": "distr_counter",
135
+ "obj_groups": "all",
136
+ "placement": {
137
+ "fixture": "counter_1_main_group",
138
+ "sample_region_kwargs": {
139
+ "ref": "microwave_main_group",
140
+ "min_size": [
141
+ 0.06764915712000001,
142
+ 0.06738900992000002,
143
+ 0.2559791257600001
144
+ ]
145
+ },
146
+ "size": [
147
+ 0.3,
148
+ 0.3
149
+ ],
150
+ "pos": [
151
+ "ref",
152
+ 1.0
153
+ ]
154
+ },
155
+ "type": "object",
156
+ "info": {
157
+ "groups_containing_sampled_obj": [
158
+ "all",
159
+ "wine",
160
+ "drink",
161
+ "alcohol"
162
+ ],
163
+ "groups": [
164
+ "all"
165
+ ],
166
+ "cat": "wine",
167
+ "split": "train",
168
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/wine/wine_10/model.xml"
169
+ },
170
+ "reset_region": {
171
+ "size": [
172
+ 0.5,
173
+ 0.65
174
+ ],
175
+ "offset": [
176
+ 0.0,
177
+ 0.0,
178
+ 0.46
179
+ ],
180
+ "name": "geom_0"
181
+ }
182
+ }
183
+ ],
184
+ "fixtures": {
185
+ "wall_left_1_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_left_1_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_main_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_main_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_right_1_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_right_1_backing_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "wall_right_3_room": {
204
+ "cls": "Wall"
205
+ },
206
+ "wall_right_3_backing_room": {
207
+ "cls": "Wall"
208
+ },
209
+ "wall_left_3_room": {
210
+ "cls": "Wall"
211
+ },
212
+ "wall_left_3_backing_room": {
213
+ "cls": "Wall"
214
+ },
215
+ "wall_left_2_room": {
216
+ "cls": "Wall"
217
+ },
218
+ "wall_left_2_backing_room": {
219
+ "cls": "Wall"
220
+ },
221
+ "wall_right_2_room": {
222
+ "cls": "Wall"
223
+ },
224
+ "wall_right_2_backing_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "floor_1_room": {
228
+ "cls": "Floor"
229
+ },
230
+ "floor_1_backing_room": {
231
+ "cls": "Floor"
232
+ },
233
+ "wall_accessory_1_room": {
234
+ "cls": "WallAccessory"
235
+ },
236
+ "wall_accessory_2_room": {
237
+ "cls": "WallAccessory"
238
+ },
239
+ "light_switch_1_room": {
240
+ "cls": "WallAccessory"
241
+ },
242
+ "window_group_room": {
243
+ "cls": "Window"
244
+ },
245
+ "stool_1_room": {
246
+ "cls": "Stool"
247
+ },
248
+ "stool_2_room": {
249
+ "cls": "Stool"
250
+ },
251
+ "stool_3_room": {
252
+ "cls": "Stool"
253
+ },
254
+ "stool_4_room": {
255
+ "cls": "Stool"
256
+ },
257
+ "bottom_main_group_base": {
258
+ "cls": "Box"
259
+ },
260
+ "bottom_main_group_1": {
261
+ "cls": "HingeCabinet"
262
+ },
263
+ "microwave_main_group": {
264
+ "cls": "Microwave"
265
+ },
266
+ "microwave_housing_main_group": {
267
+ "cls": "HousingCabinet"
268
+ },
269
+ "top_main_group": {
270
+ "cls": "HingeCabinet"
271
+ },
272
+ "counter_1_main_group": {
273
+ "cls": "Counter"
274
+ },
275
+ "sink_main_group": {
276
+ "cls": "Sink"
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
+ "stack_2_main_group_2": {
297
+ "cls": "Drawer"
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
+ "oven_main_group": {
324
+ "cls": "Oven"
325
+ },
326
+ "stack_6_main_group_base": {
327
+ "cls": "Box"
328
+ },
329
+ "stack_6_main_group_1": {
330
+ "cls": "HingeCabinet"
331
+ },
332
+ "stack_6_main_group_2": {
333
+ "cls": "Drawer"
334
+ },
335
+ "stack_7_main_group_base": {
336
+ "cls": "Box"
337
+ },
338
+ "stack_7_main_group_1": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_7_main_group_2": {
342
+ "cls": "HingeCabinet"
343
+ },
344
+ "stack_7_main_group_3": {
345
+ "cls": "SingleCabinet"
346
+ },
347
+ "cab_1_main_group": {
348
+ "cls": "SingleCabinet"
349
+ },
350
+ "cab_2_main_group": {
351
+ "cls": "HingeCabinet"
352
+ },
353
+ "cab_3_main_group": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "coffee_machine_main_group": {
357
+ "cls": "CoffeeMachine"
358
+ },
359
+ "toaster_main_group": {
360
+ "cls": "Toaster"
361
+ },
362
+ "toaster_oven_main_group": {
363
+ "cls": "ToasterOven"
364
+ },
365
+ "paper_towel_main_group": {
366
+ "cls": "Accessory"
367
+ },
368
+ "fridge_right_group": {
369
+ "cls": "FridgeBottomFreezer"
370
+ },
371
+ "fridge_housing_right_group": {
372
+ "cls": "HousingCabinet"
373
+ },
374
+ "fridge_top_right_group": {
375
+ "cls": "HingeCabinet"
376
+ },
377
+ "stovetop_island_group": {
378
+ "cls": "Stovetop"
379
+ },
380
+ "counter_1_island_group": {
381
+ "cls": "Counter"
382
+ },
383
+ "island_island_group": {
384
+ "cls": "Counter"
385
+ },
386
+ "cube_island_group": {
387
+ "cls": "Box"
388
+ },
389
+ "panel_cab_1_island_group_base": {
390
+ "cls": "Box"
391
+ },
392
+ "panel_cab_1_island_group_1": {
393
+ "cls": "PanelCabinet"
394
+ },
395
+ "stack_1_island_group_base": {
396
+ "cls": "Box"
397
+ },
398
+ "stack_1_island_group_1": {
399
+ "cls": "SingleCabinet"
400
+ },
401
+ "stack_1_island_group_2": {
402
+ "cls": "Drawer"
403
+ },
404
+ "dishwasher_island_group": {
405
+ "cls": "Dishwasher"
406
+ },
407
+ "stack_2_island_group_base": {
408
+ "cls": "Box"
409
+ },
410
+ "stack_2_island_group_1": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "stack_3_island_group_base": {
414
+ "cls": "Box"
415
+ },
416
+ "stack_3_island_group_1": {
417
+ "cls": "Drawer"
418
+ },
419
+ "stack_3_island_group_2": {
420
+ "cls": "Drawer"
421
+ },
422
+ "stack_3_island_group_3": {
423
+ "cls": "Drawer"
424
+ },
425
+ "stack_4_island_group_base": {
426
+ "cls": "Box"
427
+ },
428
+ "stack_4_island_group_1": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_4_island_group_2": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_4_island_group_3": {
435
+ "cls": "Drawer"
436
+ },
437
+ "stack_5_island_group_base": {
438
+ "cls": "Box"
439
+ },
440
+ "stack_5_island_group_1": {
441
+ "cls": "SingleCabinet"
442
+ },
443
+ "stack_5_island_group_2": {
444
+ "cls": "Drawer"
445
+ },
446
+ "panel_cab_2_island_group_base": {
447
+ "cls": "Box"
448
+ },
449
+ "panel_cab_2_island_group_1": {
450
+ "cls": "PanelCabinet"
451
+ }
452
+ },
453
+ "gen_textures": {},
454
+ "lang": "Pick the cheese from the counter and place it in the microwave.",
455
+ "fixture_refs": {
456
+ "microwave": "microwave_main_group",
457
+ "counter": "counter_2_main_group",
458
+ "distr_counter": "counter_1_main_group"
459
+ },
460
+ "cam_configs": {
461
+ "robot0_agentview_center": {
462
+ "pos": [
463
+ -0.6,
464
+ 0.0,
465
+ 1.15
466
+ ],
467
+ "quat": [
468
+ 0.636945903301239,
469
+ 0.3325185477733612,
470
+ -0.3199238181114197,
471
+ -0.6175596117973328
472
+ ],
473
+ "parent_body": "mobilebase0_support"
474
+ },
475
+ "robot0_agentview_left": {
476
+ "pos": [
477
+ -0.5,
478
+ 0.35,
479
+ 1.05
480
+ ],
481
+ "quat": [
482
+ 0.55623853,
483
+ 0.29935253,
484
+ -0.37678665,
485
+ -0.6775092
486
+ ],
487
+ "camera_attribs": {
488
+ "fovy": "60"
489
+ },
490
+ "parent_body": "mobilebase0_support"
491
+ },
492
+ "robot0_agentview_right": {
493
+ "pos": [
494
+ -0.5,
495
+ -0.35,
496
+ 1.05
497
+ ],
498
+ "quat": [
499
+ 0.6775091886520386,
500
+ 0.3767866790294647,
501
+ -0.2993525564670563,
502
+ -0.55623859167099
503
+ ],
504
+ "camera_attribs": {
505
+ "fovy": "60"
506
+ },
507
+ "parent_body": "mobilebase0_support"
508
+ },
509
+ "robot0_frontview": {
