Abhim03 commited on
Commit
61f5743
·
verified ·
1 Parent(s): fc9ea71

Add files using upload-large-folder tool

Browse files
Files changed (20) hide show
  1. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000002/ep_meta.json +440 -0
  2. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000004/ep_meta.json +467 -0
  3. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000008/ep_meta.json +651 -0
  4. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000011/ep_meta.json +452 -0
  5. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000014/ep_meta.json +384 -0
  6. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000015/ep_meta.json +563 -0
  7. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000027/ep_meta.json +612 -0
  8. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000032/ep_meta.json +418 -0
  9. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000044/ep_meta.json +455 -0
  10. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000048/ep_meta.json +548 -0
  11. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000060/ep_meta.json +609 -0
  12. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000066/ep_meta.json +573 -0
  13. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000071/ep_meta.json +521 -0
  14. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000072/ep_meta.json +632 -0
  15. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000073/ep_meta.json +465 -0
  16. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000080/ep_meta.json +579 -0
  17. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000083/ep_meta.json +611 -0
  18. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000086/ep_meta.json +546 -0
  19. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000092/ep_meta.json +735 -0
  20. pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000101/ep_meta.json +536 -0
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000002/ep_meta.json ADDED
@@ -0,0 +1,440 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 60,
3
+ "style_id": 19,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_6_main_group_1_3",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "dish_brush",
33
+ "tool",
34
+ "cleaner",
35
+ "in_container"
36
+ ],
37
+ "groups": [
38
+ "tool",
39
+ "utensil"
40
+ ],
41
+ "cat": "dish_brush",
42
+ "split": "train",
43
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml"
44
+ },
45
+ "reset_region": {
46
+ "offset": [
47
+ 0.0,
48
+ -0.015000000000000013,
49
+ -0.065
50
+ ],
51
+ "size": [
52
+ 0.47800000000000004,
53
+ 0.51
54
+ ],
55
+ "height": 0.16,
56
+ "name": "int"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_counter_1",
61
+ "obj_groups": "all",
62
+ "placement": {
63
+ "fixture": "counter_3_main_group_1",
64
+ "sample_region_kwargs": {
65
+ "ref": "stack_6_main_group_1_3",
66
+ "min_size": [
67
+ 0.07443605229999997,
68
+ 0.07443472634999998,
69
+ 0.11499999999999996
70
+ ]
71
+ },
72
+ "size": [
73
+ 1.0,
74
+ 0.5
75
+ ],
76
+ "pos": [
77
+ null,
78
+ -1.0
79
+ ],
80
+ "offset": [
81
+ 0.0,
82
+ 0.1
83
+ ]
84
+ },
85
+ "type": "object",
86
+ "info": {
87
+ "groups_containing_sampled_obj": [
88
+ "all",
89
+ "cup",
90
+ "stackable",
91
+ "receptacle"
92
+ ],
93
+ "groups": [
94
+ "all"
95
+ ],
96
+ "cat": "cup",
97
+ "split": "train",
98
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml"
99
+ },
100
+ "reset_region": {
101
+ "size": [
102
+ 0.5998000000000004,
103
+ 0.65
104
+ ],
105
+ "offset": [
106
+ 9.999999999976694e-05,
107
+ 0.0,
108
+ 0.46
109
+ ],
110
+ "name": "geom_0"
111
+ }
112
+ }
113
+ ],
114
+ "fixtures": {
115
+ "wall_left_1_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_left_1_backing_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "wall_main_1_room": {
122
+ "cls": "Wall"
123
+ },
124
+ "wall_main_1_backing_room": {
125
+ "cls": "Wall"
126
+ },
127
+ "wall_right_1_room": {
128
+ "cls": "Wall"
129
+ },
130
+ "wall_right_1_backing_room": {
131
+ "cls": "Wall"
132
+ },
133
+ "wall_right_2_room": {
134
+ "cls": "Wall"
135
+ },
136
+ "wall_right_2_backing_room": {
137
+ "cls": "Wall"
138
+ },
139
+ "wall_main_2_room": {
140
+ "cls": "Wall"
141
+ },
142
+ "floor_1_room": {
143
+ "cls": "Floor"
144
+ },
145
+ "floor_1_backing_room": {
146
+ "cls": "Floor"
147
+ },
148
+ "wallaccessory_01_room": {
149
+ "cls": "WallAccessory"
150
+ },
151
+ "lightswitch_01_room": {
152
+ "cls": "WallAccessory"
153
+ },
154
+ "wallaccessory_04_room": {
155
+ "cls": "WallAccessory"
156
+ },
157
+ "wallaccessory_12_room": {
158
+ "cls": "WallAccessory"
159
+ },
160
+ "wallaccessory_06_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "wallaccessory_07_room": {
164
+ "cls": "WallAccessory"
165
+ },
166
+ "wallaccessory_08_room": {
167
+ "cls": "WallAccessory"
168
+ },
169
+ "wallaccessory_09_room": {
170
+ "cls": "WallAccessory"
171
+ },
172
+ "wallaccessory_10_room": {
173
+ "cls": "WallAccessory"
174
+ },
175
+ "stool_1_room": {
176
+ "cls": "Stool"
177
+ },
178
+ "stool_2_room": {
179
+ "cls": "Stool"
180
+ },
181
+ "counter_corner_1_main_group_1": {
182
+ "cls": "Counter"
183
+ },
184
+ "counter_2_main_group_1": {
185
+ "cls": "Counter"
186
+ },
187
+ "counter_11_main_group_1": {
188
+ "cls": "Counter"
189
+ },
190
+ "counter_3_main_group_1": {
191
+ "cls": "Counter"
192
+ },
193
+ "stove_main_group_1": {
194
+ "cls": "Stove"
195
+ },
196
+ "microwave_main_group_1": {
197
+ "cls": "Microwave"
198
+ },
199
+ "micro_cab_main_group_1": {
200
+ "cls": "HingeCabinet"
201
+ },
202
+ "hingecabinet_01_main_group_1": {
203
+ "cls": "HingeCabinet"
204
+ },
205
+ "hingecabinet_02_main_group_1": {
206
+ "cls": "HingeCabinet"
207
+ },
208
+ "cube_3_main_group_1": {
209
+ "cls": "Box"
210
+ },
211
+ "singlecabinet_01_main_group_1": {
212
+ "cls": "SingleCabinet"
213
+ },
214
+ "stack_6_main_group_1_base": {
215
+ "cls": "Box"
216
+ },
217
+ "stack_6_main_group_1_1": {
218
+ "cls": "Drawer"
219
+ },
220
+ "stack_6_main_group_1_2": {
221
+ "cls": "Drawer"
222
+ },
223
+ "stack_6_main_group_1_3": {
224
+ "cls": "Drawer"
225
+ },
226
+ "stack_5_main_group_1_base": {
227
+ "cls": "Box"
228
+ },
229
+ "stack_5_main_group_1_1": {
230
+ "cls": "SingleCabinet"
231
+ },
232
+ "cube_11_main_group_1": {
233
+ "cls": "Box"
234
+ },
235
+ "cube_12_main_group_1": {
236
+ "cls": "Box"
237
+ },
238
+ "coffee_machine_main_group_1": {
239
+ "cls": "CoffeeMachine"
240
+ },
241
+ "paper_towel_main_group_1": {
242
+ "cls": "Accessory"
243
+ },
244
+ "plant_main_group_1": {
245
+ "cls": "Accessory"
246
+ },
247
+ "fridgebottomfreezer_right_group_1": {
248
+ "cls": "FridgeBottomFreezer"
249
+ },
250
+ "fridgebottomfreezer_housing_right_group_1": {
251
+ "cls": "HousingCabinet"
252
+ },
253
+ "hingecabinet_05_right_group_1": {
254
+ "cls": "HingeCabinet"
255
+ },
256
+ "counter_6_right_group_1": {
257
+ "cls": "Counter"
258
+ },
259
+ "hingecabinet_04_right_group_1": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "hingecabinet_06_right_group_1": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "stack_7_right_group_1_base": {
266
+ "cls": "Box"
267
+ },
268
+ "stack_7_right_group_1_1": {
269
+ "cls": "HingeCabinet"
270
+ },
271
+ "stack_7_right_group_1_2": {
272
+ "cls": "Drawer"
273
+ },
274
+ "stack_8_right_group_1_base": {
275
+ "cls": "Box"
276
+ },
277
+ "stack_8_right_group_1_1": {
278
+ "cls": "HingeCabinet"
279
+ },
280
+ "cube_13_right_group_1": {
281
+ "cls": "Box"
282
+ },
283
+ "toaster_oven_right_group_1": {
284
+ "cls": "ToasterOven"
285
+ },
286
+ "sink_left_group_1": {
287
+ "cls": "Sink"
288
+ },
289
+ "counter_1_left_group_1": {
290
+ "cls": "Counter"
291
+ },
292
+ "counter_5_left_group_1": {
293
+ "cls": "Counter"
294
+ },
295
+ "cube_1_left_group_1": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_1_left_group_1_base": {
299
+ "cls": "Box"
300
+ },
301
+ "stack_1_left_group_1_1": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_1_left_group_1_2": {
305
+ "cls": "Drawer"
306
+ },
307
+ "stack_4_left_group_1_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_4_left_group_1_1": {
311
+ "cls": "SingleCabinet"
312
+ },
313
+ "stack_2_left_group_1_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_2_left_group_1_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "stack_2_left_group_1_2": {
320
+ "cls": "PanelCabinet"
321
+ },
322
+ "stack_3_left_group_1_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_3_left_group_1_1": {
326
+ "cls": "Drawer"
327
+ },
328
+ "stack_3_left_group_1_2": {
329
+ "cls": "Drawer"
330
+ },
331
+ "cube_4_left_group_1": {
332
+ "cls": "Box"
333
+ },
334
+ "cube_2_left_group_1": {
335
+ "cls": "Box"
336
+ },
337
+ "dishwasher_1_left_group_1": {
338
+ "cls": "Dishwasher"
339
+ },
340
+ "toaster_left_group_1": {
341
+ "cls": "Toaster"
342
+ }
343
+ },
344
+ "gen_textures": {},
345
+ "lang": "Open the right drawer.",
346
+ "fixture_refs": {
347
+ "drawer": "stack_6_main_group_1_3"
348
+ },
349
+ "cam_configs": {
350
+ "robot0_agentview_center": {
351
+ "pos": [
352
+ -0.6,
353
+ 0.0,
354
+ 1.15
355
+ ],
356
+ "quat": [
357
+ 0.636945903301239,
358
+ 0.3325185477733612,
359
+ -0.3199238181114197,
360
+ -0.6175596117973328
361
+ ],
362
+ "parent_body": "mobilebase0_support"
363
+ },
364
+ "robot0_agentview_left": {
365
+ "pos": [
366
+ -0.5,
367
+ 0.35,
368
+ 1.05
369
+ ],
370
+ "quat": [
371
+ 0.55623853,
372
+ 0.29935253,
373
+ -0.37678665,
374
+ -0.6775092
375
+ ],
376
+ "camera_attribs": {
377
+ "fovy": "60"
378
+ },
379
+ "parent_body": "mobilebase0_support"
380
+ },
381
+ "robot0_agentview_right": {
382
+ "pos": [
383
+ -0.5,
384
+ -0.35,
385
+ 1.05
386
+ ],
387
+ "quat": [
388
+ 0.6775091886520386,
389
+ 0.3767866790294647,
390
+ -0.2993525564670563,
391
+ -0.55623859167099
392
+ ],
393
+ "camera_attribs": {
394
+ "fovy": "60"
395
+ },
396
+ "parent_body": "mobilebase0_support"
397
+ },
398
+ "robot0_frontview": {
399
+ "pos": [
400
+ -0.5,
401
+ 0,
402
+ 0.95
403
+ ],
404
+ "quat": [
405
+ 0.6088936924934387,
406
+ 0.3814677894115448,
407
+ -0.3673907518386841,
408
+ -0.5905545353889465
409
+ ],
410
+ "camera_attribs": {
411
+ "fovy": "60"
412
+ },
413
+ "parent_body": "mobilebase0_support"
414
+ },
415
+ "robot0_eye_in_hand": {
416
+ "pos": [
417
+ 0.05,
418
+ 0,
419
+ 0
420
+ ],
421
+ "quat": [
422
+ 0,
423
+ 0.707107,
424
+ 0.707107,
425
+ 0
426
+ ],
427
+ "parent_body": "robot0_right_hand"
428
+ }
429
+ },
430
+ "init_robot_base_pos": [
431
+ 3.296994241660654,
432
+ -0.8759066966653353,
433
+ 0.0
434
+ ],
435
+ "init_robot_base_ori": [
436
+ 0.0,
437
+ 0.0,
438
+ 1.5707963267948966
439
+ ]
440
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000004/ep_meta.json ADDED
@@ -0,0 +1,467 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 46,
3
+ "style_id": 42,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_08_front_group_1_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "whisk",
33
+ "utensil"
34
+ ],
35
+ "groups": [
36
+ "tool",
37
+ "utensil"
38
+ ],
39
+ "cat": "whisk",
40
+ "split": "train",
41
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk002/model.xml"
42
+ },
43
+ "reset_region": {
44
+ "offset": [
45
+ 0.0,
46
+ -0.015000000000000013,
47
+ -0.065
48
+ ],
49
+ "size": [
50
+ 0.6727129999999999,
51
+ 0.510003
52
+ ],
53
+ "height": 0.16,
54
+ "name": "int"
55
+ }
56
+ },
57
+ {
58
+ "name": "distr_counter_1",
59
+ "obj_groups": "all",
60
+ "placement": {
61
+ "fixture": "counter_2_front_group_1",
62
+ "sample_region_kwargs": {
63
+ "ref": "stack_08_front_group_1_2",
64
+ "min_size": [
65
+ 0.115851561,
66
+ 0.115851561,
67
+ 0.3201837765
68
+ ]
69
+ },
70
+ "size": [
71
+ 1.0,
72
+ 0.5
73
+ ],
74
+ "pos": [
75
+ null,
76
+ -1.0
77
+ ],
78
+ "offset": [
79
+ 0.0,
80
+ 0.1
81
+ ]
82
+ },
83
+ "type": "object",
84
+ "info": {
85
+ "groups_containing_sampled_obj": [
86
+ "all",
87
+ "oil_and_vinegar_bottle",
88
+ "condiment"
89
+ ],
90
+ "groups": [
91
+ "all"
92
+ ],
93
+ "cat": "oil_and_vinegar_bottle",
94
+ "split": "train",
95
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oil_and_vinegar_bottle/OilBottle015/model.xml"
96
+ },
97
+ "reset_region": {
98
+ "size": [
99
+ 0.8946319999999988,
100
+ 1.300035
101
+ ],
102
+ "offset": [
103
+ 1.7048999999999999,
104
+ 2.0816681711721685e-17,
105
+ 0.46
106
+ ],
107
+ "name": "geom_0"
108
+ }
109
+ }
110
+ ],
111
+ "fixtures": {
112
+ "wall_right_1_room": {
113
+ "cls": "Wall"
114
+ },
115
+ "wall_right_1_backing_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_main_1_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "wall_main_1_backing_room": {
122
+ "cls": "Wall"
123
+ },
124
+ "wall_right_3_room": {
125
+ "cls": "Wall"
126
+ },
127
+ "wall_right_3_backing_room": {
128
+ "cls": "Wall"
129
+ },
130
+ "wall_right_2_room": {
131
+ "cls": "Wall"
132
+ },
133
+ "wall_right_2_backing_room": {
134
+ "cls": "Wall"
135
+ },
136
+ "wall_main_2_room": {
137
+ "cls": "Wall"
138
+ },
139
+ "wall_main_2_backing_room": {
140
+ "cls": "Wall"
141
+ },
142
+ "floor_1_room": {
143
+ "cls": "Floor"
144
+ },
145
+ "floor_1_backing_room": {
146
+ "cls": "Floor"
147
+ },
148
+ "floor_2_room": {
149
+ "cls": "Floor"
150
+ },
151
+ "floor_2_backing_room": {
152
+ "cls": "Floor"
153
+ },
154
+ "wallaccessory_06_room": {
155
+ "cls": "WallAccessory"
156
+ },
157
+ "lightswitch_01_room": {
158
+ "cls": "WallAccessory"
159
+ },
160
+ "wallaccessory_03_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "wallaccessory_04_room": {
164
+ "cls": "WallAccessory"
165
+ },
166
+ "stool_1_room": {
167
+ "cls": "Stool"
168
+ },
169
+ "stool_2_room": {
170
+ "cls": "Stool"
171
+ },
172
+ "stool_3_room": {
173
+ "cls": "Stool"
174
+ },
175
+ "stool_4_room": {
176
+ "cls": "Stool"
177
+ },
178
+ "stool_5_room": {
179
+ "cls": "Stool"
180
+ },
181
+ "stool_6_room": {
182
+ "cls": "Stool"
183
+ },
184
+ "dining_dining_area_group": {
185
+ "cls": "Counter"
186
+ },
187
+ "cube_1_dining_area_group": {
188
+ "cls": "Box"
189
+ },
190