510
+ "pos": [
511
+ -0.5,
512
+ 0,
513
+ 0.95
514
+ ],
515
+ "quat": [
516
+ 0.6088936924934387,
517
+ 0.3814677894115448,
518
+ -0.3673907518386841,
519
+ -0.5905545353889465
520
+ ],
521
+ "camera_attribs": {
522
+ "fovy": "60"
523
+ },
524
+ "parent_body": "mobilebase0_support"
525
+ },
526
+ "robot0_eye_in_hand": {
527
+ "pos": [
528
+ 0.05,
529
+ 0,
530
+ 0
531
+ ],
532
+ "quat": [
533
+ 0,
534
+ 0.707107,
535
+ 0.707107,
536
+ 0
537
+ ],
538
+ "parent_body": "robot0_right_hand"
539
+ }
540
+ },
541
+ "init_robot_base_pos": [
542
+ 0.9936229400917694,
543
+ -0.9858725330236179,
544
+ 0.0
545
+ ],
546
+ "init_robot_base_ori": [
547
+ 0.0,
548
+ 0.0,
549
+ 1.5707963267948966
550
+ ]
551
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000074/ep_meta.json ADDED
@@ -0,0 +1,554 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 16,
3
+ "style_id": 16,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_main_group_1",
12
+ "min_size": [
13
+ 0.23270280075,
14
+ 0.23270367960000002,
15
+ 0.0122388154875
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 0.4,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.0,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "carrot",
79
+ "vegetable",
80
+ "food",
81
+ "in_container",
82
+ "food_set1",
83
+ "group1"
84
+ ],
85
+ "groups": [
86
+ "food"
87
+ ],
88
+ "cat": "carrot",
89
+ "split": "train",
90
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml"
91
+ }
92
+ },
93
+ {
94
+ "name": "container",
95
+ "obj_groups": "plate",
96
+ "placement": {
97
+ "fixture": "microwave_main_group_1",
98
+ "size": [
99
+ 0.05,
100
+ 0.05
101
+ ],
102
+ "ensure_object_boundary_in_range": false
103
+ },
104
+ "type": "object",
105
+ "info": {
106
+ "groups_containing_sampled_obj": [
107
+ "all",
108
+ "plate",
109
+ "receptacle",
110
+ "container",
111
+ "container_set2"
112
+ ],
113
+ "groups": [
114
+ "plate"
115
+ ],
116
+ "cat": "plate",
117
+ "split": "train",
118
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml"
119
+ },
120
+ "reset_region": {
121
+ "offset": [
122
+ -0.08731859081150922,
123
+ -0.032179416038614135,
124
+ -0.1658766905931489
125
+ ],
126
+ "size": [
127
+ 0.3837380317353295,
128
+ 0.30147956197607606
129
+ ],
130
+ "height": 0.33087970855247434,
131
+ "name": "tray"
132
+ }
133
+ },
134
+ {
135
+ "name": "distr_counter",
136
+ "obj_groups": "all",
137
+ "placement": {
138
+ "fixture": "counter_1_main_group_1",
139
+ "sample_region_kwargs": {
140
+ "ref": "microwave_main_group_1",
141
+ "min_size": [
142
+ 0.0428590073,
143
+ 0.11305835380000002,
144
+ 0.05232753230000001
145
+ ]
146
+ },
147
+ "size": [
148
+ 0.3,
149
+ 0.3
150
+ ],
151
+ "pos": [
152
+ "ref",
153
+ 1.0
154
+ ]
155
+ },
156
+ "type": "object",
157
+ "info": {
158
+ "groups_containing_sampled_obj": [
159
+ "all",
160
+ "sweet_potato",
161
+ "vegetable",
162
+ "food",
163
+ "in_container",
164
+ "oven_ready"
165
+ ],
166
+ "groups": [
167
+ "all"
168
+ ],
169
+ "cat": "sweet_potato",
170
+ "split": "train",
171
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml"
172
+ },
173
+ "reset_region": {
174
+ "size": [
175
+ 0.4,
176
+ 0.65
177
+ ],
178
+ "offset": [
179
+ 0.0,
180
+ 0.0,
181
+ 0.46
182
+ ],
183
+ "name": "geom_0"
184
+ }
185
+ }
186
+ ],
187
+ "fixtures": {
188
+ "wall_left_3_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_left_3_backing_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_main_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_main_backing_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "wall_right_1_room": {
201
+ "cls": "Wall"
202
+ },
203
+ "wall_right_1_backing_room": {
204
+ "cls": "Wall"
205
+ },
206
+ "wall_left_2_room": {
207
+ "cls": "Wall"
208
+ },
209
+ "wall_left_2_backing_room": {
210
+ "cls": "Wall"
211
+ },
212
+ "wall_left_1_room": {
213
+ "cls": "Wall"
214
+ },
215
+ "wall_left_1_backing_room": {
216
+ "cls": "Wall"
217
+ },
218
+ "wall_left_4_room": {
219
+ "cls": "Wall"
220
+ },
221
+ "wall_left_4_backing_room": {
222
+ "cls": "Wall"
223
+ },
224
+ "wall_left_5_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "wall_left_5_backing_room": {
228
+ "cls": "Wall"
229
+ },
230
+ "wall_right_3_room": {
231
+ "cls": "Wall"
232
+ },
233
+ "wall_right_3_backing_room": {
234
+ "cls": "Wall"
235
+ },
236
+ "wall_right_2_room": {
237
+ "cls": "Wall"
238
+ },
239
+ "wall_right_2_backing_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_right_4_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_right_4_backing_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "floor_1_room": {
249
+ "cls": "Floor"
250
+ },
251
+ "floor_1_backing_room": {
252
+ "cls": "Floor"
253
+ },
254
+ "floor_2_room": {
255
+ "cls": "Floor"
256
+ },
257
+ "floor_2_backing_room": {
258
+ "cls": "Floor"
259
+ },
260
+ "wall_accessory_1_room": {
261
+ "cls": "WallAccessory"
262
+ },
263
+ "wall_accessory_2_room": {
264
+ "cls": "WallAccessory"
265
+ },
266
+ "wall_accessory_3_room": {
267
+ "cls": "WallAccessory"
268
+ },
269
+ "light_switch_1_room": {
270
+ "cls": "WallAccessory"
271
+ },
272
+ "light_switch_2_room": {
273
+ "cls": "WallAccessory"
274
+ },
275
+ "stool_1_room": {
276
+ "cls": "Stool"
277
+ },
278
+ "stool_2_room": {
279
+ "cls": "Stool"
280
+ },
281
+ "stool_3_room": {
282
+ "cls": "Stool"
283
+ },
284
+ "counter_1_main_group_1": {
285
+ "cls": "Counter"
286
+ },
287
+ "stove_main_group_1": {
288
+ "cls": "Stove"
289
+ },
290
+ "counter_corner_main_group_1": {
291
+ "cls": "Counter"
292
+ },
293
+ "stack_1_main_group_1_base": {
294
+ "cls": "Box"
295
+ },
296
+ "stack_1_main_group_1_1": {
297
+ "cls": "SingleCabinet"
298
+ },
299
+ "fridge_1_main_group_1": {
300
+ "cls": "FridgeFrenchDoor"
301
+ },
302
+ "fridge_1_housing_main_group_1": {
303
+ "cls": "HousingCabinet"
304
+ },
305
+ "fridge_top_main_group_1": {
306
+ "cls": "HingeCabinet"
307
+ },
308
+ "cab_1_main_group_1": {
309
+ "cls": "SingleCabinet"
310
+ },
311
+ "cab_corner_main_group_1": {
312
+ "cls": "Box"
313
+ },
314
+ "microwave_main_group_1": {
315
+ "cls": "Microwave"
316
+ },
317
+ "cab_2_main_group_1": {
318
+ "cls": "HingeCabinet"
319
+ },
320
+ "cab_3_main_group_1": {
321
+ "cls": "SingleCabinet"
322
+ },
323
+ "paper_towel_main_group_1": {
324
+ "cls": "Accessory"
325
+ },
326
+ "sink_1_right_group_1": {
327
+ "cls": "Sink"
328
+ },
329
+ "counter_1_right_group_1": {
330
+ "cls": "Counter"
331
+ },
332
+ "box_1_right_group_1": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_1_right_group_1_base": {
336
+ "cls": "Box"
337
+ },
338
+ "stack_1_right_group_1_1": {
339
+ "cls": "HingeCabinet"
340
+ },
341
+ "stack_1_right_group_1_2": {
342
+ "cls": "Drawer"
343
+ },
344
+ "stack_1_right_group_1_3": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_2_right_group_1_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_2_right_group_1_1": {
351
+ "cls": "HingeCabinet"
352
+ },
353
+ "stack_2_right_group_1_2": {
354
+ "cls": "Drawer"
355
+ },
356
+ "stack_2_right_group_1_3": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_3_right_group_1_base": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_3_right_group_1_1": {
363
+ "cls": "HingeCabinet"
364
+ },
365
+ "stack_3_right_group_1_2": {
366
+ "cls": "PanelCabinet"
367
+ },
368
+ "stack_4_right_group_1_base": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_4_right_group_1_1": {
372
+ "cls": "HingeCabinet"
373
+ },
374
+ "stack_4_right_group_1_2": {
375
+ "cls": "Drawer"
376
+ },
377
+ "stack_4_right_group_1_3": {
378
+ "cls": "Drawer"
379
+ },
380
+ "stack_5_right_group_1_base": {
381
+ "cls": "Box"
382
+ },
383
+ "stack_5_right_group_1_1": {
384
+ "cls": "HingeCabinet"
385
+ },
386
+ "stack_5_right_group_1_2": {
387
+ "cls": "Drawer"
388
+ },
389
+ "stack_5_right_group_1_3": {
390
+ "cls": "Drawer"
391
+ },
392
+ "dishwasher_right_group_1": {
393
+ "cls": "Dishwasher"
394
+ },
395
+ "panel_stack_right_group_1_base": {
396
+ "cls": "Box"
397
+ },
398
+ "panel_stack_right_group_1_1": {
399
+ "cls": "PanelCabinet"
400
+ },
401
+ "cab_1_right_group_1": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "cab_2_right_group_1": {
405
+ "cls": "HingeCabinet"
406
+ },
407
+ "coffee_machine_right_group_1": {
408
+ "cls": "CoffeeMachine"
409
+ },
410
+ "toaster_oven_right_group_1": {
411
+ "cls": "ToasterOven"
412
+ },
413
+ "toaster_right_group_1": {
414
+ "cls": "Toaster"
415
+ },
416
+ "island_island_group": {
417
+ "cls": "Counter"
418
+ },
419
+ "stack_1_island_group_base": {
420
+ "cls": "Box"
421
+ },
422
+ "stack_1_island_group_1": {
423
+ "cls": "Drawer"
424
+ },
425
+ "stack_1_island_group_2": {
426
+ "cls": "Drawer"
427
+ },
428
+ "box_1_island_group": {
429
+ "cls": "Box"
430
+ },
431
+ "box_2_island_group": {
432
+ "cls": "Box"
433
+ },
434
+ "stack_2_island_group_base": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_2_island_group_1": {
438
+ "cls": "Drawer"
439
+ },
440
+ "stack_2_island_group_2": {
441
+ "cls": "Drawer"
442
+ },
443
+ "stack_2_island_group_3": {
444
+ "cls": "Drawer"
445
+ },
446
+ "stack_3_island_group_base": {
447
+ "cls": "Box"
448
+ },
449
+ "stack_3_island_group_1": {
450
+ "cls": "Drawer"
451
+ },
452
+ "stack_3_island_group_2": {
453
+ "cls": "Drawer"
454
+ }
455
+ },
456
+ "gen_textures": {},
457
+ "lang": "Pick the carrot from the counter and place it in the microwave.",
458
+ "fixture_refs": {
459
+ "microwave": "microwave_main_group_1",
460
+ "counter": "counter_1_main_group_1",
461
+ "distr_counter": "counter_1_main_group_1"
462
+ },
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
+ 1.7967640514774017,
546
+ -0.8871589419109138,
547
+ 0.0
548
+ ],
549
+ "init_robot_base_ori": [
550
+ 0.0,
551
+ 0.0,
552
+ 1.5707963267948966
553
+ ]
554
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000076/ep_meta.json ADDED
@@ -0,0 +1,597 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 49,
3
+ "style_id": 59,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_2_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_main_group_1",
12
+ "min_size": [
13
+ 0.23270280075,
14
+ 0.23270367960000002,
15
+ 0.0122388154875
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 2.486196,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.0,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "eggplant",
79
+ "vegetable",
80
+ "food",
81
+ "in_container",
82
+ "oven_ready"
83
+ ],
84
+ "groups": [
85
+ "food"
86
+ ],
87
+ "cat": "eggplant",
88
+ "split": "train",
89
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml"
90
+ }
91
+ },
92
+ {
93
+ "name": "container",
94
+ "obj_groups": "plate",
95
+ "placement": {
96
+ "fixture": "microwave_main_group_1",
97
+ "size": [
98
+ 0.05,
99
+ 0.05
100
+ ],
101
+ "ensure_object_boundary_in_range": false
102
+ },
103
+ "type": "object",
104
+ "info": {
105
+ "groups_containing_sampled_obj": [
106
+ "all",
107
+ "plate",
108
+ "receptacle",
109
+ "container",
110
+ "container_set2"
111
+ ],
112
+ "groups": [
113
+ "plate"
114
+ ],
115
+ "cat": "plate",
116
+ "split": "train",
117
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml"
118
+ },
119
+ "reset_region": {
120
+ "offset": [
121
+ -0.06308340063749726,
122
+ 0.007252903507623795,
123
+ -0.1688524221580662
124
+ ],
125
+ "size": [
126
+ 0.41991169133308487,
127
+ 0.3438528128459972
128
+ ],
129
+ "height": 0.3471580738063562,
130
+ "name": "tray"
131
+ }
132
+ },
133
+ {
134
+ "name": "distr_counter",
135
+ "obj_groups": "all",
136
+ "placement": {
137
+ "fixture": "counter_2_main_group_1",
138
+ "sample_region_kwargs": {
139
+ "ref": "microwave_main_group_1",
140
+ "min_size": [
141
+ 0.06859856,
142
+ 0.09609128,
143
+ 0.02079624
144
+ ]
145
+ },
146
+ "size": [
147
+ 0.3,
148
+ 0.3
149
+ ],
150
+ "pos": [
151
+ "ref",
152
+ 1.0
153
+ ]
154
+ },
155
+ "type": "object",
156
+ "info": {
157
+ "groups_containing_sampled_obj": [
158
+ "all",
159
+ "shrimp",
160
+ "meat",
161
+ "food",
162
+ "in_container"
163
+ ],
164
+ "groups": [
165
+ "all"
166
+ ],
167
+ "cat": "shrimp",
168
+ "split": "train",
169
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml"
170
+ },
171
+ "reset_region": {
172
+ "size": [
173
+ 2.486196,
174
+ 0.65
175
+ ],
176
+ "offset": [
177
+ 0.0,
178
+ 0.0,
179
+ 0.46
180
+ ],
181
+ "name": "geom_0"
182
+ }
183
+ }
184
+ ],
185
+ "fixtures": {
186
+ "wall_right_1_room": {
187
+ "cls": "Wall"
188
+ },
189
+ "wall_right_1_backing_room": {
190
+ "cls": "Wall"
191
+ },
192
+ "wall_main_2_room": {
193
+ "cls": "Wall"
194
+ },
195
+ "wall_main_2_backing_room": {
196
+ "cls": "Wall"
197
+ },
198
+ "wall_main_1_room": {
199
+ "cls": "Wall"
200
+ },
201
+ "wall_main_1_backing_room": {
202
+ "cls": "Wall"
203
+ },
204
+ "wall_left_1_room": {
205
+ "cls": "Wall"
206
+ },
207
+ "wall_left_1_backing_room": {
208
+ "cls": "Wall"
209
+ },
210
+ "wall_left_2_room": {
211
+ "cls": "Wall"
212
+ },
213
+ "wall_left_2_backing_room": {
214
+ "cls": "Wall"
215
+ },
216
+ "wall_left_4_room": {
217
+ "cls": "Wall"
218
+ },
219
+ "wall_left_4_backing_room": {
220
+ "cls": "Wall"
221
+ },
222
+ "wall_left_3_room": {
223
+ "cls": "Wall"
224
+ },
225
+ "wall_left_3_backing_room": {
226
+ "cls": "Wall"
227
+ },
228
+ "wall_main_4_room": {
229
+ "cls": "Wall"
230
+ },
231
+ "wall_main_4_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
+ "floor_1_room": {
241
+ "cls": "Floor"
242
+ },
243
+ "floor_1_backing_room": {
244
+ "cls": "Floor"
245
+ },
246
+ "floor_2_room": {
247
+ "cls": "Floor"
248
+ },
249
+ "floor_2_backing_room": {
250
+ "cls": "Floor"
251
+ },
252
+ "wallaccessory_7_room": {
253
+ "cls": "WallAccessory"
254
+ },
255
+ "wallaccessory_6_room": {
256
+ "cls": "WallAccessory"
257
+ },
258
+ "wallaccessory_2_room": {
259
+ "cls": "WallAccessory"
260
+ },
261
+ "wallaccessory_4_room": {
262
+ "cls": "WallAccessory"
263
+ },
264
+ "wallaccessory_5_room": {
265
+ "cls": "WallAccessory"
266
+ },
267
+ "wallaccessory_11_room": {
268
+ "cls": "WallAccessory"
269
+ },
270
+ "window_group_1_room": {
271
+ "cls": "Window"
272
+ },
273
+ "stool_4_room": {
274
+ "cls": "Stool"
275
+ },
276
+ "stool_3_room": {
277
+ "cls": "Stool"
278
+ },
279
+ "stool_2_room": {
280
+ "cls": "Stool"
281
+ },
282
+ "stool_1_room": {
283
+ "cls": "Stool"
284
+ },
285
+ "hingecabinet_2_main_group_1": {
286
+ "cls": "HingeCabinet"
287
+ },
288
+ "hingecabinet_3_main_group_1": {