+ "cube_2_dining_area_group": {
191
+ "cls": "Box"
192
+ },
193
+ "fridgefrenchdoor_main_group_1": {
194
+ "cls": "FridgeFrenchDoor"
195
+ },
196
+ "fridgefrenchdoor_housing_main_group_1": {
197
+ "cls": "HousingCabinet"
198
+ },
199
+ "bottom_main_group_1_base": {
200
+ "cls": "Box"
201
+ },
202
+ "bottom_main_group_1_1": {
203
+ "cls": "Drawer"
204
+ },
205
+ "microwave_main_group_1": {
206
+ "cls": "Microwave"
207
+ },
208
+ "hingecabinet_02_main_group_1": {
209
+ "cls": "HingeCabinet"
210
+ },
211
+ "oven_cabinet_main_group_1": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "microwave_housing_main_group_1": {
215
+ "cls": "HousingCabinet"
216
+ },
217
+ "top_main_group_1": {
218
+ "cls": "HingeCabinet"
219
+ },
220
+ "hingecabinet_01_main_group_1": {
221
+ "cls": "HingeCabinet"
222
+ },
223
+ "singlecabinet_1_main_group_1": {
224
+ "cls": "SingleCabinet"
225
+ },
226
+ "singlecabinet_2_main_group_1": {
227
+ "cls": "SingleCabinet"
228
+ },
229
+ "counter_2_main_group_1": {
230
+ "cls": "Counter"
231
+ },
232
+ "counter_1_main_group_1": {
233
+ "cls": "Counter"
234
+ },
235
+ "stove_main_group_1": {
236
+ "cls": "Stove"
237
+ },
238
+ "stove_hood_main_group_1": {
239
+ "cls": "Hood"
240
+ },
241
+ "stack_01_main_group_1_base": {
242
+ "cls": "Box"
243
+ },
244
+ "stack_01_main_group_1_1": {
245
+ "cls": "Drawer"
246
+ },
247
+ "stack_01_main_group_1_2": {
248
+ "cls": "Drawer"
249
+ },
250
+ "stack_01_main_group_1_3": {
251
+ "cls": "Drawer"
252
+ },
253
+ "stack_02_main_group_1_base": {
254
+ "cls": "Box"
255
+ },
256
+ "stack_02_main_group_1_1": {
257
+ "cls": "Drawer"
258
+ },
259
+ "stack_02_main_group_1_2": {
260
+ "cls": "Drawer"
261
+ },
262
+ "stack_02_main_group_1_3": {
263
+ "cls": "Drawer"
264
+ },
265
+ "stack_03_main_group_1_base": {
266
+ "cls": "Box"
267
+ },
268
+ "stack_03_main_group_1_1": {
269
+ "cls": "HingeCabinet"
270
+ },
271
+ "stack_03_main_group_1_2": {
272
+ "cls": "Drawer"
273
+ },
274
+ "coffee_machine_main_group_1": {
275
+ "cls": "CoffeeMachine"
276
+ },
277
+ "toaster_main_group_1": {
278
+ "cls": "Toaster"
279
+ },
280
+ "toaster_oven_main_group_1": {
281
+ "cls": "ToasterOven"
282
+ },
283
+ "sink_front_group_1": {
284
+ "cls": "Sink"
285
+ },
286
+ "counter_2_front_group_1": {
287
+ "cls": "Counter"
288
+ },
289
+ "stack_05_front_group_1_base": {
290
+ "cls": "Box"
291
+ },
292
+ "stack_05_front_group_1_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "stack_05_front_group_1_2": {
296
+ "cls": "PanelCabinet"
297
+ },
298
+ "stack_08_front_group_1_base": {
299
+ "cls": "Box"
300
+ },
301
+ "stack_08_front_group_1_1": {
302
+ "cls": "HingeCabinet"
303
+ },
304
+ "stack_08_front_group_1_2": {
305
+ "cls": "Drawer"
306
+ },
307
+ "stack_06_front_group_1_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_06_front_group_1_1": {
311
+ "cls": "SingleCabinet"
312
+ },
313
+ "stack_04_front_group_1_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_04_front_group_1_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "stack_04_front_group_1_2": {
320
+ "cls": "Drawer"
321
+ },
322
+ "dishwasher_1_front_group_1": {
323
+ "cls": "Dishwasher"
324
+ },
325
+ "stack_12_front_group_1_base": {
326
+ "cls": "Box"
327
+ },
328
+ "stack_12_front_group_1_1": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "stack_12_front_group_1_2": {
332
+ "cls": "Drawer"
333
+ },
334
+ "plant_front_group_1": {
335
+ "cls": "Accessory"
336
+ },
337
+ "paper_towel_front_group_1": {
338
+ "cls": "Accessory"
339
+ },
340
+ "cube_1_front_group_2": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_11_front_group_2_base": {
344
+ "cls": "Box"
345
+ },
346
+ "stack_11_front_group_2_1": {
347
+ "cls": "HingeCabinet"
348
+ },
349
+ "stack_10_front_group_2_base": {
350
+ "cls": "Box"
351
+ },
352
+ "stack_10_front_group_2_1": {
353
+ "cls": "HingeCabinet"
354
+ },
355
+ "stack_09_front_group_2_base": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_09_front_group_2_1": {
359
+ "cls": "HingeCabinet"
360
+ },
361
+ "cube_2_front_group_2": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_13_front_group_2_base": {
365
+ "cls": "Box"
366
+ },
367
+ "stack_13_front_group_2_1": {
368
+ "cls": "SingleCabinet"
369
+ }
370
+ },
371
+ "gen_textures": {},
372
+ "lang": "Open the right drawer.",
373
+ "fixture_refs": {
374
+ "drawer": "stack_08_front_group_1_2"
375
+ },
376
+ "cam_configs": {
377
+ "robot0_agentview_center": {
378
+ "pos": [
379
+ -0.6,
380
+ 0.0,
381
+ 1.15
382
+ ],
383
+ "quat": [
384
+ 0.636945903301239,
385
+ 0.3325185477733612,
386
+ -0.3199238181114197,
387
+ -0.6175596117973328
388
+ ],
389
+ "parent_body": "mobilebase0_support"
390
+ },
391
+ "robot0_agentview_left": {
392
+ "pos": [
393
+ -0.5,
394
+ 0.35,
395
+ 1.05
396
+ ],
397
+ "quat": [
398
+ 0.55623853,
399
+ 0.29935253,
400
+ -0.37678665,
401
+ -0.6775092
402
+ ],
403
+ "camera_attribs": {
404
+ "fovy": "60"
405
+ },
406
+ "parent_body": "mobilebase0_support"
407
+ },
408
+ "robot0_agentview_right": {
409
+ "pos": [
410
+ -0.5,
411
+ -0.35,
412
+ 1.05
413
+ ],
414
+ "quat": [
415
+ 0.6775091886520386,
416
+ 0.3767866790294647,
417
+ -0.2993525564670563,
418
+ -0.55623859167099
419
+ ],
420
+ "camera_attribs": {
421
+ "fovy": "60"
422
+ },
423
+ "parent_body": "mobilebase0_support"
424
+ },
425
+ "robot0_frontview": {
426
+ "pos": [
427
+ -0.5,
428
+ 0,
429
+ 0.95
430
+ ],
431
+ "quat": [
432
+ 0.6088936924934387,
433
+ 0.3814677894115448,
434
+ -0.3673907518386841,
435
+ -0.5905545353889465
436
+ ],
437
+ "camera_attribs": {
438
+ "fovy": "60"
439
+ },
440
+ "parent_body": "mobilebase0_support"
441
+ },
442
+ "robot0_eye_in_hand": {
443
+ "pos": [
444
+ 0.05,
445
+ 0,
446
+ 0
447
+ ],
448
+ "quat": [
449
+ 0,
450
+ 0.707107,
451
+ 0.707107,
452
+ 0
453
+ ],
454
+ "parent_body": "robot0_right_hand"
455
+ }
456
+ },
457
+ "init_robot_base_pos": [
458
+ 3.0345041035518423,
459
+ -2.580789041028288,
460
+ 0.0
461
+ ],
462
+ "init_robot_base_ori": [
463
+ 0.0,
464
+ 0.0,
465
+ 4.712230463812298
466
+ ]
467
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000008/ep_meta.json ADDED
@@ -0,0 +1,651 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 20,
3
+ "style_id": 40,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_4_main_group_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "peeler",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "peeler",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler002/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.065
49
+ ],
50
+ "size": [
51
+ 0.534,
52
+ 0.51
53
+ ],
54
+ "height": 0.16,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "counter_2_main_group",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_4_main_group_2",
65
+ "min_size": [
66
+ 0.06828756385948707,
67
+ 0.06828859345936432,
68
+ 0.09000000000000002
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "can",
89
+ "drink",
90
+ "group1"
91
+ ],
92
+ "groups": [
93
+ "all"
94
+ ],
95
+ "cat": "can",
96
+ "split": "train",
97
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/can/can_2/model.xml"
98
+ },
99
+ "reset_region": {
100
+ "size": [
101
+ 0.6560000000000012,
102
+ 0.65
103
+ ],
104
+ "offset": [
105
+ 0.3279999999999994,
106
+ 0.0,
107
+ 0.46
108
+ ],
109
+ "name": "geom_0"
110
+ }
111
+ },
112
+ {
113
+ "name": "distr_counter_2",
114
+ "obj_groups": "all",
115
+ "placement": {
116
+ "fixture": "counter_2_main_group",
117
+ "sample_region_kwargs": {
118
+ "ref": "stack_4_main_group_2",
119
+ "min_size": [
120
+ 0.074613955,
121
+ 0.15433813049999998,
122
+ 0.06454025399999999
123
+ ]
124
+ },
125
+ "size": [
126
+ 1.0,
127
+ 0.5
128
+ ],
129
+ "pos": [
130
+ null,
131
+ -1.0
132
+ ],
133
+ "offset": [
134
+ 0.0,
135
+ 0.1
136
+ ]
137
+ },
138
+ "type": "object",
139
+ "info": {
140
+ "groups_containing_sampled_obj": [
141
+ "all",
142
+ "hotdog_bun",
143
+ "bread_food",
144
+ "food",
145
+ "in_container"
146
+ ],
147
+ "groups": [
148
+ "all"
149
+ ],
150
+ "cat": "hotdog_bun",
151
+ "split": "train",
152
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun005/model.xml"
153
+ },
154
+ "reset_region": {
155
+ "size": [
156
+ 0.6560000000000012,
157
+ 0.65
158
+ ],
159
+ "offset": [
160
+ 0.3279999999999994,
161
+ 0.0,
162
+ 0.46
163
+ ],
164
+ "name": "geom_0"
165
+ }
166
+ },
167
+ {
168
+ "name": "distr_counter_3",
169
+ "obj_groups": "all",
170
+ "placement": {
171
+ "fixture": "counter_2_main_group",
172
+ "sample_region_kwargs": {
173
+ "ref": "stack_4_main_group_2",
174
+ "min_size": [
175
+ 0.23703159840000004,
176
+ 0.40716138864000007,
177
+ 0.04810039296
178
+ ]
179
+ },
180
+ "size": [
181
+ 1.0,
182
+ 0.5
183
+ ],
184
+ "pos": [
185
+ null,
186
+ -1.0
187
+ ],
188
+ "offset": [
189
+ 0.0,
190
+ 0.1
191
+ ]
192
+ },
193
+ "type": "object",
194
+ "info": {
195
+ "groups_containing_sampled_obj": [
196
+ "all",
197
+ "pan",
198
+ "receptacle",
199
+ "cookware",
200
+ "pots_and_pans"
201
+ ],
202
+ "groups": [
203
+ "all"
204
+ ],
205
+ "cat": "pan",
206
+ "split": "train",
207
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_19/model.xml"
208
+ },
209
+ "reset_region": {
210
+ "size": [
211
+ 0.6560000000000012,
212
+ 0.65
213
+ ],
214
+ "offset": [
215
+ 0.3279999999999994,
216
+ 0.0,
217
+ 0.46
218
+ ],
219
+ "name": "geom_0"
220
+ }
221
+ }
222
+ ],
223
+ "fixtures": {
224
+ "wall_left_1_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "wall_left_1_backing_room": {
228
+ "cls": "Wall"
229
+ },
230
+ "wall_main_1_room": {
231
+ "cls": "Wall"
232
+ },
233
+ "wall_main_1_backing_room": {
234
+ "cls": "Wall"
235
+ },
236
+ "wall_front_1_room": {
237
+ "cls": "Wall"
238
+ },
239
+ "wall_front_1_backing_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_front_2_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_front_2_backing_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_front_3_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_front_3_backing_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "floor_1_room": {
255
+ "cls": "Floor"
256
+ },
257
+ "floor_1_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
+ "wall_accessory_4_room": {
270
+ "cls": "WallAccessory"
271
+ },
272
+ "window_group_room": {
273
+ "cls": "Window"
274
+ },
275
+ "counter_corner_main_group": {
276
+ "cls": "Counter"
277
+ },
278
+ "counter_1_main_group": {
279
+ "cls": "Counter"
280
+ },
281
+ "stove_main_group": {
282
+ "cls": "Stove"
283
+ },
284
+ "counter_2_main_group": {
285
+ "cls": "Counter"
286
+ },
287
+ "stack_1_main_group_base": {
288
+ "cls": "Box"
289
+ },
290
+ "stack_1_main_group_1": {
291
+ "cls": "SingleCabinet"
292
+ },
293
+ "stack_1_main_group_2": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_2_main_group_base": {
297
+ "cls": "Box"
298
+ },
299
+ "stack_2_main_group_1": {
300
+ "cls": "SingleCabinet"
301
+ },
302
+ "box_main_group": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_3_main_group_base": {
306
+ "cls": "Box"
307
+ },
308
+ "stack_3_main_group_1": {
309
+ "cls": "SingleCabinet"
310
+ },
311
+ "stack_3_main_group_2": {
312
+ "cls": "Drawer"
313
+ },
314
+ "stack_4_main_group_base": {
315
+ "cls": "Box"
316
+ },
317
+ "stack_4_main_group_1": {
318
+ "cls": "SingleCabinet"
319
+ },
320
+ "stack_4_main_group_2": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_5_main_group_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_5_main_group_1": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "stack_6_main_group_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_6_main_group_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "cab_1_main_group": {
336
+ "cls": "HingeCabinet"
337
+ },
338
+ "cab_2_main_group": {
339
+ "cls": "HingeCabinet"
340
+ },
341
+ "cab_3_main_group": {
342
+ "cls": "SingleCabinet"
343
+ },
344
+ "microwave_main_group": {
345
+ "cls": "Microwave"
346
+ },
347
+ "cab_4_main_group": {
348
+ "cls": "HingeCabinet"
349
+ },
350
+ "cab_5_main_group": {
351
+ "cls": "HingeCabinet"
352
+ },
353
+ "cab_6_main_group": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "coffee_machine_main_group": {
357
+ "cls": "CoffeeMachine"
358
+ },
359
+ "paper_towel_main_group": {
360
+ "cls": "Accessory"
361
+ },
362
+ "counter_corner_1_left_group": {
363
+ "cls": "Counter"
364
+ },
365
+ "sink_1_left_group": {
366
+ "cls": "Sink"
367
+ },
368
+ "counter_1_left_group": {
369
+ "cls": "Counter"
370
+ },
371
+ "box_1_left_group": {
372
+ "cls": "Box"
373
+ },
374
+ "stack_1_left_group_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_1_left_group_1": {
378
+ "cls": "HingeCabinet"
379
+ },
380
+ "dishwasher_1_left_group": {
381
+ "cls": "Dishwasher"
382
+ },
383
+ "stack_2_left_group_base": {
384
+ "cls": "Box"
385
+ },
386
+ "stack_2_left_group_1": {
387
+ "cls": "HingeCabinet"
388
+ },
389
+ "stack_3_left_group_base": {
390
+ "cls": "Box"
391
+ },
392
+ "stack_3_left_group_1": {
393
+ "cls": "SingleCabinet"
394
+ },
395
+ "box_2_left_group": {
396
+ "cls": "Box"
397
+ },
398
+ "cab_1_left_group": {
399
+ "cls": "SingleCabinet"
400
+ },
401
+ "cab_2_left_group": {
402
+ "cls": "HingeCabinet"
403
+ },
404
+ "cab_3_left_group": {
405
+ "cls": "SingleCabinet"
406
+ },
407
+ "cab_corner_left_group": {
408
+ "cls": "Box"
409
+ },
410
+ "knife_block_left_group": {
411
+ "cls": "Accessory"
412
+ },
413
+ "island_island_group_1": {
414
+ "cls": "Counter"
415
+ },
416
+ "panel_stack_1_island_group_1_base": {
417
+ "cls": "Box"
418
+ },
419
+ "panel_stack_1_island_group_1_1": {
420
+ "cls": "PanelCabinet"
421
+ },
422
+ "stack_1_island_group_1_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_1_island_group_1_1": {
426
+ "cls": "HingeCabinet"
427
+ },
428
+ "stack_2_island_group_1_base": {
429
+ "cls": "Box"
430
+ },
431
+ "stack_2_island_group_1_1": {
432
+ "cls": "HingeCabinet"
433
+ },
434
+ "stack_3_island_group_1_base": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_3_island_group_1_1": {
438
+ "cls": "HingeCabinet"
439
+ },
440
+ "panel_stack_2_island_group_1_base": {