289
+ "cls": "HingeCabinet"
290
+ },
291
+ "singlecabinet_4_main_group_1": {
292
+ "cls": "SingleCabinet"
293
+ },
294
+ "counter_corner_1_main_group_1": {
295
+ "cls": "Counter"
296
+ },
297
+ "counter_2_main_group_1": {
298
+ "cls": "Counter"
299
+ },
300
+ "counter_13_main_group_1": {
301
+ "cls": "Counter"
302
+ },
303
+ "stove_main_group_1": {
304
+ "cls": "Stove"
305
+ },
306
+ "microwave_main_group_1": {
307
+ "cls": "Microwave"
308
+ },
309
+ "micro_cab_main_group_1": {
310
+ "cls": "HingeCabinet"
311
+ },
312
+ "stack_01_main_group_1_base": {
313
+ "cls": "Box"
314
+ },
315
+ "stack_01_main_group_1_1": {
316
+ "cls": "SingleCabinet"
317
+ },
318
+ "stack_01_main_group_1_2": {
319
+ "cls": "Drawer"
320
+ },
321
+ "stack_02_main_group_1_base": {
322
+ "cls": "Box"
323
+ },
324
+ "stack_02_main_group_1_1": {
325
+ "cls": "SingleCabinet"
326
+ },
327
+ "stack_02_main_group_1_2": {
328
+ "cls": "Drawer"
329
+ },
330
+ "stack_03_main_group_1_base": {
331
+ "cls": "Box"
332
+ },
333
+ "stack_03_main_group_1_1": {
334
+ "cls": "Drawer"
335
+ },
336
+ "stack_03_main_group_1_2": {
337
+ "cls": "Drawer"
338
+ },
339
+ "stack_03_main_group_1_3": {
340
+ "cls": "Drawer"
341
+ },
342
+ "stack_04_main_group_1_base": {
343
+ "cls": "Box"
344
+ },
345
+ "stack_04_main_group_1_1": {
346
+ "cls": "SingleCabinet"
347
+ },
348
+ "cube_main_group_1": {
349
+ "cls": "Box"
350
+ },
351
+ "coffee_machine_main_group_1": {
352
+ "cls": "CoffeeMachine"
353
+ },
354
+ "toaster_main_group_1": {
355
+ "cls": "Toaster"
356
+ },
357
+ "papertowel_main_group_1": {
358
+ "cls": "Accessory"
359
+ },
360
+ "toaster_oven_main_group_1": {
361
+ "cls": "ToasterOven"
362
+ },
363
+ "sink_right_group_1": {
364
+ "cls": "Sink"
365
+ },
366
+ "counter_1_right_group_1": {
367
+ "cls": "Counter"
368
+ },
369
+ "stack_05_right_group_1_base": {
370
+ "cls": "Box"
371
+ },
372
+ "stack_05_right_group_1_1": {
373
+ "cls": "SingleCabinet"
374
+ },
375
+ "cube_2_right_group_1": {
376
+ "cls": "Box"
377
+ },
378
+ "stack_07_right_group_1_base": {
379
+ "cls": "Box"
380
+ },
381
+ "stack_07_right_group_1_1": {
382
+ "cls": "HingeCabinet"
383
+ },
384
+ "stack_07_right_group_1_2": {
385
+ "cls": "PanelCabinet"
386
+ },
387
+ "cube_1_right_group_1": {
388
+ "cls": "Box"
389
+ },
390
+ "dishwasher_1_right_group_1": {
391
+ "cls": "Dishwasher"
392
+ },
393
+ "fridgefrenchdoor_left_group_2": {
394
+ "cls": "FridgeFrenchDoor"
395
+ },
396
+ "fridgefrenchdoor_housing_left_group_2": {
397
+ "cls": "HousingCabinet"
398
+ },
399
+ "hingecabinet_1_left_group_2": {
400
+ "cls": "HingeCabinet"
401
+ },
402
+ "counter_3_front_group_1": {
403
+ "cls": "Counter"
404
+ },
405
+ "counter_5_front_group_1": {
406
+ "cls": "Counter"
407
+ },
408
+ "stack_12_front_group_1_base": {
409
+ "cls": "Box"
410
+ },
411
+ "stack_12_front_group_1_1": {
412
+ "cls": "SingleCabinet"
413
+ },
414
+ "stack_12_front_group_1_2": {
415
+ "cls": "Drawer"
416
+ },
417
+ "stack_13_front_group_1_base": {
418
+ "cls": "Box"
419
+ },
420
+ "stack_13_front_group_1_1": {
421
+ "cls": "Drawer"
422
+ },
423
+ "stack_13_front_group_1_2": {
424
+ "cls": "Drawer"
425
+ },
426
+ "stack_13_front_group_1_3": {
427
+ "cls": "Drawer"
428
+ },
429
+ "stack_14_front_group_1_base": {
430
+ "cls": "Box"
431
+ },
432
+ "stack_14_front_group_1_1": {
433
+ "cls": "SingleCabinet"
434
+ },
435
+ "stack_14_front_group_1_2": {
436
+ "cls": "Drawer"
437
+ },
438
+ "stack_15_front_group_1_base": {
439
+ "cls": "Box"
440
+ },
441
+ "stack_15_front_group_1_1": {
442
+ "cls": "SingleCabinet"
443
+ },
444
+ "stack_15_front_group_1_2": {
445
+ "cls": "Drawer"
446
+ },
447
+ "stack_11_front_group_1_base": {
448
+ "cls": "Box"
449
+ },
450
+ "stack_11_front_group_1_1": {
451
+ "cls": "SingleCabinet"
452
+ },
453
+ "stack_11_front_group_1_2": {
454
+ "cls": "Drawer"
455
+ },
456
+ "cube_4_front_group_1": {
457
+ "cls": "Box"
458
+ },
459
+ "cube_11_front_group_1": {
460
+ "cls": "Box"
461
+ },
462
+ "cube_5_front_group_1": {
463
+ "cls": "Box"
464
+ },
465
+ "dining_dining_area_group": {
466
+ "cls": "Counter"
467
+ },
468
+ "stack_10_dining_area_group_base": {
469
+ "cls": "Box"
470
+ },
471
+ "stack_10_dining_area_group_1": {
472
+ "cls": "SingleCabinet"
473
+ },
474
+ "stack_10_dining_area_group_2": {
475
+ "cls": "Drawer"
476
+ },
477
+ "stack_09_dining_area_group_base": {
478
+ "cls": "Box"
479
+ },
480
+ "stack_09_dining_area_group_1": {
481
+ "cls": "SingleCabinet"
482
+ },
483
+ "stack_09_dining_area_group_2": {
484
+ "cls": "Drawer"
485
+ },
486
+ "stack_08_dining_area_group_base": {
487
+ "cls": "Box"
488
+ },
489
+ "stack_08_dining_area_group_1": {
490
+ "cls": "SingleCabinet"
491
+ },
492
+ "stack_08_dining_area_group_2": {
493
+ "cls": "Drawer"
494
+ },
495
+ "cube_2_dining_area_group": {
496
+ "cls": "Box"
497
+ }
498
+ },
499
+ "gen_textures": {},
500
+ "lang": "Pick the eggplant from the counter and place it in the microwave.",
501
+ "fixture_refs": {
502
+ "microwave": "microwave_main_group_1",
503
+ "counter": "counter_2_main_group_1",
504
+ "distr_counter": "counter_2_main_group_1"
505
+ },
506
+ "cam_configs": {
507
+ "robot0_agentview_center": {
508
+ "pos": [
509
+ -0.6,
510
+ 0.0,
511
+ 1.15
512
+ ],
513
+ "quat": [
514
+ 0.636945903301239,
515
+ 0.3325185477733612,
516
+ -0.3199238181114197,
517
+ -0.6175596117973328
518
+ ],
519
+ "parent_body": "mobilebase0_support"
520
+ },
521
+ "robot0_agentview_left": {
522
+ "pos": [
523
+ -0.5,
524
+ 0.35,
525
+ 1.05
526
+ ],
527
+ "quat": [
528
+ 0.55623853,
529
+ 0.29935253,
530
+ -0.37678665,
531
+ -0.6775092
532
+ ],
533
+ "camera_attribs": {
534
+ "fovy": "60"
535
+ },
536
+ "parent_body": "mobilebase0_support"
537
+ },
538
+ "robot0_agentview_right": {
539
+ "pos": [
540
+ -0.5,
541
+ -0.35,
542
+ 1.05
543
+ ],
544
+ "quat": [
545
+ 0.6775091886520386,
546
+ 0.3767866790294647,
547
+ -0.2993525564670563,
548
+ -0.55623859167099
549
+ ],
550
+ "camera_attribs": {
551
+ "fovy": "60"
552
+ },
553
+ "parent_body": "mobilebase0_support"
554
+ },
555
+ "robot0_frontview": {
556
+ "pos": [
557
+ -0.5,
558
+ 0,
559
+ 0.95
560
+ ],
561
+ "quat": [
562
+ 0.6088936924934387,
563
+ 0.3814677894115448,
564
+ -0.3673907518386841,
565
+ -0.5905545353889465
566
+ ],
567
+ "camera_attribs": {
568
+ "fovy": "60"
569
+ },
570
+ "parent_body": "mobilebase0_support"
571
+ },
572
+ "robot0_eye_in_hand": {
573
+ "pos": [
574
+ 0.05,
575
+ 0,
576
+ 0
577
+ ],
578
+ "quat": [
579
+ 0,
580
+ 0.707107,
581
+ 0.707107,
582
+ 0
583
+ ],
584
+ "parent_body": "robot0_right_hand"
585
+ }
586
+ },
587
+ "init_robot_base_pos": [
588
+ 2.556940886774056,
589
+ -1.2271941078207544,
590
+ 0.0
591
+ ],
592
+ "init_robot_base_ori": [
593
+ 0.0,
594
+ 0.0,
595
+ 1.5706449309965886
596
+ ]
597
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000080/ep_meta.json ADDED
@@ -0,0 +1,484 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 41,
3
+ "style_id": 35,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_main_group_1",
12
+ "min_size": [
13
+ 0.23270280075,
14
+ 0.23270367960000002,
15
+ 0.0122388154875
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 0.8863391912120002,
47
+ 0.650008
48
+ ],
49
+ "offset": [
50
+ 0.8662444043939999,
51
+ -3.469446951953614e-17,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
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
+ "food"
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
+ },
92
+ {
93
+ "name": "container",
94
+ "obj_groups": "plate",
95
+ "placement": {
96
+ "fixture": "microwave_main_group_1",
97
+ "size": [
98
+ 0.05,
99
+ 0.05
100
+ ],
101
+ "ensure_object_boundary_in_range": false
102
+ },
103
+ "type": "object",
104
+ "info": {
105
+ "groups_containing_sampled_obj": [
106
+ "all",
107
+ "plate",
108
+ "receptacle",
109
+ "container",
110
+ "container_set2"
111
+ ],
112
+ "groups": [
113
+ "plate"
114
+ ],
115
+ "cat": "plate",
116
+ "split": "train",
117
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml"
118
+ },
119
+ "reset_region": {
120
+ "offset": [
121
+ -0.07763522066297633,
122
+ -0.0030152846172931402,
123
+ -0.16000867060571686
124
+ ],
125
+ "size": [
126
+ 0.4123646134194525,
127
+ 0.3359397698770551
128
+ ],
129
+ "height": 0.30122056501164307,
130
+ "name": "tray"
131
+ }
132
+ },
133
+ {
134
+ "name": "distr_counter",
135
+ "obj_groups": "all",
136
+ "placement": {
137
+ "fixture": "counter_1_main_group_1",
138
+ "sample_region_kwargs": {
139
+ "ref": "microwave_main_group_1",
140
+ "min_size": [
141
+ 0.07741226399999998,
142
+ 0.04837101023372554,
143
+ 0.14999772461887564
144
+ ]
145
+ },
146
+ "size": [
147
+ 0.3,
148
+ 0.3
149
+ ],
150
+ "pos": [
151
+ "ref",
152
+ 1.0
153
+ ]
154
+ },
155
+ "type": "object",
156
+ "info": {
157
+ "groups_containing_sampled_obj": [
158
+ "all",
159
+ "ketchup",
160
+ "condiment"
161
+ ],
162
+ "groups": [
163
+ "all"
164
+ ],
165
+ "cat": "ketchup",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_0/model.xml"
168
+ },
169
+ "reset_region": {
170
+ "size": [
171
+ 0.8863391912120002,
172
+ 0.650008
173
+ ],
174
+ "offset": [
175
+ 0.8662444043939999,
176
+ -3.469446951953614e-17,
177
+ 0.46
178
+ ],
179
+ "name": "geom_0"
180
+ }
181
+ }
182
+ ],
183
+ "fixtures": {
184
+ "wall_main_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_main_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_1_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_right_1_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_right_2_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_right_2_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_right_3_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_right_3_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "floor_1_room": {
209
+ "cls": "Floor"
210
+ },
211
+ "floor_1_backing_room": {
212
+ "cls": "Floor"
213
+ },
214
+ "lightswitch_room": {
215
+ "cls": "WallAccessory"
216
+ },
217
+ "wallaccessory.003_room": {
218
+ "cls": "WallAccessory"
219
+ },
220
+ "wallaccessory.001_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "window_group_room": {
224
+ "cls": "Window"
225
+ },
226
+ "stool_1_room": {
227
+ "cls": "Stool"
228
+ },
229
+ "stool_2_room": {
230
+ "cls": "Stool"
231
+ },
232
+ "sink_main_group_1": {
233
+ "cls": "Sink"
234
+ },
235
+ "counter_1_main_group_1": {
236
+ "cls": "Counter"
237
+ },
238
+ "singlecabinet_1_main_group_1": {
239
+ "cls": "SingleCabinet"
240
+ },
241
+ "singlecabinet_2_main_group_1": {
242
+ "cls": "SingleCabinet"
243
+ },
244
+ "stack_1_main_group_1_base": {
245
+ "cls": "Box"
246
+ },
247
+ "stack_1_main_group_1_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "stack_1_main_group_1_2": {
251
+ "cls": "Drawer"
252
+ },
253
+ "stack_2_main_group_1_base": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_2_main_group_1_1": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "stack_2_main_group_1_2": {
260
+ "cls": "PanelCabinet"
261
+ },
262
+ "cube_1_main_group_1": {
263
+ "cls": "Box"
264
+ },
265
+ "dishwasher_1_main_group_1": {
266
+ "cls": "Dishwasher"
267
+ },
268
+ "bottom_main_group_1_base": {
269
+ "cls": "Box"
270
+ },
271
+ "bottom_main_group_1_1": {
272
+ "cls": "Drawer"
273
+ },
274
+ "microwave_main_group_1": {
275
+ "cls": "Microwave"
276
+ },
277
+ "fridgesidebyside_main_group_1": {
278
+ "cls": "FridgeSideBySide"
279
+ },
280
+ "fridgesidebyside_housing_main_group_1": {
281
+ "cls": "HousingCabinet"
282
+ },
283
+ "oven_cabinet_main_group_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "hingecabinet_1_main_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "microwave_housing_main_group_1": {
290
+ "cls": "HousingCabinet"
291
+ },
292
+ "top_main_group_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "coffee_machine_main_group_1": {
296
+ "cls": "CoffeeMachine"
297
+ },
298
+ "knife_block_main_group_1": {
299
+ "cls": "Accessory"
300
+ },
301
+ "counter_1_right_group_1": {
302
+ "cls": "Counter"
303
+ },
304
+ "counter_2_right_group_1": {
305
+ "cls": "Counter"
306
+ },
307
+ "stove_right_group_1": {
308
+ "cls": "Stove"
309
+ },
310
+ "stove_hood_right_group_1": {
311
+ "cls": "Hood"
312
+ },
313
+ "singlecabinet_1_right_group_1": {
314
+ "cls": "SingleCabinet"
315
+ },
316
+ "singlecabinet_2_right_group_1": {
317
+ "cls": "SingleCabinet"
318
+ },
319
+ "stack_1_right_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_1_right_group_1_1": {
323
+ "cls": "HingeCabinet"
324
+ },
325
+ "stack_1_right_group_1_2": {
326
+ "cls": "Drawer"
327
+ },
328
+ "stack_2_right_group_1_base": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_2_right_group_1_1": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "stack_2_right_group_1_2": {
335
+ "cls": "Drawer"
336
+ },
337
+ "toaster_right_group_1": {
338
+ "cls": "Toaster"
339
+ },
340
+ "stack_1_island_group_1_base": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_1_island_group_1_1": {
344
+ "cls": "HingeCabinet"
345
+ },
346
+ "stack_1_island_group_1_2": {
347
+ "cls": "Drawer"
348
+ },
349
+ "stack_2_island_group_1_base": {
350
+ "cls": "Box"
351
+ },
352
+ "stack_2_island_group_1_1": {
353
+ "cls": "HingeCabinet"
354
+ },
355
+ "stack_2_island_group_1_2": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_3_island_group_1_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_3_island_group_1_1": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_3_island_group_1_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "island_island_group_2": {
368
+ "cls": "Counter"
369
+ },
370
+ "stack_4_island_group_2_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_4_island_group_2_1": {
374
+ "cls": "SingleCabinet"
375
+ },
376
+ "stack_5_island_group_2_base": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_5_island_group_2_1": {
380
+ "cls": "SingleCabinet"
381
+ },
382
+ "paper_towel_island_group_2": {
383
+ "cls": "Accessory"
384
+ }
385
+ },
386
+ "gen_textures": {},
387
+ "lang": "Pick the sweet potato from the counter and place it in the microwave.",
388
+ "fixture_refs": {
389
+ "microwave": "microwave_main_group_1",
390
+ "counter": "counter_1_main_group_1",
391
+ "distr_counter": "counter_1_main_group_1"
392
+ },
393
+ "cam_configs": {
394
+ "robot0_agentview_center": {
395
+ "pos": [
396
+ -0.6,
397
+ 0.0,
398
+ 1.15
399
+ ],
400
+ "quat": [
401
+ 0.636945903301239,
402