441
+ "cls": "Box"
442
+ },
443
+ "panel_stack_2_island_group_1_1": {
444
+ "cls": "PanelCabinet"
445
+ },
446
+ "plant_island_group_1": {
447
+ "cls": "Accessory"
448
+ },
449
+ "counter_1_island_group_2": {
450
+ "cls": "Counter"
451
+ },
452
+ "panel_stack_1_island_group_2_base": {
453
+ "cls": "Box"
454
+ },
455
+ "panel_stack_1_island_group_2_1": {
456
+ "cls": "PanelCabinet"
457
+ },
458
+ "stack_1_island_group_2_base": {
459
+ "cls": "Box"
460
+ },
461
+ "stack_1_island_group_2_1": {
462
+ "cls": "Drawer"
463
+ },
464
+ "stack_1_island_group_2_2": {
465
+ "cls": "Drawer"
466
+ },
467
+ "stack_2_island_group_2_base": {
468
+ "cls": "Box"
469
+ },
470
+ "stack_2_island_group_2_1": {
471
+ "cls": "Drawer"
472
+ },
473
+ "stack_2_island_group_2_2": {
474
+ "cls": "Drawer"
475
+ },
476
+ "stack_3_island_group_2_base": {
477
+ "cls": "Box"
478
+ },
479
+ "stack_3_island_group_2_1": {
480
+ "cls": "Drawer"
481
+ },
482
+ "stack_3_island_group_2_2": {
483
+ "cls": "Drawer"
484
+ },
485
+ "panel_stack_2_island_group_2_base": {
486
+ "cls": "Box"
487
+ },
488
+ "panel_stack_2_island_group_2_1": {
489
+ "cls": "PanelCabinet"
490
+ },
491
+ "counter_1_front_group_1": {
492
+ "cls": "Counter"
493
+ },
494
+ "fridge_1_front_group_1": {
495
+ "cls": "FridgeFrenchDoor"
496
+ },
497
+ "fridge_1_housing_front_group_1": {
498
+ "cls": "HousingCabinet"
499
+ },
500
+ "stack_1_front_group_1_base": {
501
+ "cls": "Box"
502
+ },
503
+ "stack_1_front_group_1_1": {
504
+ "cls": "HingeCabinet"
505
+ },
506
+ "box_front_group_1": {
507
+ "cls": "Box"
508
+ },
509
+ "cab_1_front_group_1": {
510
+ "cls": "HingeCabinet"
511
+ },
512
+ "cab_2_front_group_1": {
513
+ "cls": "SingleCabinet"
514
+ },
515
+ "cab_3_front_group_1": {
516
+ "cls": "SingleCabinet"
517
+ },
518
+ "toaster_front_group_1": {
519
+ "cls": "Toaster"
520
+ },
521
+ "counter_1_front_group_2": {
522
+ "cls": "Counter"
523
+ },
524
+ "stack_1_front_group_2_base": {
525
+ "cls": "Box"
526
+ },
527
+ "stack_1_front_group_2_1": {
528
+ "cls": "SingleCabinet"
529
+ },
530
+ "stack_2_front_group_2_base": {
531
+ "cls": "Box"
532
+ },
533
+ "stack_2_front_group_2_1": {
534
+ "cls": "SingleCabinet"
535
+ },
536
+ "stack_3_front_group_2_base": {
537
+ "cls": "Box"
538
+ },
539
+ "stack_3_front_group_2_1": {
540
+ "cls": "SingleCabinet"
541
+ },
542
+ "cab_1_front_group_2": {
543
+ "cls": "HingeCabinet"
544
+ },
545
+ "cab_2_front_group_2": {
546
+ "cls": "HingeCabinet"
547
+ },
548
+ "cab_3_front_group_2": {
549
+ "cls": "HingeCabinet"
550
+ },
551
+ "toaster_oven_front_group_2": {
552
+ "cls": "ToasterOven"
553
+ }
554
+ },
555
+ "gen_textures": {},
556
+ "lang": "Open the left drawer.",
557
+ "fixture_refs": {
558
+ "drawer": "stack_4_main_group_2"
559
+ },
560
+ "cam_configs": {
561
+ "robot0_agentview_center": {
562
+ "pos": [
563
+ -0.6,
564
+ 0.0,
565
+ 1.15
566
+ ],
567
+ "quat": [
568
+ 0.636945903301239,
569
+ 0.3325185477733612,
570
+ -0.3199238181114197,
571
+ -0.6175596117973328
572
+ ],
573
+ "parent_body": "mobilebase0_support"
574
+ },
575
+ "robot0_agentview_left": {
576
+ "pos": [
577
+ -0.5,
578
+ 0.35,
579
+ 1.05
580
+ ],
581
+ "quat": [
582
+ 0.55623853,
583
+ 0.29935253,
584
+ -0.37678665,
585
+ -0.6775092
586
+ ],
587
+ "camera_attribs": {
588
+ "fovy": "60"
589
+ },
590
+ "parent_body": "mobilebase0_support"
591
+ },
592
+ "robot0_agentview_right": {
593
+ "pos": [
594
+ -0.5,
595
+ -0.35,
596
+ 1.05
597
+ ],
598
+ "quat": [
599
+ 0.6775091886520386,
600
+ 0.3767866790294647,
601
+ -0.2993525564670563,
602
+ -0.55623859167099
603
+ ],
604
+ "camera_attribs": {
605
+ "fovy": "60"
606
+ },
607
+ "parent_body": "mobilebase0_support"
608
+ },
609
+ "robot0_frontview": {
610
+ "pos": [
611
+ -0.5,
612
+ 0,
613
+ 0.95
614
+ ],
615
+ "quat": [
616
+ 0.6088936924934387,
617
+ 0.3814677894115448,
618
+ -0.3673907518386841,
619
+ -0.5905545353889465
620
+ ],
621
+ "camera_attribs": {
622
+ "fovy": "60"
623
+ },
624
+ "parent_body": "mobilebase0_support"
625
+ },
626
+ "robot0_eye_in_hand": {
627
+ "pos": [
628
+ 0.05,
629
+ 0,
630
+ 0
631
+ ],
632
+ "quat": [
633
+ 0,
634
+ 0.707107,
635
+ 0.707107,
636
+ 0
637
+ ],
638
+ "parent_body": "robot0_right_hand"
639
+ }
640
+ },
641
+ "init_robot_base_pos": [
642
+ 4.296379935532261,
643
+ -0.9439185367723226,
644
+ 0.0
645
+ ],
646
+ "init_robot_base_ori": [
647
+ 0.0,
648
+ 0.0,
649
+ 1.5707963267948966
650
+ ]
651
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000011/ep_meta.json ADDED
@@ -0,0 +1,452 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 19,
3
+ "style_id": 23,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_1_dining_area_group_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "reamer",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "reamer",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer003/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.044
49
+ ],
50
+ "size": [
51
+ 0.328,
52
+ 0.51
53
+ ],
54
+ "height": 0.118,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "dining_dining_area_group",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_1_dining_area_group_2",
65
+ "min_size": [
66
+ 0.133751,
67
+ 0.025651824999999996,
68
+ 0.02516305
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "cream_cheese_stick",
89
+ "dairy",
90
+ "food",
91
+ "in_container"
92
+ ],
93
+ "groups": [
94
+ "all"
95
+ ],
96
+ "cat": "cream_cheese_stick",
97
+ "split": "train",
98
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick006/model.xml"
99
+ },
100
+ "reset_region": {
101
+ "size": [
102
+ 0.5500000000000003,
103
+ 1.0
104
+ ],
105
+ "offset": [
106
+ -0.4249999999999998,
107
+ 0.0,
108
+ 0.46
109
+ ],
110
+ "name": "geom_0"
111
+ }
112
+ }
113
+ ],
114
+ "fixtures": {
115
+ "wall_left_1_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_left_1_backing_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "wall_main_1_room": {
122
+ "cls": "Wall"
123
+ },
124
+ "wall_main_1_backing_room": {
125
+ "cls": "Wall"
126
+ },
127
+ "wall_main_3_room": {
128
+ "cls": "Wall"
129
+ },
130
+ "wall_main_3_backing_room": {
131
+ "cls": "Wall"
132
+ },
133
+ "wall_main_2_room": {
134
+ "cls": "Wall"
135
+ },
136
+ "wall_main_2_backing_room": {
137
+ "cls": "Wall"
138
+ },
139
+ "wall_right_1_room": {
140
+ "cls": "Wall"
141
+ },
142
+ "wall_right_1_backing_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "floor_1_room": {
146
+ "cls": "Floor"
147
+ },
148
+ "floor_1_backing_room": {
149
+ "cls": "Floor"
150
+ },
151
+ "wall_accessory_1_room": {
152
+ "cls": "WallAccessory"
153
+ },
154
+ "wall_accessory_2_room": {
155
+ "cls": "WallAccessory"
156
+ },
157
+ "wall_accessory_3_room": {
158
+ "cls": "WallAccessory"
159
+ },
160
+ "light_switch_1_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "window_group_room": {
164
+ "cls": "Window"
165
+ },
166
+ "stool_1_room": {
167
+ "cls": "Stool"
168
+ },
169
+ "stool_2_room": {
170
+ "cls": "Stool"
171
+ },
172
+ "sink_left_group_1": {
173
+ "cls": "Sink"
174
+ },
175
+ "counter_1_left_group_1": {
176
+ "cls": "Counter"
177
+ },
178
+ "stack_1_left_group_1_base": {
179
+ "cls": "Box"
180
+ },
181
+ "stack_1_left_group_1_1": {
182
+ "cls": "HingeCabinet"
183
+ },
184
+ "stack_1_left_group_1_2": {
185
+ "cls": "Drawer"
186
+ },
187
+ "stack_1_left_group_1_3": {
188
+ "cls": "Drawer"
189
+ },
190
+ "stack_2_left_group_1_base": {
191
+ "cls": "Box"
192
+ },
193
+ "stack_2_left_group_1_1": {
194
+ "cls": "HingeCabinet"
195
+ },
196
+ "stack_2_left_group_1_2": {
197
+ "cls": "PanelCabinet"
198
+ },
199
+ "stack_3_left_group_1_base": {
200
+ "cls": "Box"
201
+ },
202
+ "stack_3_left_group_1_1": {
203
+ "cls": "HingeCabinet"
204
+ },
205
+ "stack_3_left_group_1_2": {
206
+ "cls": "Drawer"
207
+ },
208
+ "stack_3_left_group_1_3": {
209
+ "cls": "Drawer"
210
+ },
211
+ "cab_1_left_group_1": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "cab_2_left_group_1": {
215
+ "cls": "HingeCabinet"
216
+ },
217
+ "cab_3_left_group_1": {
218
+ "cls": "HingeCabinet"
219
+ },
220
+ "bottom_left_group_1_base": {
221
+ "cls": "Box"
222
+ },
223
+ "bottom_left_group_1_1": {
224
+ "cls": "Drawer"
225
+ },
226
+ "middle_1_left_group_1": {
227
+ "cls": "HingeCabinet"
228
+ },
229
+ "middle_2_left_group_1": {
230
+ "cls": "HingeCabinet"
231
+ },
232
+ "top_1_left_group_1": {
233
+ "cls": "HingeCabinet"
234
+ },
235
+ "toaster_oven_left_group_1": {
236
+ "cls": "ToasterOven"
237
+ },
238
+ "counter_1_right_group_1": {
239
+ "cls": "Counter"
240
+ },
241
+ "counter_corner_right_group_1": {
242
+ "cls": "Counter"
243
+ },
244
+ "box_1_right_group_1": {
245
+ "cls": "Box"
246
+ },
247
+ "stack_1_right_group_1_base": {
248
+ "cls": "Box"
249
+ },
250
+ "stack_1_right_group_1_1": {
251
+ "cls": "SingleCabinet"
252
+ },
253
+ "stack_1_right_group_1_2": {
254
+ "cls": "Drawer"
255
+ },
256
+ "dishwasher_1_right_group_1": {
257
+ "cls": "Dishwasher"
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
+ "box_2_right_group_1": {
269
+ "cls": "Box"
270
+ },
271
+ "cab_1_right_group_1": {
272
+ "cls": "HingeCabinet"
273
+ },
274
+ "coffee_machine_right_group_1": {
275
+ "cls": "CoffeeMachine"
276
+ },
277
+ "toaster_right_group_1": {
278
+ "cls": "Toaster"
279
+ },
280
+ "paper_towel_right_group_1": {
281
+ "cls": "Accessory"
282
+ },
283
+ "counter_corner_1_main_group_3": {
284
+ "cls": "Counter"
285
+ },
286
+ "stove_main_group_3": {
287
+ "cls": "Stove"
288
+ },
289
+ "fridge_1_main_group_3": {
290
+ "cls": "FridgeBottomFreezer"
291
+ },
292
+ "fridge_1_housing_main_group_3": {
293
+ "cls": "HousingCabinet"
294
+ },
295
+ "top_1_main_group_3": {
296
+ "cls": "HingeCabinet"
297
+ },
298
+ "cab_1_main_group_3": {
299
+ "cls": "OpenCabinet"
300
+ },
301
+ "microwave_main_group_3": {
302
+ "cls": "Microwave"
303
+ },
304
+ "cab_micro_main_group_3": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "cab_corner_main_group_3": {
308
+ "cls": "Box"
309
+ },
310
+ "dining_dining_area_group": {
311
+ "cls": "Counter"
312
+ },
313
+ "box_dining_area_group": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_1_dining_area_group_base": {
317
+ "cls": "Box"
318
+ },
319
+ "stack_1_dining_area_group_1": {
320
+ "cls": "SingleCabinet"
321
+ },
322
+ "stack_1_dining_area_group_2": {
323
+ "cls": "Drawer"
324
+ },
325
+ "stack_2_dining_area_group_base": {
326
+ "cls": "Box"
327
+ },
328
+ "stack_2_dining_area_group_1": {
329
+ "cls": "Drawer"
330
+ },
331
+ "stack_2_dining_area_group_2": {
332
+ "cls": "Drawer"
333
+ },
334
+ "stack_2_dining_area_group_3": {
335
+ "cls": "Drawer"
336
+ },
337
+ "stack_2_dining_area_group_4": {
338
+ "cls": "Drawer"
339
+ },
340
+ "stack_3_dining_area_group_base": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_3_dining_area_group_1": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_3_dining_area_group_2": {
347
+ "cls": "Drawer"
348
+ },
349
+ "stack_3_dining_area_group_3": {
350
+ "cls": "Drawer"
351
+ },
352
+ "stack_3_dining_area_group_4": {
353
+ "cls": "Drawer"
354
+ }
355
+ },
356
+ "gen_textures": {},
357
+ "lang": "Open the left drawer.",
358
+ "fixture_refs": {
359
+ "drawer": "stack_1_dining_area_group_2"
360
+ },
361
+ "cam_configs": {
362
+ "robot0_agentview_center": {
363
+ "pos": [
364
+ -0.6,
365
+ 0.0,
366
+ 1.15
367
+ ],
368
+ "quat": [
369
+ 0.636945903301239,
370
+ 0.3325185477733612,
371
+ -0.3199238181114197,
372
+ -0.6175596117973328
373
+ ],
374
+ "parent_body": "mobilebase0_support"
375
+ },
376
+ "robot0_agentview_left": {
377
+ "pos": [
378
+ -0.5,
379
+ 0.35,
380
+ 1.05
381
+ ],
382
+ "quat": [
383
+ 0.55623853,
384
+ 0.29935253,
385
+ -0.37678665,
386
+ -0.6775092
387
+ ],
388
+ "camera_attribs": {
389
+ "fovy": "60"
390
+ },
391
+ "parent_body": "mobilebase0_support"
392
+ },
393
+ "robot0_agentview_right": {
394
+ "pos": [
395
+ -0.5,
396
+ -0.35,
397
+ 1.05
398
+ ],
399
+ "quat": [
400
+ 0.6775091886520386,
401
+ 0.3767866790294647,
402
+ -0.2993525564670563,
403
+ -0.55623859167099
404
+ ],
405
+ "camera_attribs": {
406
+ "fovy": "60"
407
+ },
408
+ "parent_body": "mobilebase0_support"
409
+ },
410
+ "robot0_frontview": {
411
+ "pos": [
412
+ -0.5,
413
+ 0,
414
+ 0.95
415
+ ],
416
+ "quat": [
417
+ 0.6088936924934387,
418
+ 0.3814677894115448,
419
+ -0.3673907518386841,
420
+ -0.5905545353889465
421
+ ],
422
+ "camera_attribs": {
423
+ "fovy": "60"
424
+ },
425
+ "parent_body": "mobilebase0_support"
426
+ },
427
+ "robot0_eye_in_hand": {
428
+ "pos": [
429
+ 0.05,
430
+ 0,
431
+ 0
432
+ ],
433
+ "quat": [
434
+ 0,
435
+ 0.707107,
436
+ 0.707107,
437
+ 0
438
+ ],
439
+ "parent_body": "robot0_right_hand"
440
+ }
441
+ },
442
+ "init_robot_base_pos": [
443
+ 2.846191150532802,
444
+ -2.4076045184334247,
445
+ 0.0
446
+ ],
447
+ "init_robot_base_ori": [
448
+ 0.0,
449
+ 0.0,
450
+ -1.57079623937212
451
+ ]
452
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000014/ep_meta.json ADDED
@@ -0,0 +1,384 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 37,
3
+ "style_id": 32,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_2_island_group_1_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "aluminum_foil",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "aluminum_foil",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil003/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.065
49
+ ],
50
+ "size": [
51
+ 0.388,
52
+ 0.51
53
+ ],
54
+ "height": 0.16,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "island_island_group_1",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_2_island_group_1_2",
65
+ "min_size": [
66
+ 0.0763607475,
67
+ 0.07636112699999999,
68
+ 0.13002319749999997
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "mayonnaise",
89
+ "condiment"
90
+ ],
91
+ "groups": [
92
+ "all"
93
+ ],
94
+ "cat": "mayonnaise",
95
+ "split": "train",
96
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mayonnaise/Mayonnaise006/model.xml"
97
+ },
98
+ "reset_region": {
99
+ "size": [
100
+ 0.609999999999999,
101
+ 1.045
102
+ ],
103
+ "offset": [
104
+ -0.8250000000000004,
105
+ 2.0816681711721685e-17,
106
+ 0.46
107
+ ],
108
+ "name": "geom_0"
109
+ }
110
+ }
111
+ ],
112
+ "fixtures": {
113
+ "wall_main_1_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_main_1_backing_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_1_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_left_1_backing_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_main_2_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_main_2_backing_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_main_3_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_main_3_backing_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "floor_1_room": {
138
+ "cls": "Floor"
139
+ },
140
+ "floor_1_backing_room": {
141
+ "cls": "Floor"
142
+ },
143
+ "wallaccessory_1_room": {
144
+ "cls": "WallAccessory"
145
+ },
146
+ "wallaccessory_2_room": {
147
+ "cls": "WallAccessory"
148
+ },
149
+ "stool_1_room": {
150
+ "cls": "Stool"
151
+ },
152
+ "stool_2_room": {
153
+ "cls": "Stool"
154
+ },
155
+ "stool_3_room": {
156
+ "cls": "Stool"
157
+ },
158
+ "stovetop_left_group_1": {
159
+ "cls": "Stovetop"
160
+ },
161
+ "counter_1_left_group_1": {
162
+ "cls": "Counter"
163
+ },
164
+ "hingecabinet_2_left_group_1": {
165
+ "cls": "HingeCabinet"
166
+ },
167
+ "hingecabinet_1_left_group_1": {
168
+ "cls": "HingeCabinet"
169
+ },
170
+ "microwave_left_group_1": {
171
+ "cls": "Microwave"
172
+ },
173
+ "cab_micro_left_group_1": {
174
+ "cls": "HingeCabinet"
175
+ },
176
+ "cube_1_left_group_1": {
177
+ "cls": "Box"
178
+ },
179
+ "fridgefrenchdoor_left_group_1": {
180
+ "cls": "FridgeFrenchDoor"
181
+ },
182
+ "fridgefrenchdoor_housing_left_group_1": {
183
+ "cls": "HousingCabinet"
184
+ },
185
+ "bottom_left_group_1_base": {
186
+ "cls": "Box"
187
+ },
188
+ "bottom_left_group_1_1": {
189
+ "cls": "Drawer"
190
+ },
191
+ "oven_left_group_1": {
192
+ "cls": "Oven"
193
+ },
194
+ "oven_housing_left_group_1": {
195
+ "cls": "HousingCabinet"
196
+ },
197
+ "hingecabinet_3_left_group_1": {
198
+ "cls": "HingeCabinet"
199
+ },
200
+ "microwave_cabinet_left_group_1": {
201
+ "cls": "HingeCabinet"
202
+ },
203
+ "top_left_group_1": {
204
+ "cls": "HingeCabinet"
205
+ },
206
+ "stack_1_left_group_1_base": {
207
+ "cls": "Box"
208
+ },
209
+ "stack_1_left_group_1_1": {
210
+ "cls": "HingeCabinet"
211
+ },
212
+ "stack_1_left_group_1_2": {
213
+ "cls": "Drawer"
214
+ },
215
+ "stack_2_left_group_1_base": {
216
+ "cls": "Box"
217
+ },
218
+ "stack_2_left_group_1_1": {
219
+ "cls": "Drawer"
220
+ },
221
+ "stack_2_left_group_1_2": {
222
+ "cls": "Drawer"
223
+ },
224
+ "stack_2_left_group_1_3": {
225
+ "cls": "PanelCabinet"
226
+ },
227
+ "stack_3_left_group_1_base": {
228
+ "cls": "Box"
229
+ },
230
+ "stack_3_left_group_1_1": {
231
+ "cls": "HingeCabinet"
232
+ },
233
+ "stack_3_left_group_1_2": {
234
+ "cls": "Drawer"
235
+ },
236
+ "papertowel_left_group_1": {
237
+ "cls": "Accessory"
238
+ },
239
+ "coffee_machine_left_group_1": {
240
+ "cls": "CoffeeMachine"
241
+ },
242
+ "toaster_left_group_1": {
243
+ "cls": "Toaster"
244
+ },
245
+ "sink_island_group_1": {
246
+ "cls": "Sink"
247
+ },
248
+ "island_island_group_1": {
249
+ "cls": "Counter"
250
+ },
251
+ "cube_5_island_group_1": {
252
+ "cls": "Box"
253
+ },
254
+ "cube_1_island_group_1": {
255
+ "cls": "Box"
256
+ },
257
+ "cube_2_island_group_1": {
258
+ "cls": "Box"
259
+ },
260
+ "cube_3_island_group_1": {
261
+ "cls": "Box"
262
+ },
263
+ "cube_4_island_group_1": {
264
+ "cls": "Box"
265
+ },
266
+ "stack_2_island_group_1_base": {
267
+ "cls": "Box"
268
+ },
269
+ "stack_2_island_group_1_1": {
270
+ "cls": "SingleCabinet"
271
+ },
272
+ "stack_2_island_group_1_2": {
273
+ "cls": "Drawer"
274
+ },
275
+ "stack_1_island_group_1_base": {
276
+ "cls": "Box"
277
+ },
278
+ "stack_1_island_group_1_1": {
279
+ "cls": "HingeCabinet"
280
+ },
281
+ "stack_1_island_group_1_2": {
282
+ "cls": "PanelCabinet"
283
+ },
284
+ "dishwasher_1_island_group_1": {
285
+ "cls": "Dishwasher"
286
+ }
287
+ },
288
+ "gen_textures": {},
289
+ "lang": "Open the right drawer.",
290
+ "fixture_refs": {
291
+ "drawer": "stack_2_island_group_1_2"
292
+ },
293
+ "cam_configs": {
294
+ "robot0_agentview_center": {
295
+ "pos": [
296
+ -0.6,
297
+ 0.0,
298
+ 1.15
299
+ ],
300
+ "quat": [
301
+ 0.636945903301239,
302
+ 0.3325185477733612,
303
+ -0.3199238181114197,
304
+ -0.6175596117973328
305
+ ],
306
+ "parent_body": "mobilebase0_support"
307
+ },
308
+ "robot0_agentview_left": {
309
+ "pos": [
310
+ -0.5,
311
+ 0.35,
312
+ 1.05
313
+ ],
314
+ "quat": [
315
+ 0.55623853,
316
+ 0.29935253,
317
+ -0.37678665,
318
+ -0.6775092
319
+ ],
320
+ "camera_attribs": {
321
+ "fovy": "60"
322
+ },
323
+ "parent_body": "mobilebase0_support"
324
+ },
325
+ "robot0_agentview_right": {
326
+ "pos": [
327
+ -0.5,
328
+ -0.35,
329
+ 1.05
330
+ ],
331
+ "quat": [
332
+ 0.6775091886520386,
333
+ 0.3767866790294647,
334
+ -0.2993525564670563,
335
+ -0.55623859167099
336
+ ],
337
+ "camera_attribs": {
338
+ "fovy": "60"
339
+ },
340
+ "parent_body": "mobilebase0_support"
341
+ },
342
+ "robot0_frontview": {
343
+ "pos": [
344
+ -0.5,
345
+ 0,
346
+ 0.95
347
+ ],
348
+ "quat": [
349
+ 0.6088936924934387,
350
+ 0.3814677894115448,
351
+ -0.3673907518386841,
352
+ -0.5905545353889465
353
+ ],
354
+ "camera_attribs": {
355
+ "fovy": "60"
356
+ },
357
+ "parent_body": "mobilebase0_support"
358
+ },
359
+ "robot0_eye_in_hand": {
360
+ "pos": [
361
+ 0.05,
362
+ 0,
363
+ 0
364
+ ],
365
+ "quat": [
366
+ 0,
367
+ 0.707107,
368
+ 0.707107,
369
+ 0
370
+ ],
371
+ "parent_body": "robot0_right_hand"
372
+ }
373
+ },
374
+ "init_robot_base_pos": [
375
+ 2.454290855141979,
376
+ -1.4239578530079473,
377
+ 0.0
378
+ ],
379
+ "init_robot_base_ori": [
380
+ 0.0,
381
+ 0.0,
382
+ -4.7153339388650295e-07
383
+ ]
384
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000015/ep_meta.json ADDED
@@ -0,0 +1,563 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 19,
3
+ "style_id": 11,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_3_dining_area_group_4",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "tongs",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "tongs",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs006/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.044
49
+ ],
50
+ "size": [
51
+ 0.328,
52
+ 0.51
53
+ ],
54
+ "height": 0.118,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "dining_dining_area_group",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_3_dining_area_group_4",
65
+ "min_size": [
66
+ 0.1106500824,
67
+ 0.21753792431999996,
68
+ 0.16861336272
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "kettle_non_electric",
89
+ "receptacle",
90
+ "kettle",
91
+ "cookware"
92
+ ],
93
+ "groups": [
94
+ "all"
95
+ ],
96
+ "cat": "kettle_non_electric",
97
+ "split": "train",
98
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_22/model.xml"
99
+ },
100
+ "reset_region": {
101
+ "size": [
102
+ 0.44999999999999885,
103
+ 1.0
104
+ ],
105
+ "offset": [
106
+ 0.47500000000000053,
107
+ 0.0,
108
+ 0.46
109
+ ],
110
+ "name": "geom_0"
111
+ }
112
+ },
113
+ {
114
+ "name": "distr_counter_2",
115
+ "obj_groups": "all",
116
+ "placement": {
117
+ "fixture": "dining_dining_area_group",
118
+ "sample_region_kwargs": {
119
+ "ref": "stack_3_dining_area_group_4",
120
+ "min_size": [
121
+ 0.05357008889999999,
122
+ 0.17118411799999997,
123
+ 0.049541658399999994
124
+ ]
125
+ },
126
+ "size": [
127
+ 1.0,
128
+ 0.5
129
+ ],
130
+ "pos": [
131
+ null,
132
+ -1.0
133
+ ],
134
+ "offset": [
135
+ 0.0,
136
+ 0.1
137
+ ]
138
+ },
139
+ "type": "object",
140
+ "info": {
141
+ "groups_containing_sampled_obj": [
142
+ "all",
143
+ "cucumber",
144
+ "vegetable",
145
+ "food",
146
+ "in_container",
147
+ "food_set1"
148
+ ],
149
+ "groups": [
150
+ "all"
151
+ ],
152
+ "cat": "cucumber",
153
+ "split": "train",
154
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_0/model.xml"
155
+ },
156
+ "reset_region": {
157
+ "size": [
158
+ 0.44999999999999885,
159
+ 1.0
160
+ ],
161
+ "offset": [
162
+ 0.47500000000000053,
163
+ 0.0,
164
+ 0.46
165
+ ],
166
+ "name": "geom_0"
167
+ }
168
+ },
169
+ {
170
+ "name": "distr_counter_3",
171
+ "obj_groups": "all",
172
+ "placement": {
173
+ "fixture": "dining_dining_area_group",
174
+ "sample_region_kwargs": {
175
+ "ref": "stack_3_dining_area_group_4",
176
+ "min_size": [
177
+ 0.13839864538499996,
178
+ 0.17672187311999996,
179
+ 0.10993431968999996
180
+ ]
181
+ },
182
+ "size": [
183
+ 1.0,
184
+ 0.5
185
+ ],
186
+ "pos": [
187
+ null,
188
+ -1.0
189
+ ],
190
+ "offset": [
191
+ 0.0,
192
+ 0.1
193
+ ]
194
+ },
195
+ "type": "object",
196
+ "info": {
197
+ "groups_containing_sampled_obj": [
198
+ "all",
199
+ "kettle_non_electric",
200
+ "receptacle",
201
+ "kettle",
202
+ "cookware"
203
+ ],
204
+ "groups": [
205
+ "all"
206
+ ],
207
+ "cat": "kettle_non_electric",
208
+ "split": "train",
209
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_20/model.xml"
210
+ },
211
+ "reset_region": {
212
+ "size": [
213
+ 0.44999999999999885,
214
+ 1.0
215
+ ],
216
+ "offset": [
217
+ 0.47500000000000053,
218
+ 0.0,
219
+ 0.46
220
+ ],
221
+ "name": "geom_0"
222
+ }
223
+ }
224
+ ],
225
+ "fixtures": {
226
+ "wall_left_1_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_left_1_backing_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "wall_main_1_room": {
233
+ "cls": "Wall"
234
+ },
235
+ "wall_main_1_backing_room": {
236
+ "cls": "Wall"
237
+ },
238
+ "wall_main_3_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "wall_main_3_backing_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_main_2_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "wall_main_2_backing_room": {
248
+ "cls": "Wall"
249
+ },
250
+ "wall_right_1_room": {
251
+ "cls": "Wall"
252
+ },
253
+ "wall_right_1_backing_room": {
254
+ "cls": "Wall"
255
+ },
256
+ "floor_1_room": {
257
+ "cls": "Floor"
258
+ },
259
+ "floor_1_backing_room": {
260
+ "cls": "Floor"
261
+ },
262
+ "wall_accessory_1_room": {
263
+ "cls": "WallAccessory"
264
+ },
265
+ "wall_accessory_2_room": {
266
+ "cls": "WallAccessory"
267
+ },
268
+ "wall_accessory_3_room": {
269
+ "cls": "WallAccessory"
270
+ },
271
+ "light_switch_1_room": {
272
+ "cls": "WallAccessory"
273
+ },
274
+ "window_group_room": {
275
+ "cls": "Window"
276
+ },
277
+ "stool_1_room": {
278
+ "cls": "Stool"
279
+ },
280
+ "stool_2_room": {
281
+ "cls": "Stool"
282
+ },
283
+ "sink_left_group_1": {
284
+ "cls": "Sink"
285
+ },
286
+ "counter_1_left_group_1": {
287
+ "cls": "Counter"
288
+ },
289
+ "stack_1_left_group_1_base": {
290
+ "cls": "Box"
291
+ },
292
+ "stack_1_left_group_1_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "stack_1_left_group_1_2": {
296
+ "cls": "Drawer"
297
+ },
298
+ "stack_1_left_group_1_3": {
299
+ "cls": "Drawer"
300
+ },
301
+ "stack_2_left_group_1_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_2_left_group_1_1": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "stack_2_left_group_1_2": {
308
+ "cls": "PanelCabinet"
309
+ },
310
+ "stack_3_left_group_1_base": {
311
+ "cls": "Box"
312
+ },
313
+ "stack_3_left_group_1_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "stack_3_left_group_1_2": {
317
+ "cls": "Drawer"
318
+ },
319
+ "stack_3_left_group_1_3": {
320
+ "cls": "Drawer"
321
+ },
322
+ "cab_1_left_group_1": {
323
+ "cls": "HingeCabinet"
324
+ },
325
+ "cab_2_left_group_1": {
326
+ "cls": "HingeCabinet"
327
+ },
328
+ "cab_3_left_group_1": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "bottom_left_group_1_base": {
332
+ "cls": "Box"
333
+ },
334
+ "bottom_left_group_1_1": {
335
+ "cls": "Drawer"
336
+ },
337
+ "middle_1_left_group_1": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "middle_2_left_group_1": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "top_1_left_group_1": {
344
+ "cls": "HingeCabinet"
345
+ },
346
+ "toaster_oven_left_group_1": {
347
+ "cls": "ToasterOven"
348
+ },
349
+ "counter_1_right_group_1": {
350
+ "cls": "Counter"
351
+ },
352
+ "counter_corner_right_group_1": {
353
+ "cls": "Counter"
354
+ },
355
+ "box_1_right_group_1": {
356
+ "cls": "Box"
357
+ },
358
+ "stack_1_right_group_1_base": {
359
+ "cls": "Box"
360
+ },
361
+ "stack_1_right_group_1_1": {
362
+ "cls": "SingleCabinet"
363
+ },
364
+ "stack_1_right_group_1_2": {
365
+ "cls": "Drawer"
366
+ },
367
+ "dishwasher_1_right_group_1": {
368
+ "cls": "Dishwasher"
369
+ },
370
+ "stack_2_right_group_1_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_2_right_group_1_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "stack_2_right_group_1_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "box_2_right_group_1": {
380
+ "cls": "Box"
381
+ },
382
+ "cab_1_right_group_1": {
383
+ "cls": "HingeCabinet"
384
+ },
385
+ "coffee_machine_right_group_1": {
386
+ "cls": "CoffeeMachine"
387
+ },
388
+ "toaster_right_group_1": {
389
+ "cls": "Toaster"
390
+ },
391
+ "paper_towel_right_group_1": {
392
+ "cls": "Accessory"
393
+ },
394
+ "counter_corner_1_main_group_3": {
395
+ "cls": "Counter"
396
+ },
397
+ "stove_main_group_3": {
398
+ "cls": "Stove"
399
+ },
400
+ "fridge_1_main_group_3": {
401
+ "cls": "FridgeBottomFreezer"
402
+ },
403
+ "fridge_1_housing_main_group_3": {
404
+ "cls": "HousingCabinet"
405
+ },
406
+ "top_1_main_group_3": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "cab_1_main_group_3": {
410
+ "cls": "OpenCabinet"
411
+ },
412
+ "microwave_main_group_3": {
413
+ "cls": "Microwave"
414
+ },
415
+ "cab_micro_main_group_3": {
416
+ "cls": "HingeCabinet"
417
+ },
418
+ "cab_corner_main_group_3": {
419
+ "cls": "Box"
420
+ },
421
+ "dining_dining_area_group": {
422
+ "cls": "Counter"
423
+ },
424
+ "box_dining_area_group": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_1_dining_area_group_base": {
428
+ "cls": "Box"
429
+ },