+ 0.3325185477733612,
403
+ -0.3199238181114197,
404
+ -0.6175596117973328
405
+ ],
406
+ "parent_body": "mobilebase0_support"
407
+ },
408
+ "robot0_agentview_left": {
409
+ "pos": [
410
+ -0.5,
411
+ 0.35,
412
+ 1.05
413
+ ],
414
+ "quat": [
415
+ 0.55623853,
416
+ 0.29935253,
417
+ -0.37678665,
418
+ -0.6775092
419
+ ],
420
+ "camera_attribs": {
421
+ "fovy": "60"
422
+ },
423
+ "parent_body": "mobilebase0_support"
424
+ },
425
+ "robot0_agentview_right": {
426
+ "pos": [
427
+ -0.5,
428
+ -0.35,
429
+ 1.05
430
+ ],
431
+ "quat": [
432
+ 0.6775091886520386,
433
+ 0.3767866790294647,
434
+ -0.2993525564670563,
435
+ -0.55623859167099
436
+ ],
437
+ "camera_attribs": {
438
+ "fovy": "60"
439
+ },
440
+ "parent_body": "mobilebase0_support"
441
+ },
442
+ "robot0_frontview": {
443
+ "pos": [
444
+ -0.5,
445
+ 0,
446
+ 0.95
447
+ ],
448
+ "quat": [
449
+ 0.6088936924934387,
450
+ 0.3814677894115448,
451
+ -0.3673907518386841,
452
+ -0.5905545353889465
453
+ ],
454
+ "camera_attribs": {
455
+ "fovy": "60"
456
+ },
457
+ "parent_body": "mobilebase0_support"
458
+ },
459
+ "robot0_eye_in_hand": {
460
+ "pos": [
461
+ 0.05,
462
+ 0,
463
+ 0
464
+ ],
465
+ "quat": [
466
+ 0,
467
+ 0.707107,
468
+ 0.707107,
469
+ 0
470
+ ],
471
+ "parent_body": "robot0_right_hand"
472
+ }
473
+ },
474
+ "init_robot_base_pos": [
475
+ 5.233426129343543,
476
+ -1.062163253346374,
477
+ 0.0
478
+ ],
479
+ "init_robot_base_ori": [
480
+ 0.0,
481
+ 0.0,
482
+ 1.5707963267948966
483
+ ]
484
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000092/ep_meta.json ADDED
@@ -0,0 +1,541 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 33,
3
+ "style_id": 39,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_2_right_group_1",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_right_group_1",
12
+ "min_size": [
13
+ 0.23270280075,
14
+ 0.23270367960000002,
15
+ 0.0122388154875
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.0,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.0,
51
+ 0.0,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "hotdog_bun",
79
+ "bread_food",
80
+ "food",
81
+ "in_container"
82
+ ],
83
+ "groups": [
84
+ "food"
85
+ ],
86
+ "cat": "hotdog_bun",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun003/model.xml"
89
+ }
90
+ },
91
+ {
92
+ "name": "container",
93
+ "obj_groups": "plate",
94
+ "placement": {
95
+ "fixture": "microwave_right_group_1",
96
+ "size": [
97
+ 0.05,
98
+ 0.05
99
+ ],
100
+ "ensure_object_boundary_in_range": false
101
+ },
102
+ "type": "object",
103
+ "info": {
104
+ "groups_containing_sampled_obj": [
105
+ "all",
106
+ "plate",
107
+ "receptacle",
108
+ "container",
109
+ "container_set2"
110
+ ],
111
+ "groups": [
112
+ "plate"
113
+ ],
114
+ "cat": "plate",
115
+ "split": "train",
116
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml"
117
+ },
118
+ "reset_region": {
119
+ "offset": [
120
+ -0.07813392680594548,
121
+ 0.00877464497837352,
122
+ -0.1701941020746551
123
+ ],
124
+ "size": [
125
+ 0.468924573222375,
126
+ 0.40033681923589887
127
+ ],
128
+ "height": 0.3445813075406271,
129
+ "name": "tray"
130
+ }
131
+ },
132
+ {
133
+ "name": "distr_counter",
134
+ "obj_groups": "all",
135
+ "placement": {
136
+ "fixture": "counter_2_right_group_1",
137
+ "sample_region_kwargs": {
138
+ "ref": "microwave_right_group_1",
139
+ "min_size": [
140
+ 0.11647435904999998,
141
+ 0.04890901500000001,
142
+ 0.20249999999999996
143
+ ]
144
+ },
145
+ "size": [
146
+ 0.3,
147
+ 0.3
148
+ ],
149
+ "pos": [
150
+ "ref",
151
+ 1.0
152
+ ]
153
+ },
154
+ "type": "object",
155
+ "info": {
156
+ "groups_containing_sampled_obj": [
157
+ "all",
158
+ "liquor",
159
+ "drink",
160
+ "alcohol"
161
+ ],
162
+ "groups": [
163
+ "all"
164
+ ],
165
+ "cat": "liquor",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_10/model.xml"
168
+ },
169
+ "reset_region": {
170
+ "size": [
171
+ 1.0,
172
+ 0.65
173
+ ],
174
+ "offset": [
175
+ 0.0,
176
+ 0.0,
177
+ 0.46
178
+ ],
179
+ "name": "geom_0"
180
+ }
181
+ }
182
+ ],
183
+ "fixtures": {
184
+ "wall_main_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_main_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_left_1_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_left_1_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_right_1_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_right_1_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_main_2_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_main_2_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_main_3.001_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "wall_main_3.001_backing_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "floor_1_room": {
215
+ "cls": "Floor"
216
+ },
217
+ "floor_1_backing_room": {
218
+ "cls": "Floor"
219
+ },
220
+ "floor_2.001_room": {
221
+ "cls": "Floor"
222
+ },
223
+ "floor_2.001_backing_room": {
224
+ "cls": "Floor"
225
+ },
226
+ "stool_1_room": {
227
+ "cls": "Stool"
228
+ },
229
+ "stool_2_room": {
230
+ "cls": "Stool"
231
+ },
232
+ "stool_3_room": {
233
+ "cls": "Stool"
234
+ },
235
+ "stool_4_room": {
236
+ "cls": "Stool"
237
+ },
238
+ "counter_2_right_group_1": {
239
+ "cls": "Counter"
240
+ },
241
+ "hingecabinet_1_right_group_1": {
242
+ "cls": "HingeCabinet"
243
+ },
244
+ "hingecabinet_2_right_group_1": {
245
+ "cls": "HingeCabinet"
246
+ },
247
+ "hingecabinet_3_right_group_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "stack_1_right_group_1_base": {
251
+ "cls": "Box"
252
+ },
253
+ "stack_1_right_group_1_1": {
254
+ "cls": "HingeCabinet"
255
+ },
256
+ "stack_1_right_group_1_2": {
257
+ "cls": "Drawer"
258
+ },
259
+ "stack_2_right_group_1_base": {
260
+ "cls": "Box"
261
+ },
262
+ "stack_2_right_group_1_1": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "stack_2_right_group_1_2": {
266
+ "cls": "Drawer"
267
+ },
268
+ "stack_3_right_group_1_base": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_3_right_group_1_1": {
272
+ "cls": "HingeCabinet"
273
+ },
274
+ "stack_3_right_group_1_2": {
275
+ "cls": "Drawer"
276
+ },
277
+ "counter_1_right_group_1": {
278
+ "cls": "Counter"
279
+ },
280
+ "fridgefrenchdoor_right_group_1": {
281
+ "cls": "FridgeFrenchDoor"
282
+ },
283
+ "fridgefrenchdoor_housing_right_group_1": {
284
+ "cls": "HousingCabinet"
285
+ },
286
+ "hingecabinet_4_right_group_1": {
287
+ "cls": "HingeCabinet"
288
+ },
289
+ "bottom_right_group_1_base": {
290
+ "cls": "Box"
291
+ },
292
+ "bottom_right_group_1_1": {
293
+ "cls": "Drawer"
294
+ },
295
+ "microwave_right_group_1": {
296
+ "cls": "Microwave"
297
+ },
298
+ "oven_cabinet_right_group_1": {
299
+ "cls": "HingeCabinet"
300
+ },
301
+ "microwave_housing_right_group_1": {
302
+ "cls": "HousingCabinet"
303
+ },
304
+ "top_right_group_1": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "coffee_machine_right_group_1": {
308
+ "cls": "CoffeeMachine"
309
+ },
310
+ "toaster_right_group_1": {
311
+ "cls": "Toaster"
312
+ },
313
+ "hingecabinet_1_main_group_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "hingecabinet_2_main_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "singlecabinet_1_main_group_1": {
320