430
+ "stack_1_dining_area_group_1": {
431
+ "cls": "SingleCabinet"
432
+ },
433
+ "stack_1_dining_area_group_2": {
434
+ "cls": "Drawer"
435
+ },
436
+ "stack_2_dining_area_group_base": {
437
+ "cls": "Box"
438
+ },
439
+ "stack_2_dining_area_group_1": {
440
+ "cls": "Drawer"
441
+ },
442
+ "stack_2_dining_area_group_2": {
443
+ "cls": "Drawer"
444
+ },
445
+ "stack_2_dining_area_group_3": {
446
+ "cls": "Drawer"
447
+ },
448
+ "stack_2_dining_area_group_4": {
449
+ "cls": "Drawer"
450
+ },
451
+ "stack_3_dining_area_group_base": {
452
+ "cls": "Box"
453
+ },
454
+ "stack_3_dining_area_group_1": {
455
+ "cls": "Drawer"
456
+ },
457
+ "stack_3_dining_area_group_2": {
458
+ "cls": "Drawer"
459
+ },
460
+ "stack_3_dining_area_group_3": {
461
+ "cls": "Drawer"
462
+ },
463
+ "stack_3_dining_area_group_4": {
464
+ "cls": "Drawer"
465
+ }
466
+ },
467
+ "gen_textures": {},
468
+ "lang": "Open the left drawer.",
469
+ "fixture_refs": {
470
+ "drawer": "stack_3_dining_area_group_4"
471
+ },
472
+ "cam_configs": {
473
+ "robot0_agentview_center": {
474
+ "pos": [
475
+ -0.6,
476
+ 0.0,
477
+ 1.15
478
+ ],
479
+ "quat": [
480
+ 0.636945903301239,
481
+ 0.3325185477733612,
482
+ -0.3199238181114197,
483
+ -0.6175596117973328
484
+ ],
485
+ "parent_body": "mobilebase0_support"
486
+ },
487
+ "robot0_agentview_left": {
488
+ "pos": [
489
+ -0.5,
490
+ 0.35,
491
+ 1.05
492
+ ],
493
+ "quat": [
494
+ 0.55623853,
495
+ 0.29935253,
496
+ -0.37678665,
497
+ -0.6775092
498
+ ],
499
+ "camera_attribs": {
500
+ "fovy": "60"
501
+ },
502
+ "parent_body": "mobilebase0_support"
503
+ },
504
+ "robot0_agentview_right": {
505
+ "pos": [
506
+ -0.5,
507
+ -0.35,
508
+ 1.05
509
+ ],
510
+ "quat": [
511
+ 0.6775091886520386,
512
+ 0.3767866790294647,
513
+ -0.2993525564670563,
514
+ -0.55623859167099
515
+ ],
516
+ "camera_attribs": {
517
+ "fovy": "60"
518
+ },
519
+ "parent_body": "mobilebase0_support"
520
+ },
521
+ "robot0_frontview": {
522
+ "pos": [
523
+ -0.5,
524
+ 0,
525
+ 0.95
526
+ ],
527
+ "quat": [
528
+ 0.6088936924934387,
529
+ 0.3814677894115448,
530
+ -0.3673907518386841,
531
+ -0.5905545353889465
532
+ ],
533
+ "camera_attribs": {
534
+ "fovy": "60"
535
+ },
536
+ "parent_body": "mobilebase0_support"
537
+ },
538
+ "robot0_eye_in_hand": {
539
+ "pos": [
540
+ 0.05,
541
+ 0,
542
+ 0
543
+ ],
544
+ "quat": [
545
+ 0,
546
+ 0.707107,
547
+ 0.707107,
548
+ 0
549
+ ],
550
+ "parent_body": "robot0_right_hand"
551
+ }
552
+ },
553
+ "init_robot_base_pos": [
554
+ 1.8977594959947621,
555
+ -2.343844043684198,
556
+ 0.0
557
+ ],
558
+ "init_robot_base_ori": [
559
+ 0.0,
560
+ 0.0,
561
+ -1.57079623937212
562
+ ]
563
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000027/ep_meta.json ADDED
@@ -0,0 +1,612 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 39,
3
+ "style_id": 31,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_4_island_group_1_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "pizza_cutter",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "pizza_cutter",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter001/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.065
49
+ ],
50
+ "size": [
51
+ 0.528,
52
+ 0.51
53
+ ],
54
+ "height": 0.16,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "island_island_group_1",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_4_island_group_1_2",
65
+ "min_size": [
66
+ 0.05496633832750106,
67
+ 0.10011066582587716,
68
+ 0.11258375177999994
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "eggplant",
89
+ "vegetable",
90
+ "food",
91
+ "in_container",
92
+ "oven_ready"
93
+ ],
94
+ "groups": [
95
+ "all"
96
+ ],
97
+ "cat": "eggplant",
98
+ "split": "train",
99
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml"
100
+ },
101
+ "reset_region": {
102
+ "size": [
103
+ 0.6500000000000004,
104
+ 1.3
105
+ ],
106
+ "offset": [
107
+ 0.9749999999999996,
108
+ 2.0816681711721685e-17,
109
+ 0.46
110
+ ],
111
+ "name": "geom_0"
112
+ }
113
+ }
114
+ ],
115
+ "fixtures": {
116
+ "wall_main_1_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_main_1_backing_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_1_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_1_backing_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_main_2_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_main_2_backing_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_right_2_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "wall_right_2_backing_room": {
138
+ "cls": "Wall"
139
+ },
140
+ "wall_front_1_room": {
141
+ "cls": "Wall"
142
+ },
143
+ "wall_front_1_backing_room": {
144
+ "cls": "Wall"
145
+ },
146
+ "wall_front_5_room": {
147
+ "cls": "Wall"
148
+ },
149
+ "wall_front_5_backing_room": {
150
+ "cls": "Wall"
151
+ },
152
+ "wall_right_5_room": {
153
+ "cls": "Wall"
154
+ },
155
+ "wall_right_5_backing_room": {
156
+ "cls": "Wall"
157
+ },
158
+ "wall_front_4_room": {
159
+ "cls": "Wall"
160
+ },
161
+ "wall_front_4_backing_room": {
162
+ "cls": "Wall"
163
+ },
164
+ "wall_right_4_room": {
165
+ "cls": "Wall"
166
+ },
167
+ "wall_right_4_backing_room": {
168
+ "cls": "Wall"
169
+ },
170
+ "wall_right_3_room": {
171
+ "cls": "Wall"
172
+ },
173
+ "wall_right_3_backing_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_front_3_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_front_3_backing_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_front_2_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_front_2_backing_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_front_6_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_front_6_backing_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_front_7_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "wall_front_7_backing_room": {
198
+ "cls": "Wall"
199
+ },
200
+ "floor_1_room": {
201
+ "cls": "Floor"
202
+ },
203
+ "floor_1_backing_room": {
204
+ "cls": "Floor"
205
+ },
206
+ "floor_2_room": {
207
+ "cls": "Floor"
208
+ },
209
+ "floor_2_backing_room": {
210
+ "cls": "Floor"
211
+ },
212
+ "floor_3_room": {
213
+ "cls": "Floor"
214
+ },
215
+ "floor_3_backing_room": {
216
+ "cls": "Floor"
217
+ },
218
+ "wallaccessory_2_room": {
219
+ "cls": "WallAccessory"
220
+ },
221
+ "wallaccessory_1_room": {
222
+ "cls": "WallAccessory"
223
+ },
224
+ "wallaccessory_4_room": {
225
+ "cls": "WallAccessory"
226
+ },
227
+ "wallaccessory_3_room": {
228
+ "cls": "WallAccessory"
229
+ },
230
+ "lightswitch_room": {
231
+ "cls": "WallAccessory"
232
+ },
233
+ "wallaccessory_5_room": {
234
+ "cls": "WallAccessory"
235
+ },
236
+ "wallaccessory_6.001_room": {
237
+ "cls": "WallAccessory"
238
+ },
239
+ "window_group_room": {
240
+ "cls": "Window"
241
+ },
242
+ "sink_main_group_1": {
243
+ "cls": "Sink"
244
+ },
245
+ "counter_1_main_group_1": {
246
+ "cls": "Counter"
247
+ },
248
+ "fridgefrenchdoor_main_group_1": {
249
+ "cls": "FridgeFrenchDoor"
250
+ },
251
+ "fridgefrenchdoor_housing_main_group_1": {
252
+ "cls": "HousingCabinet"
253
+ },
254
+ "hingecabinet_1_main_group_1": {
255
+ "cls": "HingeCabinet"
256
+ },
257
+ "singlecabinet_5_main_group_1": {
258
+ "cls": "SingleCabinet"
259
+ },
260
+ "singlecabinet_4_main_group_1": {
261
+ "cls": "SingleCabinet"
262
+ },
263
+ "singlecabinet_1_main_group_1": {
264
+ "cls": "SingleCabinet"
265
+ },
266
+ "singlecabinet_2_main_group_1": {
267
+ "cls": "SingleCabinet"
268
+ },
269
+ "singlecabinet_3_main_group_1": {
270
+ "cls": "SingleCabinet"
271
+ },
272
+ "stack_1_main_group_1_base": {
273
+ "cls": "Box"
274
+ },
275
+ "stack_1_main_group_1_1": {
276
+ "cls": "SingleCabinet"
277
+ },
278
+ "stack_1_main_group_1_2": {
279
+ "cls": "Drawer"
280
+ },
281
+ "stack_2_main_group_1_base": {
282
+ "cls": "Box"
283
+ },
284
+ "stack_2_main_group_1_1": {
285
+ "cls": "SingleCabinet"
286
+ },
287
+ "stack_2_main_group_1_2": {
288
+ "cls": "Drawer"
289
+ },
290
+ "stack_3_main_group_1_base": {
291
+ "cls": "Box"
292
+ },
293
+ "stack_3_main_group_1_1": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_3_main_group_1_2": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_3_main_group_1_3": {
300
+ "cls": "Drawer"
301
+ },
302
+ "stack_4_main_group_1_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_4_main_group_1_1": {
306
+ "cls": "SingleCabinet"
307
+ },
308
+ "stack_4_main_group_1_2": {
309
+ "cls": "Drawer"
310
+ },
311
+ "cube_1_main_group_1": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_5_main_group_1_base": {
315
+ "cls": "Box"
316
+ },
317
+ "stack_5_main_group_1_1": {
318
+ "cls": "SingleCabinet"
319
+ },
320
+ "stack_5_main_group_1_2": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_6_main_group_1_base": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_6_main_group_1_1": {
327
+ "cls": "SingleCabinet"
328
+ },
329
+ "stack_6_main_group_1_2": {
330
+ "cls": "Drawer"
331
+ },
332
+ "stack_7_main_group_1_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_7_main_group_1_1": {
336
+ "cls": "HingeCabinet"
337
+ },
338
+ "stack_7_main_group_1_2": {
339
+ "cls": "PanelCabinet"
340
+ },
341
+ "dishwasher_1_main_group_1": {
342
+ "cls": "Dishwasher"
343
+ },
344
+ "toaster_main_group_1": {
345
+ "cls": "Toaster"
346
+ },
347
+ "knifeblock_main_group_1": {
348
+ "cls": "Accessory"
349
+ },
350
+ "papertowel_main_group_1": {
351
+ "cls": "Accessory"
352
+ },
353
+ "stovetop_island_group_1": {
354
+ "cls": "Stovetop"
355
+ },
356
+ "island_island_group_1": {
357
+ "cls": "Counter"
358
+ },
359
+ "stack_1_island_group_1_base": {
360
+ "cls": "Box"
361
+ },
362
+ "stack_1_island_group_1_1": {
363
+ "cls": "SingleCabinet"
364
+ },
365
+ "stack_1_island_group_1_2": {
366
+ "cls": "Drawer"
367
+ },
368
+ "stack_2_island_group_1_base": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_2_island_group_1_1": {
372
+ "cls": "SingleCabinet"
373
+ },
374
+ "stack_2_island_group_1_2": {
375
+ "cls": "Drawer"
376
+ },
377
+ "stack_3_island_group_1_base": {
378
+ "cls": "Box"
379
+ },
380
+ "stack_3_island_group_1_1": {
381
+ "cls": "SingleCabinet"
382
+ },
383
+ "stack_3_island_group_1_2": {
384
+ "cls": "Drawer"
385
+ },
386
+ "stack_4_island_group_1_base": {
387
+ "cls": "Box"
388
+ },
389
+ "stack_4_island_group_1_1": {
390
+ "cls": "SingleCabinet"
391
+ },
392
+ "stack_4_island_group_1_2": {
393
+ "cls": "Drawer"
394
+ },
395
+ "stack_5_island_group_2.001_base": {
396
+ "cls": "Box"
397
+ },
398
+ "stack_5_island_group_2.001_1": {
399
+ "cls": "SingleCabinet"
400
+ },
401
+ "stack_5_island_group_2.001_2": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_6_island_group_2.001_base": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_6_island_group_2.001_1": {
408
+ "cls": "SingleCabinet"
409
+ },
410
+ "stack_6_island_group_2.001_2": {
411
+ "cls": "Drawer"
412
+ },
413
+ "stack_7_island_group_2.001_base": {
414
+ "cls": "Box"
415
+ },
416
+ "stack_7_island_group_2.001_1": {
417
+ "cls": "SingleCabinet"
418
+ },
419
+ "stack_7_island_group_2.001_2": {
420
+ "cls": "Drawer"
421
+ },
422
+ "stack_8_island_group_2.001_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_8_island_group_2.001_1": {
426
+ "cls": "SingleCabinet"
427
+ },
428
+ "stack_8_island_group_2.001_2": {
429
+ "cls": "Drawer"
430
+ },
431
+ "counter_1_front_group_1": {
432
+ "cls": "Counter"
433
+ },
434
+ "hingecabinet_2_front_group_1": {
435
+ "cls": "HingeCabinet"
436
+ },
437
+ "hingecabinet_1_front_group_1": {
438
+ "cls": "HingeCabinet"
439
+ },
440
+ "stack_1_front_group_1_base": {
441
+ "cls": "Box"
442
+ },
443
+ "stack_1_front_group_1_1": {
444
+ "cls": "SingleCabinet"
445
+ },
446
+ "stack_1_front_group_1_2": {
447
+ "cls": "Drawer"
448
+ },
449
+ "stack_2_front_group_1_base": {
450
+ "cls": "Box"
451
+ },
452
+ "stack_2_front_group_1_1": {
453
+ "cls": "SingleCabinet"
454
+ },
455
+ "stack_2_front_group_1_2": {
456
+ "cls": "Drawer"
457
+ },
458
+ "stack_3_front_group_1_base": {
459
+ "cls": "Box"
460
+ },
461
+ "stack_3_front_group_1_1": {
462
+ "cls": "SingleCabinet"
463
+ },
464
+ "stack_3_front_group_1_2": {
465
+ "cls": "Drawer"
466
+ },
467
+ "stack_4_front_group_1_base": {
468
+ "cls": "Box"
469
+ },
470
+ "stack_4_front_group_1_1": {
471
+ "cls": "SingleCabinet"
472
+ },
473
+ "stack_4_front_group_1_2": {
474
+ "cls": "Drawer"
475
+ },
476
+ "stack_5_front_group_1_base": {
477
+ "cls": "Box"
478
+ },
479
+ "stack_5_front_group_1_1": {
480
+ "cls": "Drawer"
481
+ },
482
+ "stack_5_front_group_1_2": {
483
+ "cls": "Drawer"
484
+ },
485
+ "stack_5_front_group_1_3": {
486
+ "cls": "Drawer"
487
+ },
488
+ "bottom_front_group_1_base": {
489
+ "cls": "Box"
490
+ },
491
+ "bottom_front_group_1_1": {
492
+ "cls": "Drawer"
493
+ },
494
+ "oven_front_group_1": {
495
+ "cls": "Oven"
496
+ },
497
+ "oven_housing_front_group_1": {
498
+ "cls": "HousingCabinet"
499
+ },
500
+ "microwave_front_group_1": {
501
+ "cls": "Microwave"
502
+ },
503
+ "microwave_housing_front_group_1": {
504
+ "cls": "HousingCabinet"
505
+ },
506
+ "top_front_group_1": {
507
+ "cls": "HingeCabinet"
508
+ },
509
+ "coffeemachine_front_group_1": {
510
+ "cls": "CoffeeMachine"
511
+ },
512
+ "toaster_oven_front_group_1": {
513
+ "cls": "ToasterOven"
514
+ }
515
+ },
516
+ "gen_textures": {},
517
+ "lang": "Open the left drawer.",
518
+ "fixture_refs": {
519
+ "drawer": "stack_4_island_group_1_2"
520
+ },
521
+ "cam_configs": {
522
+ "robot0_agentview_center": {
523
+ "pos": [
524
+ -0.6,
525
+ 0.0,
526
+ 1.15
527
+ ],
528
+ "quat": [
529
+ 0.636945903301239,
530
+ 0.3325185477733612,
531
+ -0.3199238181114197,
532
+ -0.6175596117973328
533
+ ],
534
+ "parent_body": "mobilebase0_support"
535
+ },
536
+ "robot0_agentview_left": {
537
+ "pos": [
538
+ -0.5,
539
+ 0.35,
540
+ 1.05
541
+ ],
542
+ "quat": [
543
+ 0.55623853,
544
+ 0.29935253,
545
+ -0.37678665,
546
+ -0.6775092
547
+ ],
548
+ "camera_attribs": {
549
+ "fovy": "60"
550
+ },
551
+ "parent_body": "mobilebase0_support"
552
+ },
553
+ "robot0_agentview_right": {
554
+ "pos": [
555
+ -0.5,
556
+ -0.35,
557
+ 1.05
558
+ ],
559
+ "quat": [
560
+ 0.6775091886520386,
561
+ 0.3767866790294647,
562
+ -0.2993525564670563,
563
+ -0.55623859167099
564
+ ],
565
+ "camera_attribs": {
566
+ "fovy": "60"
567
+ },
568
+ "parent_body": "mobilebase0_support"
569
+ },
570
+ "robot0_frontview": {
571
+ "pos": [
572
+ -0.5,
573
+ 0,
574
+ 0.95
575
+ ],
576
+ "quat": [
577
+ 0.6088936924934387,
578
+ 0.3814677894115448,
579
+ -0.3673907518386841,
580
+ -0.5905545353889465
581
+ ],
582
+ "camera_attribs": {
583
+ "fovy": "60"
584
+ },
585
+ "parent_body": "mobilebase0_support"
586
+ },
587
+ "robot0_eye_in_hand": {
588
+ "pos": [
589
+ 0.05,
590
+ 0,
591
+ 0
592
+ ],
593
+ "quat": [
594
+ 0,
595
+ 0.707107,
596
+ 0.707107,
597
+ 0
598
+ ],
599
+ "parent_body": "robot0_right_hand"
600
+ }
601
+ },
602
+ "init_robot_base_pos": [
603
+ 5.289633139756344,
604
+ -3.8149678619185505,
605
+ 0.0
606
+ ],
607
+ "init_robot_base_ori": [
608
+ 0.0,
609
+ 0.0,
610
+ 1.5707963267948966
611
+ ]
612
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000032/ep_meta.json ADDED
@@ -0,0 +1,418 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 58,
3
+ "style_id": 38,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_03_main_group_1_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "pizza_cutter",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "pizza_cutter",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter001/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.065
49
+ ],
50
+ "size": [
51
+ 0.469374,
52
+ 0.51
53
+ ],
54
+ "height": 0.16,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "counter_1_main_group_1",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_03_main_group_1_2",
65
+ "min_size": [
66
+ 0.05165974373992843,
67
+ 0.15974517784092518,
68
+ 0.04071821599999999
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "carrot",
89
+ "vegetable",
90
+ "food",
91
+ "in_container",
92
+ "food_set1",
93
+ "group1"
94
+ ],
95
+ "groups": [
96
+ "all"
97
+ ],
98
+ "cat": "carrot",
99
+ "split": "train",
100
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml"
101
+ },
102
+ "reset_region": {
103
+ "size": [
104
+ 0.7125701654968588,
105
+ 0.65
106
+ ],
107
+ "offset": [
108
+ -0.31380600000000003,
109
+ -3.469446951953614e-17,
110
+ 0.46
111
+ ],
112
+ "name": "geom_0"
113
+ }
114
+ }
115
+ ],
116
+ "fixtures": {
117
+ "wall_main_1_room": {
118
+ "cls": "Wall"
119
+ },
120
+ "wall_main_1_backing_room": {
121
+ "cls": "Wall"
122
+ },
123
+ "wall_left_1_room": {
124
+ "cls": "Wall"
125
+ },
126
+ "wall_left_1_backing_room": {
127
+ "cls": "Wall"
128
+ },
129
+ "floor_1_room": {
130
+ "cls": "Floor"
131
+ },
132
+ "floor_1_backing_room": {
133
+ "cls": "Floor"
134
+ },
135
+ "wallaccessory_1_room": {
136
+ "cls": "WallAccessory"
137
+ },
138
+ "wallaccessory_2_room": {
139
+ "cls": "WallAccessory"
140
+ },
141
+ "wallaccessory_7_room": {
142
+ "cls": "WallAccessory"
143
+ },
144
+ "lightswitch_03_room": {
145
+ "cls": "WallAccessory"
146
+ },
147
+ "wallaccessory_3_room": {
148
+ "cls": "WallAccessory"
149
+ },
150
+ "lightswitch_01_room": {
151
+ "cls": "WallAccessory"
152
+ },
153
+ "lightswitch_02_room": {
154
+ "cls": "WallAccessory"
155
+ },
156
+ "window_group_1_room": {
157
+ "cls": "Window"
158
+ },
159
+ "window_group_2_room": {
160
+ "cls": "Window"
161
+ },
162
+ "window_group_3_room": {
163
+ "cls": "Window"
164
+ },
165
+ "stool_3_room": {
166
+ "cls": "Stool"
167
+ },
168
+ "stool_2_room": {
169
+ "cls": "Stool"
170
+ },
171
+ "stool_1_room": {
172
+ "cls": "Stool"
173
+ },
174
+ "sink_main_group_1": {
175
+ "cls": "Sink"
176
+ },
177
+ "counter_1_main_group_1": {
178
+ "cls": "Counter"
179
+ },
180
+ "hingecabinet_1_main_group_1": {
181
+ "cls": "HingeCabinet"
182
+ },
183
+ "singlecabinet_1_main_group_1": {
184
+ "cls": "SingleCabinet"
185
+ },
186
+ "singlecabinet_2_main_group_1": {
187
+ "cls": "SingleCabinet"
188
+ },
189
+ "hingecabinet_2_main_group_1": {
190
+ "cls": "HingeCabinet"
191
+ },
192
+ "cube_14_main_group_1": {
193
+ "cls": "Box"
194
+ },
195
+ "stack_04_main_group_1_base": {
196
+ "cls": "Box"
197
+ },
198
+ "stack_04_main_group_1_1": {
199
+ "cls": "HingeCabinet"
200
+ },
201
+ "stack_04_main_group_1_2": {
202
+ "cls": "Drawer"
203
+ },
204
+ "stack_03_main_group_1_base": {
205
+ "cls": "Box"
206
+ },
207
+ "stack_03_main_group_1_1": {
208
+ "cls": "SingleCabinet"
209
+ },
210
+ "stack_03_main_group_1_2": {
211
+ "cls": "Drawer"
212
+ },
213
+ "stack_02_main_group_1_base": {
214
+ "cls": "Box"
215
+ },
216
+ "stack_02_main_group_1_1": {
217
+ "cls": "HingeCabinet"
218
+ },
219
+ "stack_02_main_group_1_2": {
220
+ "cls": "PanelCabinet"
221
+ },
222
+ "dishwasher_1_main_group_1": {
223
+ "cls": "Dishwasher"
224
+ },
225
+ "stack_01_main_group_1_base": {
226
+ "cls": "Box"
227
+ },
228
+ "stack_01_main_group_1_1": {
229
+ "cls": "HingeCabinet"
230
+ },
231
+ "cube_15_main_group_1": {
232
+ "cls": "Box"
233
+ },
234
+ "coffee_machine_main_group_1": {
235
+ "cls": "CoffeeMachine"
236
+ },
237
+ "paper_towel_main_group_1": {
238
+ "cls": "Accessory"
239
+ },
240
+ "toaster_main_group_1": {
241
+ "cls": "Toaster"
242
+ },
243
+ "bottom_left_group_1_base": {
244
+ "cls": "Box"
245
+ },
246
+ "bottom_left_group_1_1": {
247
+ "cls": "Drawer"
248
+ },
249
+ "microwave_left_group_1": {
250
+ "cls": "Microwave"
251
+ },
252
+ "fridgefrenchdoor_left_group_1": {
253
+ "cls": "FridgeFrenchDoor"
254
+ },
255
+ "fridgefrenchdoor_housing_left_group_1": {
256
+ "cls": "HousingCabinet"
257
+ },
258
+ "oven_cabinet_left_group_1": {
259
+ "cls": "HingeCabinet"
260
+ },
261
+ "hingecabinet_3_left_group_1": {
262
+ "cls": "HingeCabinet"
263
+ },
264
+ "microwave_housing_left_group_1": {
265
+ "cls": "HousingCabinet"
266
+ },
267
+ "top_left_group_1": {
268
+ "cls": "HingeCabinet"
269
+ },
270
+ "island_1_island_group_1": {
271
+ "cls": "Counter"
272
+ },
273
+ "island_2_island_group_1": {
274
+ "cls": "Counter"
275
+ },
276
+ "island_3_island_group_1": {
277
+ "cls": "Counter"
278
+ },
279
+ "stove_island_group_1": {
280
+ "cls": "Stove"
281
+ },
282
+ "stove_hood_island_group_1": {
283
+ "cls": "Hood"
284
+ },
285
+ "stack_06_island_group_1_base": {
286
+ "cls": "Box"
287
+ },
288
+ "stack_06_island_group_1_1": {
289
+ "cls": "HingeCabinet"
290
+ },
291
+ "stack_06_island_group_1_2": {
292
+ "cls": "Drawer"
293
+ },
294
+ "stack_07_island_group_1_base": {
295
+ "cls": "Box"
296
+ },
297
+ "stack_07_island_group_1_1": {
298
+ "cls": "Drawer"
299
+ },
300
+ "stack_07_island_group_1_2": {
301
+ "cls": "Drawer"
302
+ },
303
+ "stack_07_island_group_1_3": {
304
+ "cls": "Drawer"
305
+ },
306
+ "cube_1_island_group_1": {
307
+ "cls": "Box"
308
+ },
309
+ "cube_2_island_group_1": {
310
+ "cls": "Box"
311
+ },
312
+ "stack_08_island_group_1_base": {
313
+ "cls": "Box"
314
+ },
315
+ "stack_08_island_group_1_1": {
316
+ "cls": "SingleCabinet"
317
+ },
318
+ "cube_16_island_group_1": {
319
+ "cls": "Box"
320
+ }
321
+ },
322
+ "gen_textures": {},
323
+ "lang": "Open the left drawer.",
324
+ "fixture_refs": {
325
+ "drawer": "stack_03_main_group_1_2"
326
+ },
327
+ "cam_configs": {
328
+ "robot0_agentview_center": {
329
+ "pos": [
330
+ -0.6,
331
+ 0.0,
332
+ 1.15
333
+ ],
334
+ "quat": [
335
+ 0.636945903301239,
336
+ 0.3325185477733612,
337
+ -0.3199238181114197,
338
+ -0.6175596117973328
339
+ ],
340
+ "parent_body": "mobilebase0_support"
341
+ },
342
+ "robot0_agentview_left": {
343
+ "pos": [
344
+ -0.5,
345
+ 0.35,
346
+ 1.05
347
+ ],
348
+ "quat": [
349
+ 0.55623853,
350
+ 0.29935253,
351
+ -0.37678665,
352
+ -0.6775092
353
+ ],
354
+ "camera_attribs": {
355
+ "fovy": "60"
356
+ },
357
+ "parent_body": "mobilebase0_support"
358
+ },
359
+ "robot0_agentview_right": {
360
+ "pos": [
361
+ -0.5,
362
+ -0.35,
363
+ 1.05
364
+ ],
365
+ "quat": [
366
+ 0.6775091886520386,
367
+ 0.3767866790294647,
368
+ -0.2993525564670563,
369
+ -0.55623859167099
370
+ ],
371
+ "camera_attribs": {
372
+ "fovy": "60"
373
+ },
374
+ "parent_body": "mobilebase0_support"
375
+ },
376
+ "robot0_frontview": {
377
+ "pos": [
378
+ -0.5,
379
+ 0,
380
+ 0.95
381
+ ],
382
+ "quat": [
383
+ 0.6088936924934387,
384
+ 0.3814677894115448,
385
+ -0.3673907518386841,
386
+ -0.5905545353889465
387
+ ],
388
+ "camera_attribs": {
389
+ "fovy": "60"
390
+ },
391
+ "parent_body": "mobilebase0_support"
392
+ },
393
+ "robot0_eye_in_hand": {
394
+ "pos": [
395
+ 0.05,
396
+ 0,
397
+ 0
398
+ ],
399
+ "quat": [
400
+ 0,
401
+ 0.707107,
402
+ 0.707107,
403
+ 0
404
+ ],
405
+ "parent_body": "robot0_right_hand"
406
+ }
407
+ },
408
+ "init_robot_base_pos": [
409
+ 3.845744715378809,
410
+ -0.9028058880388417,
411
+ 0.0
412
+ ],
413
+ "init_robot_base_ori": [
414
+ 0.0,
415
+ 0.0,
416
+ 1.5707963267948966
417
+ ]
418
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000044/ep_meta.json ADDED
@@ -0,0 +1,455 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 53,
3
+ "style_id": 12,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_6_right_group_1_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "peeler",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "peeler",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler002/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.065
49
+ ],
50
+ "size": [
51
+ 0.47802400000000006,
52
+ 0.51
53
+ ],
54
+ "height": 0.16,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "counter_5_right_group_1",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_6_right_group_1_2",
65
+ "min_size": [
66
+ 0.08252690495999998,
67
+ 0.09592070783999997,
68
+ 0.03860648447999998
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "cake",
89
+ "sweets",
90
+ "food",
91
+ "in_container"
92
+ ],
93
+ "groups": [
94
+ "all"
95
+ ],
96
+ "cat": "cake",
97
+ "split": "train",
98
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml"
99
+ },
100
+ "reset_region": {
101
+ "size": [
102
+ 0.5999989999999991,
103
+ 0.650035
104
+ ],
105
+ "offset": [
106
+ 4.440892098500626e-16,
107
+ 0.0,
108
+ 0.46
109
+ ],
110
+ "name": "geom_0"
111
+ }
112
+ }
113
+ ],
114
+ "fixtures": {
115
+ "wall_main_1_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_main_1_backing_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "wall_front_1_room": {
122
+ "cls": "Wall"
123
+ },
124
+ "wall_front_1_backing_room": {
125
+ "cls": "Wall"
126
+ },
127
+ "wall_right_1_room": {
128
+ "cls": "Wall"
129
+ },
130
+ "wall_right_1_backing_room": {
131
+ "cls": "Wall"
132
+ },
133
+ "wall_front_2_room": {
134
+ "cls": "Wall"
135
+ },
136
+ "wall_front_2_backing_room": {
137
+ "cls": "Wall"
138
+ },
139
+ "wall_front_4_room": {
140
+ "cls": "Wall"
141
+ },
142
+ "wall_front_4_backing_room": {
143
+ "cls": "Wall"
144
+ },
145
+ "wall_front_3_room": {
146
+ "cls": "Wall"
147
+ },
148
+ "wall_front_3_backing_room": {
149
+ "cls": "Wall"
150
+ },
151
+ "floor_1_room": {
152
+ "cls": "Floor"
153
+ },
154
+ "floor_1_backing_room": {
155
+ "cls": "Floor"
156
+ },
157
+ "floor_2_room": {
158
+ "cls": "Floor"
159
+ },
160
+ "floor_2_backing_room": {
161
+ "cls": "Floor"
162
+ },
163
+ "wallaccessory_1_room": {
164
+ "cls": "WallAccessory"
165
+ },
166
+ "wallaccessory_2_room": {
167
+ "cls": "WallAccessory"
168
+ },
169
+ "wallaccessory_3_room": {
170
+ "cls": "WallAccessory"
171
+ },
172
+ "wallaccessory_4_room": {
173
+ "cls": "WallAccessory"
174
+ },
175
+ "wallaccessory_5_room": {
176
+ "cls": "WallAccessory"
177
+ },
178
+ "window_group_1_room": {
179
+ "cls": "Window"
180
+ },
181
+ "window_group_2_room": {
182
+ "cls": "Window"
183
+ },
184
+ "stool_2_room": {
185
+ "cls": "Stool"
186
+ },
187
+ "stool_3_room": {
188
+ "cls": "Stool"
189
+ },
190
+ "stool_1_room": {
191
+ "cls": "Stool"
192
+ },
193
+ "hingecabinet_3_main_group_1": {
194
+ "cls": "HingeCabinet"
195
+ },
196
+ "singlecabinet_1_main_group_1": {
197
+ "cls": "SingleCabinet"
198
+ },
199
+ "sink_main_group_1": {
200
+ "cls": "Sink"
201
+ },
202
+ "counter_1_main_group_1": {
203
+ "cls": "Counter"
204
+ },
205
+ "counter_2_main_group_1": {
206
+ "cls": "Counter"
207
+ },
208
+ "cube_2_main_group_1": {
209
+ "cls": "Box"
210
+ },
211
+ "cube_3_main_group_1": {
212
+ "cls": "Box"
213
+ },
214
+ "stack_1_main_group_1_base": {
215
+ "cls": "Box"
216
+ },
217
+ "stack_1_main_group_1_1": {
218
+ "cls": "HingeCabinet"
219
+ },
220
+ "stack_1_main_group_1_2": {
221
+ "cls": "PanelCabinet"
222
+ },
223
+ "stack_2_main_group_1_base": {
224
+ "cls": "Box"
225
+ },
226
+ "stack_2_main_group_1_1": {
227
+ "cls": "SingleCabinet"
228
+ },
229
+ "dishwasher_1_main_group_1": {
230
+ "cls": "Dishwasher"
231
+ },
232
+ "paper_towel_main_group_1": {
233
+ "cls": "Accessory"
234
+ },
235
+ "dining_dining_area_group_1": {
236
+ "cls": "Counter"
237
+ },
238
+ "stack_3_dining_area_group_1_base": {
239
+ "cls": "Box"
240
+ },
241
+ "stack_3_dining_area_group_1_1": {
242
+ "cls": "SingleCabinet"
243
+ },
244
+ "stack_4_dining_area_group_1_base": {
245
+ "cls": "Box"
246
+ },
247
+ "stack_4_dining_area_group_1_1": {
248
+ "cls": "Drawer"
249
+ },
250
+ "stack_4_dining_area_group_1_2": {
251
+ "cls": "Drawer"
252
+ },
253
+ "stack_4_dining_area_group_1_3": {
254
+ "cls": "Drawer"
255
+ },
256
+ "stack_5_dining_area_group_1_base": {
257
+ "cls": "Box"
258
+ },
259
+ "stack_5_dining_area_group_1_1": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "stack_5_dining_area_group_1_2": {
263
+ "cls": "Drawer"
264
+ },
265
+ "cube_6_dining_area_group_1": {
266
+ "cls": "Box"
267
+ },
268
+ "cube_1_dining_area_group_1": {
269
+ "cls": "Box"
270
+ },
271
+ "cube_4_right_group_1": {
272
+ "cls": "Box"
273
+ },
274
+ "hingecabinet_1_right_group_1": {
275
+ "cls": "HingeCabinet"
276
+ },
277
+ "singlecabinet_2_right_group_1": {
278
+ "cls": "SingleCabinet"
279
+ },
280
+ "singlecabinet_3_right_group_1": {
281
+ "cls": "SingleCabinet"
282
+ },
283
+ "counter_4_right_group_1": {
284
+ "cls": "Counter"
285
+ },
286