+ "cls": "SingleCabinet"
321
+ },
322
+ "singlecabinet_2_main_group_1": {
323
+ "cls": "SingleCabinet"
324
+ },
325
+ "counter_1_main_group_1": {
326
+ "cls": "Counter"
327
+ },
328
+ "counter_2_main_group_1": {
329
+ "cls": "Counter"
330
+ },
331
+ "widestove_main_group_1": {
332
+ "cls": "Stove"
333
+ },
334
+ "widestove_hood_main_group_1": {
335
+ "cls": "Hood"
336
+ },
337
+ "stack_1_main_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_1_main_group_1_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "stack_1_main_group_1_2": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_4_main_group_1_base": {
347
+ "cls": "Box"
348
+ },
349
+ "stack_4_main_group_1_1": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "stack_4_main_group_1_2": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_2_main_group_1_base": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_2_main_group_1_1": {
359
+ "cls": "Drawer"
360
+ },
361
+ "stack_2_main_group_1_2": {
362
+ "cls": "Drawer"
363
+ },
364
+ "stack_2_main_group_1_3": {
365
+ "cls": "Drawer"
366
+ },
367
+ "stack_3_main_group_1_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_3_main_group_1_1": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_3_main_group_1_2": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_3_main_group_1_3": {
377
+ "cls": "Drawer"
378
+ },
379
+ "knife_block_main_group_1": {
380
+ "cls": "Accessory"
381
+ },
382
+ "paper_towel_main_group_1": {
383
+ "cls": "Accessory"
384
+ },
385
+ "toaster_oven_main_group_1": {
386
+ "cls": "ToasterOven"
387
+ },
388
+ "sink_island_group_1": {
389
+ "cls": "Sink"
390
+ },
391
+ "island_island_group_1": {
392
+ "cls": "Counter"
393
+ },
394
+ "stack_2_island_group_1_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_2_island_group_1_1": {
398
+ "cls": "SingleCabinet"
399
+ },
400
+ "stack_2_island_group_1_2": {
401
+ "cls": "Drawer"
402
+ },
403
+ "stack_1_island_group_1_base": {
404
+ "cls": "Box"
405
+ },
406
+ "stack_1_island_group_1_1": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "stack_1_island_group_1_2": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_3_island_group_1_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_3_island_group_1_1": {
416
+ "cls": "HingeCabinet"
417
+ },
418
+ "stack_3_island_group_1_2": {
419
+ "cls": "PanelCabinet"
420
+ },
421
+ "stack_4_island_group_1_base": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_4_island_group_1_1": {
425
+ "cls": "SingleCabinet"
426
+ },
427
+ "stack_4_island_group_1_2": {
428
+ "cls": "Drawer"
429
+ },
430
+ "cube_1_island_group_1": {
431
+ "cls": "Box"
432
+ },
433
+ "cube_2_island_group_1": {
434
+ "cls": "Box"
435
+ },
436
+ "cube_3_island_group_1": {
437
+ "cls": "Box"
438
+ },
439
+ "dishwasher_1_island_group_1": {
440
+ "cls": "Dishwasher"
441
+ }
442
+ },
443
+ "gen_textures": {},
444
+ "lang": "Pick the hotdog bun from the counter and place it in the microwave.",
445
+ "fixture_refs": {
446
+ "microwave": "microwave_right_group_1",
447
+ "counter": "counter_2_right_group_1",
448
+ "distr_counter": "counter_2_right_group_1"
449
+ },
450
+ "cam_configs": {
451
+ "robot0_agentview_center": {
452
+ "pos": [
453
+ -0.6,
454
+ 0.0,
455
+ 1.15
456
+ ],
457
+ "quat": [
458
+ 0.636945903301239,
459
+ 0.3325185477733612,
460
+ -0.3199238181114197,
461
+ -0.6175596117973328
462
+ ],
463
+ "parent_body": "mobilebase0_support"
464
+ },
465
+ "robot0_agentview_left": {
466
+ "pos": [
467
+ -0.5,
468
+ 0.35,
469
+ 1.05
470
+ ],
471
+ "quat": [
472
+ 0.55623853,
473
+ 0.29935253,
474
+ -0.37678665,
475
+ -0.6775092
476
+ ],
477
+ "camera_attribs": {
478
+ "fovy": "60"
479
+ },
480
+ "parent_body": "mobilebase0_support"
481
+ },
482
+ "robot0_agentview_right": {
483
+ "pos": [
484
+ -0.5,
485
+ -0.35,
486
+ 1.05
487
+ ],
488
+ "quat": [
489
+ 0.6775091886520386,
490
+ 0.3767866790294647,
491
+ -0.2993525564670563,
492
+ -0.55623859167099
493
+ ],
494
+ "camera_attribs": {
495
+ "fovy": "60"
496
+ },
497
+ "parent_body": "mobilebase0_support"
498
+ },
499
+ "robot0_frontview": {
500
+ "pos": [
501
+ -0.5,
502
+ 0,
503
+ 0.95
504
+ ],
505
+ "quat": [
506
+ 0.6088936924934387,
507
+ 0.3814677894115448,
508
+ -0.3673907518386841,
509
+ -0.5905545353889465
510
+ ],
511
+ "camera_attribs": {
512
+ "fovy": "60"
513
+ },
514
+ "parent_body": "mobilebase0_support"
515
+ },
516
+ "robot0_eye_in_hand": {
517
+ "pos": [
518
+ 0.05,
519
+ 0,
520
+ 0
521
+ ],
522
+ "quat": [
523
+ 0,
524
+ 0.707107,
525
+ 0.707107,
526
+ 0
527
+ ],
528
+ "parent_body": "robot0_right_hand"
529
+ }
530
+ },
531
+ "init_robot_base_pos": [
532
+ 5.687071569710973,
533
+ -3.4407663539139763,
534
+ 0.0
535
+ ],
536
+ "init_robot_base_ori": [
537
+ 0.0,
538
+ 0.0,
539
+ 0.00030199704781619374
540
+ ]
541
+ }
pretrain/atomic/PickPlaceCounterToMicrowave/20250819/lerobot/extras/episode_000100/ep_meta.json ADDED
@@ -0,0 +1,535 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 27,
3
+ "style_id": 58,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "obj_container",
7
+ "obj_groups": "container",
8
+ "placement": {
9
+ "fixture": "counter_1_main_group",
10
+ "sample_region_kwargs": {
11
+ "ref": "microwave_main_group",
12
+ "min_size": [
13
+ 0.24709981284000002,
14
+ 0.24709756509000005,
15
+ 0.021416774287499996
16
+ ]
17
+ },
18
+ "size": [
19
+ 0.3,
20
+ 0.3
21
+ ],
22
+ "pos": [
23
+ "ref",
24
+ -1.0
25
+ ],
26
+ "try_to_place_in": "container"
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "plate",
33
+ "receptacle",
34
+ "container",
35
+ "container_set2"
36
+ ],
37
+ "groups": [
38
+ "container"
39
+ ],
40
+ "cat": "plate",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "size": [
46
+ 1.4765466106143346,
47
+ 0.65
48
+ ],
49
+ "offset": [
50
+ 0.5217266946928327,
51
+ -3.469446951953614e-17,
52
+ 0.46
53
+ ],
54
+ "name": "geom_0"
55
+ }
56
+ },
57
+ {
58
+ "name": "obj",
59
+ "obj_groups": "food",
60
+ "exclude_obj_groups": null,
61
+ "graspable": true,
62
+ "microwavable": true,
63
+ "placement": {
64
+ "size": [
65
+ 0.01,
66
+ 0.01
67
+ ],
68
+ "ensure_object_boundary_in_range": false,
69
+ "sample_args": {
70
+ "reference": "obj_container",
71
+ "on_top": true
72
+ }
73
+ },
74
+ "type": "object",
75
+ "info": {
76
+ "groups_containing_sampled_obj": [
77
+ "all",
78
+ "hotdog_bun",
79
+ "bread_food",
80
+ "food",
81
+ "in_container"
82
+ ],
83
+ "groups": [
84
+ "food"
85
+ ],
86
+ "cat": "hotdog_bun",
87
+ "split": "train",
88
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml"
89
+ }
90
+ },
91
+ {
92
+ "name": "container",
93
+ "obj_groups": "plate",
94
+ "placement": {
95
+ "fixture": "microwave_main_group",
96
+ "size": [
97
+ 0.05,
98
+ 0.05
99
+ ],
100
+ "ensure_object_boundary_in_range": false
101
+ },
102
+ "type": "object",
103
+ "info": {
104
+ "groups_containing_sampled_obj": [
105
+ "all",
106
+ "plate",
107
+ "receptacle",
108
+ "container",
109
+ "container_set2"
110
+ ],
111
+ "groups": [
112
+ "plate"
113
+ ],
114
+ "cat": "plate",
115
+ "split": "train",
116
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
117
+ },
118
+ "reset_region": {
119
+ "offset": [
120
+ -0.07908312453162634,
121
+ 0.015137530714568262,