+ "counter_5_right_group_1": {
287
+ "cls": "Counter"
288
+ },
289
+ "counter_corner_1_right_group_1": {
290
+ "cls": "Counter"
291
+ },
292
+ "stove_right_group_1": {
293
+ "cls": "Stove"
294
+ },
295
+ "microwave_right_group_1": {
296
+ "cls": "Microwave"
297
+ },
298
+ "micro_cab_right_group_1": {
299
+ "cls": "HingeCabinet"
300
+ },
301
+ "stack_6_right_group_1_base": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_6_right_group_1_1": {
305
+ "cls": "SingleCabinet"
306
+ },
307
+ "stack_6_right_group_1_2": {
308
+ "cls": "Drawer"
309
+ },
310
+ "stack_7_right_group_1_base": {
311
+ "cls": "Box"
312
+ },
313
+ "stack_7_right_group_1_1": {
314
+ "cls": "SingleCabinet"
315
+ },
316
+ "stack_7_right_group_1_2": {
317
+ "cls": "Drawer"
318
+ },
319
+ "stack_8_right_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_8_right_group_1_1": {
323
+ "cls": "SingleCabinet"
324
+ },
325
+ "toaster_oven_right_group_1": {
326
+ "cls": "ToasterOven"
327
+ },
328
+ "toaster_right_group_1": {
329
+ "cls": "Toaster"
330
+ },
331
+ "hingecabinet_4_front_group_1": {
332
+ "cls": "HingeCabinet"
333
+ },
334
+ "counter_3_front_group_1": {
335
+ "cls": "Counter"
336
+ },
337
+ "stack_9_front_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_9_front_group_1_1": {
341
+ "cls": "SingleCabinet"
342
+ },
343
+ "cube_1_front_group_1": {
344
+ "cls": "Box"
345
+ },
346
+ "fridgefrenchdoor_front_group_1": {
347
+ "cls": "FridgeFrenchDoor"
348
+ },
349
+ "fridgefrenchdoor_housing_front_group_1": {
350
+ "cls": "HousingCabinet"
351
+ },
352
+ "hingecabinet_2_front_group_1": {
353
+ "cls": "HingeCabinet"
354
+ },
355
+ "coffee_machine_front_group_1": {
356
+ "cls": "CoffeeMachine"
357
+ }
358
+ },
359
+ "gen_textures": {},
360
+ "lang": "Open the right drawer.",
361
+ "fixture_refs": {
362
+ "drawer": "stack_6_right_group_1_2"
363
+ },
364
+ "cam_configs": {
365
+ "robot0_agentview_center": {
366
+ "pos": [
367
+ -0.6,
368
+ 0.0,
369
+ 1.15
370
+ ],
371
+ "quat": [
372
+ 0.636945903301239,
373
+ 0.3325185477733612,
374
+ -0.3199238181114197,
375
+ -0.6175596117973328
376
+ ],
377
+ "parent_body": "mobilebase0_support"
378
+ },
379
+ "robot0_agentview_left": {
380
+ "pos": [
381
+ -0.5,
382
+ 0.35,
383
+ 1.05
384
+ ],
385
+ "quat": [
386
+ 0.55623853,
387
+ 0.29935253,
388
+ -0.37678665,
389
+ -0.6775092
390
+ ],
391
+ "camera_attribs": {
392
+ "fovy": "60"
393
+ },
394
+ "parent_body": "mobilebase0_support"
395
+ },
396
+ "robot0_agentview_right": {
397
+ "pos": [
398
+ -0.5,
399
+ -0.35,
400
+ 1.05
401
+ ],
402
+ "quat": [
403
+ 0.6775091886520386,
404
+ 0.3767866790294647,
405
+ -0.2993525564670563,
406
+ -0.55623859167099
407
+ ],
408
+ "camera_attribs": {
409
+ "fovy": "60"
410
+ },
411
+ "parent_body": "mobilebase0_support"
412
+ },
413
+ "robot0_frontview": {
414
+ "pos": [
415
+ -0.5,
416
+ 0,
417
+ 0.95
418
+ ],
419
+ "quat": [
420
+ 0.6088936924934387,
421
+ 0.3814677894115448,
422
+ -0.3673907518386841,
423
+ -0.5905545353889465
424
+ ],
425
+ "camera_attribs": {
426
+ "fovy": "60"
427
+ },
428
+ "parent_body": "mobilebase0_support"
429
+ },
430
+ "robot0_eye_in_hand": {
431
+ "pos": [
432
+ 0.05,
433
+ 0,
434
+ 0
435
+ ],
436
+ "quat": [
437
+ 0,
438
+ 0.707107,
439
+ 0.707107,
440
+ 0
441
+ ],
442
+ "parent_body": "robot0_right_hand"
443
+ }
444
+ },
445
+ "init_robot_base_pos": [
446
+ 4.86908283104892,
447
+ -2.3799684077765506,
448
+ 0.0
449
+ ],
450
+ "init_robot_base_ori": [
451
+ 0.0,
452
+ 0.0,
453
+ -0.0001513629834557495
454
+ ]
455
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000048/ep_meta.json ADDED
@@ -0,0 +1,548 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 45,
3
+ "style_id": 27,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_3_right_group_1_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "tongs",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "tongs",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs006/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.065
49
+ ],
50
+ "size": [
51
+ 0.48499999999999993,
52
+ 0.51
53
+ ],
54
+ "height": 0.16,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "counter_2_right_group_1",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_3_right_group_1_2",
65
+ "min_size": [
66
+ 0.070311,
67
+ 0.06977293799999999,
68
+ 0.009472
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "tomato_slice"
89
+ ],
90
+ "groups": [
91
+ "all"
92
+ ],
93
+ "cat": "tomato_slice",
94
+ "split": "train",
95
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tomato_slice/TomatoSlice001/model.xml"
96
+ },
97
+ "reset_region": {
98
+ "size": [
99
+ 0.607,
100
+ 0.65
101
+ ],
102
+ "offset": [
103
+ 0.0,
104
+ 0.0,
105
+ 0.46
106
+ ],
107
+ "name": "geom_0"
108
+ }
109
+ },
110
+ {
111
+ "name": "distr_counter_2",
112
+ "obj_groups": "all",
113
+ "placement": {
114
+ "fixture": "counter_2_right_group_1",
115
+ "sample_region_kwargs": {
116
+ "ref": "stack_3_right_group_1_2",
117
+ "min_size": [
118
+ 0.05982846,
119
+ 0.21187845,
120
+ 0.08247228000000001
121
+ ]
122
+ },
123
+ "size": [
124
+ 1.0,
125
+ 0.5
126
+ ],
127
+ "pos": [
128
+ null,
129
+ -1.0
130
+ ],
131
+ "offset": [
132
+ 0.0,
133
+ 0.1
134
+ ]
135
+ },
136
+ "type": "object",
137
+ "info": {
138
+ "groups_containing_sampled_obj": [
139
+ "all",
140
+ "dish_brush",
141
+ "tool",
142
+ "cleaner",
143
+ "in_container"
144
+ ],
145
+ "groups": [
146
+ "all"
147
+ ],
148
+ "cat": "dish_brush",
149
+ "split": "train",
150
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml"
151
+ },
152
+ "reset_region": {
153
+ "size": [
154
+ 0.607,
155
+ 0.65
156
+ ],
157
+ "offset": [
158
+ 0.0,
159
+ 0.0,
160
+ 0.46
161
+ ],
162
+ "name": "geom_0"
163
+ }
164
+ },
165
+ {
166
+ "name": "distr_counter_3",
167
+ "obj_groups": "all",
168
+ "placement": {
169
+ "fixture": "counter_2_right_group_1",
170
+ "sample_region_kwargs": {
171
+ "ref": "stack_3_right_group_1_2",
172
+ "min_size": [
173
+ 0.07395939149999996,
174
+ 0.07202754299999997,
175
+ 0.07467260324999997
176
+ ]
177
+ },
178
+ "size": [
179
+ 1.0,
180
+ 0.5
181
+ ],
182
+ "pos": [
183
+ null,
184
+ -1.0
185
+ ],
186
+ "offset": [
187
+ 0.0,
188
+ 0.1
189
+ ]
190
+ },
191
+ "type": "object",
192
+ "info": {
193
+ "groups_containing_sampled_obj": [
194
+ "all",
195
+ "orange",
196
+ "fruit",
197
+ "food",
198
+ "in_container",
199
+ "food_set1"
200
+ ],
201
+ "groups": [
202
+ "all"
203
+ ],
204
+ "cat": "orange",
205
+ "split": "train",
206
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_11/model.xml"
207
+ },
208
+ "reset_region": {
209
+ "size": [
210
+ 0.607,
211
+ 0.65
212
+ ],
213
+ "offset": [
214
+ 0.0,
215
+ 0.0,
216
+ 0.46
217
+ ],
218
+ "name": "geom_0"
219
+ }
220
+ }
221
+ ],
222
+ "fixtures": {
223
+ "wall_left_1_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "wall_left_1_backing_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_main_1_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "wall_main_1_backing_room": {
233
+ "cls": "Wall"
234
+ },
235
+ "wall_right_1_room": {
236
+ "cls": "Wall"
237
+ },
238
+ "wall_right_1_backing_room": {
239
+ "cls": "Wall"
240
+ },
241
+ "wall_main_2_room": {
242
+ "cls": "Wall"
243
+ },
244
+ "wall_main_2_backing_room": {
245
+ "cls": "Wall"
246
+ },
247
+ "floor_1_room": {
248
+ "cls": "Floor"
249
+ },
250
+ "floor_1_backing_room": {
251
+ "cls": "Floor"
252
+ },
253
+ "floor_2_room": {
254
+ "cls": "Floor"
255
+ },
256
+ "floor_2_backing_room": {
257
+ "cls": "Floor"
258
+ },
259
+ "wallaccessory_room": {
260
+ "cls": "WallAccessory"
261
+ },
262
+ "lightswitch_room": {
263
+ "cls": "WallAccessory"
264
+ },
265
+ "wallaccessory.003_room": {
266
+ "cls": "WallAccessory"
267
+ },
268
+ "wallaccessory.004_room": {
269
+ "cls": "WallAccessory"
270
+ },
271
+ "wallaccessory.002_room": {
272
+ "cls": "WallAccessory"
273
+ },
274
+ "window_group_1_room": {
275
+ "cls": "Window"
276
+ },
277
+ "window_group_2_room": {
278
+ "cls": "Window"
279
+ },
280
+ "stool_1_room": {
281
+ "cls": "Stool"
282
+ },
283
+ "stool_2_room": {
284
+ "cls": "Stool"
285
+ },
286
+ "stool_3_room": {
287
+ "cls": "Stool"
288
+ },
289
+ "counter_corner_1_main_group_1": {
290
+ "cls": "Counter"
291
+ },
292
+ "sink_main_group_1": {
293
+ "cls": "Sink"
294
+ },
295
+ "counter_1_main_group_1": {
296
+ "cls": "Counter"
297
+ },
298
+ "stack_1_main_group_1_base": {
299
+ "cls": "Box"
300
+ },
301
+ "stack_1_main_group_1_1": {
302
+ "cls": "HingeCabinet"
303
+ },
304
+ "hingecabinet_1_main_group_1": {
305
+ "cls": "HingeCabinet"
306
+ },
307
+ "stack_3_main_group_1_base": {
308
+ "cls": "Box"
309
+ },
310
+ "stack_3_main_group_1_1": {
311
+ "cls": "SingleCabinet"
312
+ },
313
+ "stack_3_main_group_1_2": {
314
+ "cls": "Drawer"
315
+ },
316
+ "stack_4_main_group_1_base": {
317
+ "cls": "Box"
318
+ },
319
+ "stack_4_main_group_1_1": {
320
+ "cls": "SingleCabinet"
321
+ },
322
+ "cube_1_main_group_1": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_2_main_group_1_base": {
326
+ "cls": "Box"
327
+ },
328
+ "stack_2_main_group_1_1": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "dishwasher_1_main_group_1": {
332
+ "cls": "Dishwasher"
333
+ },
334
+ "cube_2_main_group_1": {
335
+ "cls": "Box"
336
+ },
337
+ "coffee_machine_main_group_1": {
338
+ "cls": "CoffeeMachine"
339
+ },
340
+ "knife_block_main_group_1": {
341
+ "cls": "Accessory"
342
+ },
343
+ "paper_towel_main_group_1": {
344
+ "cls": "Accessory"
345
+ },
346
+ "counter_1_right_group_1": {
347
+ "cls": "Counter"
348
+ },
349
+ "stove_right_group_1": {
350
+ "cls": "Stove"
351
+ },
352
+ "microwave_right_group_1": {
353
+ "cls": "Microwave"
354
+ },
355
+ "micro_cab_right_group_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "counter_2_right_group_1": {
359
+ "cls": "Counter"
360
+ },
361
+ "fridgesidebyside_right_group_1": {
362
+ "cls": "FridgeSideBySide"
363
+ },
364
+ "fridgesidebyside_housing_right_group_1": {
365
+ "cls": "HousingCabinet"
366
+ },
367
+ "hingecabinet_5_right_group_1": {
368
+ "cls": "HingeCabinet"
369
+ },
370
+ "hingecabinet_4_right_group_1": {
371
+ "cls": "HingeCabinet"
372
+ },
373
+ "hingecabinet_1_right_group_1": {
374
+ "cls": "HingeCabinet"
375
+ },
376
+ "hingecabinet_2_right_group_1": {
377
+ "cls": "HingeCabinet"
378
+ },
379
+ "toaster_right_group_1": {
380
+ "cls": "Toaster"
381
+ },
382
+ "cube_1_right_group_1": {
383
+ "cls": "Box"
384
+ },
385
+ "cube_2_right_group_1": {
386
+ "cls": "Box"
387
+ },
388
+ "stack_2_right_group_1_base": {
389
+ "cls": "Box"
390
+ },
391
+ "stack_2_right_group_1_1": {
392
+ "cls": "HingeCabinet"
393
+ },
394
+ "stack_2_right_group_1_2": {
395
+ "cls": "Drawer"
396
+ },
397
+ "stack_3_right_group_1_base": {
398
+ "cls": "Box"
399
+ },
400
+ "stack_3_right_group_1_1": {
401
+ "cls": "HingeCabinet"
402
+ },
403
+ "stack_3_right_group_1_2": {
404
+ "cls": "Drawer"
405
+ },
406
+ "island_island_group_1": {
407
+ "cls": "Counter"
408
+ },
409
+ "cube_island_group_1": {
410
+ "cls": "Box"
411
+ },
412
+ "stack_1_island_group_1_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_1_island_group_1_1": {
416
+ "cls": "SingleCabinet"
417
+ },
418
+ "stack_1_island_group_1_2": {
419
+ "cls": "Drawer"
420
+ },
421
+ "stack_2_island_group_1_base": {
422
+ "cls": "Box"
423
+ },
424
+ "stack_2_island_group_1_1": {
425
+ "cls": "HingeCabinet"
426
+ },
427
+ "stack_2_island_group_1_2": {
428
+ "cls": "Drawer"
429
+ },
430
+ "stack_3_island_group_1_base": {
431
+ "cls": "Box"
432
+ },
433
+ "stack_3_island_group_1_1": {
434
+ "cls": "HingeCabinet"
435
+ },
436
+ "stack_3_island_group_1_2": {
437
+ "cls": "Drawer"
438
+ },
439
+ "panelbox_2_island_group_1_base": {
440
+ "cls": "Box"
441
+ },
442
+ "panelbox_2_island_group_1_1": {
443
+ "cls": "PanelCabinet"
444
+ },
445
+ "panelbox_1_island_group_1_base": {
446
+ "cls": "Box"
447
+ },
448
+ "panelbox_1_island_group_1_1": {
449
+ "cls": "PanelCabinet"
450
+ }
451
+ },
452
+ "gen_textures": {},
453
+ "lang": "Open the left drawer.",
454
+ "fixture_refs": {
455
+ "drawer": "stack_3_right_group_1_2"
456
+ },
457
+ "cam_configs": {
458
+ "robot0_agentview_center": {
459
+ "pos": [
460
+ -0.6,
461
+ 0.0,
462
+ 1.15
463
+ ],
464
+ "quat": [
465
+ 0.636945903301239,
466
+ 0.3325185477733612,
467
+ -0.3199238181114197,
468
+ -0.6175596117973328
469
+ ],
470
+ "parent_body": "mobilebase0_support"
471
+ },
472
+ "robot0_agentview_left": {
473
+ "pos": [
474
+ -0.5,
475
+ 0.35,
476
+ 1.05
477
+ ],
478
+ "quat": [
479
+ 0.55623853,
480
+ 0.29935253,
481
+ -0.37678665,
482
+ -0.6775092
483
+ ],
484
+ "camera_attribs": {
485
+ "fovy": "60"
486
+ },
487
+ "parent_body": "mobilebase0_support"
488
+ },
489
+ "robot0_agentview_right": {
490
+ "pos": [
491
+ -0.5,
492
+ -0.35,
493
+ 1.05
494
+ ],
495
+ "quat": [
496
+ 0.6775091886520386,
497
+ 0.3767866790294647,
498
+ -0.2993525564670563,
499
+ -0.55623859167099
500
+ ],
501
+ "camera_attribs": {
502
+ "fovy": "60"
503
+ },
504
+ "parent_body": "mobilebase0_support"
505
+ },
506
+ "robot0_frontview": {
507
+ "pos": [
508
+ -0.5,
509
+ 0,
510
+ 0.95
511
+ ],
512
+ "quat": [
513
+ 0.6088936924934387,
514
+ 0.3814677894115448,
515
+ -0.3673907518386841,
516
+ -0.5905545353889465
517
+ ],
518
+ "camera_attribs": {
519
+ "fovy": "60"
520
+ },
521
+ "parent_body": "mobilebase0_support"
522
+ },
523
+ "robot0_eye_in_hand": {
524
+ "pos": [
525
+ 0.05,
526
+ 0,
527
+ 0
528
+ ],
529
+ "quat": [
530
+ 0,
531
+ 0.707107,
532
+ 0.707107,
533
+ 0
534
+ ],
535
+ "parent_body": "robot0_right_hand"
536
+ }
537
+ },
538
+ "init_robot_base_pos": [
539
+ 3.6140276998108285,
540
+ -3.411159906182451,
541
+ 0.0
542
+ ],
543
+ "init_robot_base_ori": [
544
+ 0.0,
545
+ 0.0,
546
+ 0.00030199704781619374
547
+ ]
548
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000060/ep_meta.json ADDED
@@ -0,0 +1,609 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 39,
3