122
+ -0.18853883490499376
123
+ ],
124
+ "size": [
125
+ 0.30951738357214487,
126
+ 0.3081049751555467
127
+ ],
128
+ "height": 0.3570184657396056,
129
+ "name": "tray"
130
+ }
131
+ },
132
+ {
133
+ "name": "distr_counter",
134
+ "obj_groups": "all",
135
+ "placement": {
136
+ "fixture": "counter_1_main_group",
137
+ "sample_region_kwargs": {
138
+ "ref": "microwave_main_group",
139
+ "min_size": [
140
+ 0.09099378000000001,
141
+ 0.194397381,
142
+ 0.015302610000000001
143
+ ]
144
+ },
145
+ "size": [
146
+ 0.3,
147
+ 0.3
148
+ ],
149
+ "pos": [
150
+ "ref",
151
+ 1.0
152
+ ]
153
+ },
154
+ "type": "object",
155
+ "info": {
156
+ "groups_containing_sampled_obj": [
157
+ "all",
158
+ "peeler",
159
+ "tool",
160
+ "in_container"
161
+ ],
162
+ "groups": [
163
+ "all"
164
+ ],
165
+ "cat": "peeler",
166
+ "split": "train",
167
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler002/model.xml"
168
+ },
169
+ "reset_region": {
170
+ "size": [
171
+ 1.4765466106143346,
172
+ 0.65
173
+ ],
174
+ "offset": [
175
+ 0.5217266946928327,
176
+ -3.469446951953614e-17,
177
+ 0.46
178
+ ],
179
+ "name": "geom_0"
180
+ }
181
+ }
182
+ ],
183
+ "fixtures": {
184
+ "wall_left_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_left_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_main_1_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_main_1_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_right_1_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_right_1_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_main_2_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_main_2_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "floor_1_room": {
209
+ "cls": "Floor"
210
+ },
211
+ "floor_1_backing_room": {
212
+ "cls": "Floor"
213
+ },
214
+ "floor_2_room": {
215
+ "cls": "Floor"
216
+ },
217
+ "floor_2_backing_room": {
218
+ "cls": "Floor"
219
+ },
220
+ "wall_accessory_1_room": {
221
+ "cls": "WallAccessory"
222
+ },
223
+ "wall_accessory_2_room": {
224
+ "cls": "WallAccessory"
225
+ },
226
+ "wall_accessory_3_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "wall_accessory_4_room": {
230
+ "cls": "WallAccessory"
231
+ },
232
+ "light_switch_1_room": {
233
+ "cls": "WallAccessory"
234
+ },
235
+ "window_group_1_room": {
236
+ "cls": "Window"
237
+ },
238
+ "window_group_2_room": {
239
+ "cls": "Window"
240
+ },
241
+ "window_group_3_room": {
242
+ "cls": "Window"
243
+ },
244
+ "window_group_4_room": {
245
+ "cls": "Window"
246
+ },
247
+ "stool_1_room": {
248
+ "cls": "Stool"
249
+ },
250
+ "stool_2_room": {
251
+ "cls": "Stool"
252
+ },
253
+ "stool_3_room": {
254
+ "cls": "Stool"
255
+ },
256
+ "counter_corner_main_group": {
257
+ "cls": "Counter"
258
+ },
259
+ "sink_1_main_group": {
260
+ "cls": "Sink"
261
+ },
262
+ "counter_1_main_group": {
263
+ "cls": "Counter"
264
+ },
265
+ "box_main_group": {
266
+ "cls": "Box"
267
+ },
268
+ "stack_1_main_group_base": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_1_main_group_1": {
272
+ "cls": "HingeCabinet"
273
+ },
274
+ "stack_2_main_group_base": {
275
+ "cls": "Box"
276
+ },
277
+ "stack_2_main_group_1": {
278
+ "cls": "SingleCabinet"
279
+ },
280
+ "stack_3_main_group_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_3_main_group_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "stack_3_main_group_2": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_3_main_group_3": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_4_main_group_base": {
293
+ "cls": "Box"
294
+ },
295
+ "stack_4_main_group_1": {
296
+ "cls": "SingleCabinet"
297
+ },
298
+ "stack_4_main_group_2": {
299
+ "cls": "SingleCabinet"
300
+ },
301
+ "bottom_main_group_base": {
302
+ "cls": "Box"
303
+ },
304
+ "bottom_main_group_1": {
305
+ "cls": "Drawer"
306
+ },
307
+ "middle_main_group": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "microwave_main_group": {
311
+ "cls": "Microwave"
312
+ },
313
+ "microwave_housing_main_group": {
314
+ "cls": "HousingCabinet"
315
+ },
316
+ "top_main_group": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "cab_1_main_group": {
320
+ "cls": "HingeCabinet"
321
+ },
322
+ "cab_2_main_group": {
323
+ "cls": "SingleCabinet"
324
+ },
325
+ "toaster_main_group": {
326
+ "cls": "Toaster"
327
+ },
328
+ "paper_towel_main_group": {
329
+ "cls": "Accessory"
330
+ },
331
+ "counter_1_left_group": {
332
+ "cls": "Counter"
333
+ },
334
+ "stack_1_left_group_base": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_1_left_group_1": {
338
+ "cls": "SingleCabinet"
339
+ },
340
+ "stack_1_left_group_2": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_2_left_group_base": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_2_left_group_1": {
347
+ "cls": "Drawer"
348
+ },
349
+ "stack_2_left_group_2": {
350
+ "cls": "Drawer"
351
+ },
352
+ "stack_2_left_group_3": {
353
+ "cls": "Drawer"
354
+ },
355
+ "dishwasher_left_group": {
356
+ "cls": "Dishwasher"
357
+ },
358
+ "box_left_group": {
359
+ "cls": "Box"
360
+ },
361
+ "fridge_left_group": {
362
+ "cls": "FridgeBottomFreezer"
363
+ },
364
+ "fridge_housing_left_group": {
365
+ "cls": "HousingCabinet"
366
+ },
367
+ "fridge_top_left_group": {
368
+ "cls": "HingeCabinet"
369
+ },
370
+ "cab_1_left_group": {
371
+ "cls": "HingeCabinet"
372
+ },
373
+ "coffee_machine_left_group": {
374
+ "cls": "CoffeeMachine"
375
+ },
376
+ "toaster_oven_left_group": {
377
+ "cls": "ToasterOven"
378
+ },
379
+ "counter_1_front_group": {
380
+ "cls": "Counter"
381
+ },
382
+ "stove_front_group": {
383
+ "cls": "Stove"
384
+ },
385
+ "counter_2_front_group": {
386
+ "cls": "Counter"
387
+ },
388
+ "counter_3_front_group": {
389
+ "cls": "Counter"
390
+ },
391
+ "counter_4_front_group": {
392
+ "cls": "Counter"
393
+ },
394
+ "counter_5_front_group": {
395
+ "cls": "Counter"
396
+ },
397
+ "stack_1_front_group_base": {
398
+ "cls": "Box"
399
+ },
400
+ "stack_1_front_group_1": {
401
+ "cls": "HingeCabinet"
402
+ },
403
+ "stack_1_front_group_2": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_2_front_group_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_2_front_group_1": {
410
+ "cls": "SingleCabinet"
411
+ },
412
+ "stack_2_front_group_2": {
413
+ "cls": "Drawer"
414
+ },
415
+ "stack_3_front_group_base": {
416
+ "cls": "Box"
417
+ },
418
+ "stack_3_front_group_1": {
419
+ "cls": "SingleCabinet"
420
+ },
421
+ "stack_3_front_group_2": {
422
+ "cls": "Drawer"
423
+ },
424
+ "box_1_front_group": {
425
+ "cls": "Box"
426
+ },
427
+ "box_2_front_group": {
428
+ "cls": "Box"
429
+ },
430
+ "box_3_front_group": {
431
+ "cls": "Box"
432
+ },
433
+ "hood_front_group": {
434
+ "cls": "Hood"
435
+ }
436
+ },
437
+ "gen_textures": {},
438
+ "lang": "Pick the hotdog bun from the counter and place it in the microwave.",
439
+ "fixture_refs": {
440
+ "microwave": "microwave_main_group",
441
+ "counter": "counter_1_main_group",
442
+ "distr_counter": "counter_1_main_group"
443
+ },
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
+ 4.132813283381161,
527
+ -0.941114773347319,
528
+ 0.0
529
+ ],
530
+ "init_robot_base_ori": [
531
+ 0.0,
532
+ 0.0,
533
+ 1.5707963267948966
534
+ ]
535
+ }