+ "style_id": 36,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_2_island_group_1_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "reamer",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "reamer",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer003/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.065
49
+ ],
50
+ "size": [
51
+ 0.528,
52
+ 0.51
53
+ ],
54
+ "height": 0.16,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "island_island_group_1",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_2_island_group_1_2",
65
+ "min_size": [
66
+ 0.057608837187413324,
67
+ 0.2328650074257728,
68
+ 0.07522244119756101
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "ladle",
89
+ "utensil"
90
+ ],
91
+ "groups": [
92
+ "all"
93
+ ],
94
+ "cat": "ladle",
95
+ "split": "train",
96
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_2/model.xml"
97
+ },
98
+ "reset_region": {
99
+ "size": [
100
+ 0.8966734093655069,
101
+ 1.3
102
+ ],
103
+ "offset": [
104
+ -0.8516632953172466,
105
+ 2.0816681711721685e-17,
106
+ 0.46
107
+ ],
108
+ "name": "geom_0"
109
+ }
110
+ }
111
+ ],
112
+ "fixtures": {
113
+ "wall_main_1_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_main_1_backing_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_right_1_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_1_backing_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_main_2_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_main_2_backing_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_right_2_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_right_2_backing_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "wall_front_1_room": {
138
+ "cls": "Wall"
139
+ },
140
+ "wall_front_1_backing_room": {
141
+ "cls": "Wall"
142
+ },
143
+ "wall_front_5_room": {
144
+ "cls": "Wall"
145
+ },
146
+ "wall_front_5_backing_room": {
147
+ "cls": "Wall"
148
+ },
149
+ "wall_right_5_room": {
150
+ "cls": "Wall"
151
+ },
152
+ "wall_right_5_backing_room": {
153
+ "cls": "Wall"
154
+ },
155
+ "wall_front_4_room": {
156
+ "cls": "Wall"
157
+ },
158
+ "wall_front_4_backing_room": {
159
+ "cls": "Wall"
160
+ },
161
+ "wall_right_4_room": {
162
+ "cls": "Wall"
163
+ },
164
+ "wall_right_4_backing_room": {
165
+ "cls": "Wall"
166
+ },
167
+ "wall_right_3_room": {
168
+ "cls": "Wall"
169
+ },
170
+ "wall_right_3_backing_room": {
171
+ "cls": "Wall"
172
+ },
173
+ "wall_front_3_room": {
174
+ "cls": "Wall"
175
+ },
176
+ "wall_front_3_backing_room": {
177
+ "cls": "Wall"
178
+ },
179
+ "wall_front_2_room": {
180
+ "cls": "Wall"
181
+ },
182
+ "wall_front_2_backing_room": {
183
+ "cls": "Wall"
184
+ },
185
+ "wall_front_6_room": {
186
+ "cls": "Wall"
187
+ },
188
+ "wall_front_6_backing_room": {
189
+ "cls": "Wall"
190
+ },
191
+ "wall_front_7_room": {
192
+ "cls": "Wall"
193
+ },
194
+ "wall_front_7_backing_room": {
195
+ "cls": "Wall"
196
+ },
197
+ "floor_1_room": {
198
+ "cls": "Floor"
199
+ },
200
+ "floor_1_backing_room": {
201
+ "cls": "Floor"
202
+ },
203
+ "floor_2_room": {
204
+ "cls": "Floor"
205
+ },
206
+ "floor_2_backing_room": {
207
+ "cls": "Floor"
208
+ },
209
+ "floor_3_room": {
210
+ "cls": "Floor"
211
+ },
212
+ "floor_3_backing_room": {
213
+ "cls": "Floor"
214
+ },
215
+ "wallaccessory_2_room": {
216
+ "cls": "WallAccessory"
217
+ },
218
+ "wallaccessory_1_room": {
219
+ "cls": "WallAccessory"
220
+ },
221
+ "wallaccessory_4_room": {
222
+ "cls": "WallAccessory"
223
+ },
224
+ "wallaccessory_3_room": {
225
+ "cls": "WallAccessory"
226
+ },
227
+ "lightswitch_room": {
228
+ "cls": "WallAccessory"
229
+ },
230
+ "wallaccessory_5_room": {
231
+ "cls": "WallAccessory"
232
+ },
233
+ "wallaccessory_6.001_room": {
234
+ "cls": "WallAccessory"
235
+ },
236
+ "window_group_room": {
237
+ "cls": "Window"
238
+ },
239
+ "sink_main_group_1": {
240
+ "cls": "Sink"
241
+ },
242
+ "counter_1_main_group_1": {
243
+ "cls": "Counter"
244
+ },
245
+ "fridgefrenchdoor_main_group_1": {
246
+ "cls": "FridgeFrenchDoor"
247
+ },
248
+ "fridgefrenchdoor_housing_main_group_1": {
249
+ "cls": "HousingCabinet"
250
+ },
251
+ "hingecabinet_1_main_group_1": {
252
+ "cls": "HingeCabinet"
253
+ },
254
+ "singlecabinet_5_main_group_1": {
255
+ "cls": "SingleCabinet"
256
+ },
257
+ "singlecabinet_4_main_group_1": {
258
+ "cls": "SingleCabinet"
259
+ },
260
+ "singlecabinet_1_main_group_1": {
261
+ "cls": "SingleCabinet"
262
+ },
263
+ "singlecabinet_2_main_group_1": {
264
+ "cls": "SingleCabinet"
265
+ },
266
+ "singlecabinet_3_main_group_1": {
267
+ "cls": "SingleCabinet"
268
+ },
269
+ "stack_1_main_group_1_base": {
270
+ "cls": "Box"
271
+ },
272
+ "stack_1_main_group_1_1": {
273
+ "cls": "SingleCabinet"
274
+ },
275
+ "stack_1_main_group_1_2": {
276
+ "cls": "Drawer"
277
+ },
278
+ "stack_2_main_group_1_base": {
279
+ "cls": "Box"
280
+ },
281
+ "stack_2_main_group_1_1": {
282
+ "cls": "SingleCabinet"
283
+ },
284
+ "stack_2_main_group_1_2": {
285
+ "cls": "Drawer"
286
+ },
287
+ "stack_3_main_group_1_base": {
288
+ "cls": "Box"
289
+ },
290
+ "stack_3_main_group_1_1": {
291
+ "cls": "Drawer"
292
+ },
293
+ "stack_3_main_group_1_2": {
294
+ "cls": "Drawer"
295
+ },
296
+ "stack_3_main_group_1_3": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_4_main_group_1_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_4_main_group_1_1": {
303
+ "cls": "SingleCabinet"
304
+ },
305
+ "stack_4_main_group_1_2": {
306
+ "cls": "Drawer"
307
+ },
308
+ "cube_1_main_group_1": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_5_main_group_1_base": {
312
+ "cls": "Box"
313
+ },
314
+ "stack_5_main_group_1_1": {
315
+ "cls": "SingleCabinet"
316
+ },
317
+ "stack_5_main_group_1_2": {
318
+ "cls": "Drawer"
319
+ },
320
+ "stack_6_main_group_1_base": {
321
+ "cls": "Box"
322
+ },
323
+ "stack_6_main_group_1_1": {
324
+ "cls": "SingleCabinet"
325
+ },
326
+ "stack_6_main_group_1_2": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_7_main_group_1_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_7_main_group_1_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "stack_7_main_group_1_2": {
336
+ "cls": "PanelCabinet"
337
+ },
338
+ "dishwasher_1_main_group_1": {
339
+ "cls": "Dishwasher"
340
+ },
341
+ "toaster_main_group_1": {
342
+ "cls": "Toaster"
343
+ },
344
+ "knifeblock_main_group_1": {
345
+ "cls": "Accessory"
346
+ },
347
+ "papertowel_main_group_1": {
348
+ "cls": "Accessory"
349
+ },
350
+ "stovetop_island_group_1": {
351
+ "cls": "Stovetop"
352
+ },
353
+ "island_island_group_1": {
354
+ "cls": "Counter"
355
+ },
356
+ "stack_1_island_group_1_base": {
357
+ "cls": "Box"
358
+ },
359
+ "stack_1_island_group_1_1": {
360
+ "cls": "SingleCabinet"
361
+ },
362
+ "stack_1_island_group_1_2": {
363
+ "cls": "Drawer"
364
+ },
365
+ "stack_2_island_group_1_base": {
366
+ "cls": "Box"
367
+ },
368
+ "stack_2_island_group_1_1": {
369
+ "cls": "SingleCabinet"
370
+ },
371
+ "stack_2_island_group_1_2": {
372
+ "cls": "Drawer"
373
+ },
374
+ "stack_3_island_group_1_base": {
375
+ "cls": "Box"
376
+ },
377
+ "stack_3_island_group_1_1": {
378
+ "cls": "SingleCabinet"
379
+ },
380
+ "stack_3_island_group_1_2": {
381
+ "cls": "Drawer"
382
+ },
383
+ "stack_4_island_group_1_base": {
384
+ "cls": "Box"
385
+ },
386
+ "stack_4_island_group_1_1": {
387
+ "cls": "SingleCabinet"
388
+ },
389
+ "stack_4_island_group_1_2": {
390
+ "cls": "Drawer"
391
+ },
392
+ "stack_5_island_group_2.001_base": {
393
+ "cls": "Box"
394
+ },
395
+ "stack_5_island_group_2.001_1": {
396
+ "cls": "SingleCabinet"
397
+ },
398
+ "stack_5_island_group_2.001_2": {
399
+ "cls": "Drawer"
400
+ },
401
+ "stack_6_island_group_2.001_base": {
402
+ "cls": "Box"
403
+ },
404
+ "stack_6_island_group_2.001_1": {
405
+ "cls": "SingleCabinet"
406
+ },
407
+ "stack_6_island_group_2.001_2": {
408
+ "cls": "Drawer"
409
+ },
410
+ "stack_7_island_group_2.001_base": {
411
+ "cls": "Box"
412
+ },
413
+ "stack_7_island_group_2.001_1": {
414
+ "cls": "SingleCabinet"
415
+ },
416
+ "stack_7_island_group_2.001_2": {
417
+ "cls": "Drawer"
418
+ },
419
+ "stack_8_island_group_2.001_base": {
420
+ "cls": "Box"
421
+ },
422
+ "stack_8_island_group_2.001_1": {
423
+ "cls": "SingleCabinet"
424
+ },
425
+ "stack_8_island_group_2.001_2": {
426
+ "cls": "Drawer"
427
+ },
428
+ "counter_1_front_group_1": {
429
+ "cls": "Counter"
430
+ },
431
+ "hingecabinet_2_front_group_1": {
432
+ "cls": "HingeCabinet"
433
+ },
434
+ "hingecabinet_1_front_group_1": {
435
+ "cls": "HingeCabinet"
436
+ },
437
+ "stack_1_front_group_1_base": {
438
+ "cls": "Box"
439
+ },
440
+ "stack_1_front_group_1_1": {
441
+ "cls": "SingleCabinet"
442
+ },
443
+ "stack_1_front_group_1_2": {
444
+ "cls": "Drawer"
445
+ },
446
+ "stack_2_front_group_1_base": {
447
+ "cls": "Box"
448
+ },
449
+ "stack_2_front_group_1_1": {
450
+ "cls": "SingleCabinet"
451
+ },
452
+ "stack_2_front_group_1_2": {
453
+ "cls": "Drawer"
454
+ },
455
+ "stack_3_front_group_1_base": {
456
+ "cls": "Box"
457
+ },
458
+ "stack_3_front_group_1_1": {
459
+ "cls": "SingleCabinet"
460
+ },
461
+ "stack_3_front_group_1_2": {
462
+ "cls": "Drawer"
463
+ },
464
+ "stack_4_front_group_1_base": {
465
+ "cls": "Box"
466
+ },
467
+ "stack_4_front_group_1_1": {
468
+ "cls": "SingleCabinet"
469
+ },
470
+ "stack_4_front_group_1_2": {
471
+ "cls": "Drawer"
472
+ },
473
+ "stack_5_front_group_1_base": {
474
+ "cls": "Box"
475
+ },
476
+ "stack_5_front_group_1_1": {
477
+ "cls": "Drawer"
478
+ },
479
+ "stack_5_front_group_1_2": {
480
+ "cls": "Drawer"
481
+ },
482
+ "stack_5_front_group_1_3": {
483
+ "cls": "Drawer"
484
+ },
485
+ "bottom_front_group_1_base": {
486
+ "cls": "Box"
487
+ },
488
+ "bottom_front_group_1_1": {
489
+ "cls": "Drawer"
490
+ },
491
+ "oven_front_group_1": {
492
+ "cls": "Oven"
493
+ },
494
+ "oven_housing_front_group_1": {
495
+ "cls": "HousingCabinet"
496
+ },
497
+ "microwave_front_group_1": {
498
+ "cls": "Microwave"
499
+ },
500
+ "microwave_housing_front_group_1": {
501
+ "cls": "HousingCabinet"
502
+ },
503
+ "top_front_group_1": {
504
+ "cls": "HingeCabinet"
505
+ },
506
+ "coffeemachine_front_group_1": {
507
+ "cls": "CoffeeMachine"
508
+ },
509
+ "toaster_oven_front_group_1": {
510
+ "cls": "ToasterOven"
511
+ }
512
+ },
513
+ "gen_textures": {},
514
+ "lang": "Open the right drawer.",
515
+ "fixture_refs": {
516
+ "drawer": "stack_2_island_group_1_2"
517
+ },
518
+ "cam_configs": {
519
+ "robot0_agentview_center": {
520
+ "pos": [
521
+ -0.6,
522
+ 0.0,
523
+ 1.15
524
+ ],
525
+ "quat": [
526
+ 0.636945903301239,
527
+ 0.3325185477733612,
528
+ -0.3199238181114197,
529
+ -0.6175596117973328
530
+ ],
531
+ "parent_body": "mobilebase0_support"
532
+ },
533
+ "robot0_agentview_left": {
534
+ "pos": [
535
+ -0.5,
536
+ 0.35,
537
+ 1.05
538
+ ],
539
+ "quat": [
540
+ 0.55623853,
541
+ 0.29935253,
542
+ -0.37678665,
543
+ -0.6775092
544
+ ],
545
+ "camera_attribs": {
546
+ "fovy": "60"
547
+ },
548
+ "parent_body": "mobilebase0_support"
549
+ },
550
+ "robot0_agentview_right": {
551
+ "pos": [
552
+ -0.5,
553
+ -0.35,
554
+ 1.05
555
+ ],
556
+ "quat": [
557
+ 0.6775091886520386,
558
+ 0.3767866790294647,
559
+ -0.2993525564670563,
560
+ -0.55623859167099
561
+ ],
562
+ "camera_attribs": {
563
+ "fovy": "60"
564
+ },
565
+ "parent_body": "mobilebase0_support"
566
+ },
567
+ "robot0_frontview": {
568
+ "pos": [
569
+ -0.5,
570
+ 0,
571
+ 0.95
572
+ ],
573
+ "quat": [
574
+ 0.6088936924934387,
575
+ 0.3814677894115448,
576
+ -0.3673907518386841,
577
+ -0.5905545353889465
578
+ ],
579
+ "camera_attribs": {
580
+ "fovy": "60"
581
+ },
582
+ "parent_body": "mobilebase0_support"
583
+ },
584
+ "robot0_eye_in_hand": {
585
+ "pos": [
586
+ 0.05,
587
+ 0,
588
+ 0
589
+ ],
590
+ "quat": [
591
+ 0,
592
+ 0.707107,
593
+ 0.707107,
594
+ 0
595
+ ],
596
+ "parent_body": "robot0_right_hand"
597
+ }
598
+ },
599
+ "init_robot_base_pos": [
600
+ 2.960116963971083,
601
+ -3.6963870262925376,
602
+ 0.0
603
+ ],
604
+ "init_robot_base_ori": [
605
+ 0.0,
606
+ 0.0,
607
+ 1.5707963267948966
608
+ ]
609
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000066/ep_meta.json ADDED
@@ -0,0 +1,573 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 42,
3
+ "style_id": 24,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_4_right_group_1_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "dish_brush",
33
+ "tool",
34
+ "cleaner",
35
+ "in_container"
36
+ ],
37
+ "groups": [
38
+ "tool",
39
+ "utensil"
40
+ ],
41
+ "cat": "dish_brush",
42
+ "split": "train",
43
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush004/model.xml"
44
+ },
45
+ "reset_region": {
46
+ "offset": [
47
+ 0.0,
48
+ -0.015000000000000013,
49
+ -0.086
50
+ ],
51
+ "size": [
52
+ 0.6379919999999999,
53
+ 0.51
54
+ ],
55
+ "height": 0.20199999999999999,
56
+ "name": "int"
57
+ }
58
+ },
59
+ {
60
+ "name": "distr_counter_1",
61
+ "obj_groups": "all",
62
+ "placement": {
63
+ "fixture": "counter_1_right_group_1",
64
+ "sample_region_kwargs": {
65
+ "ref": "stack_4_right_group_1_2",
66
+ "min_size": [
67
+ 0.04654154207999999,
68
+ 0.04623342592000001,
69
+ 0.17431300479999998
70
+ ]
71
+ },
72
+ "size": [
73
+ 1.0,
74
+ 0.5
75
+ ],
76
+ "pos": [
77
+ null,
78
+ -1.0
79
+ ],
80
+ "offset": [
81
+ 0.0,
82
+ 0.1
83
+ ]
84
+ },
85
+ "type": "object",
86
+ "info": {
87
+ "groups_containing_sampled_obj": [
88
+ "all",
89
+ "bottled_water",
90
+ "drink"
91
+ ],
92
+ "groups": [
93
+ "all"
94
+ ],
95
+ "cat": "bottled_water",
96
+ "split": "train",
97
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_17/model.xml"
98
+ },
99
+ "reset_region": {
100
+ "size": [
101
+ 0.7597999999999998,
102
+ 0.65
103
+ ],
104
+ "offset": [
105
+ 0.9026000000000001,
106
+ -3.469446951953614e-17,
107
+ 0.46
108
+ ],
109
+ "name": "geom_0"
110
+ }
111
+ },
112
+ {
113
+ "name": "distr_counter_2",
114
+ "obj_groups": "all",
115
+ "placement": {
116
+ "fixture": "counter_1_right_group_1",
117
+ "sample_region_kwargs": {
118
+ "ref": "stack_4_right_group_1_2",
119
+ "min_size": [
120
+ 0.06515116499999997,
121
+ 0.07499999999999997,
122
+ 0.07032914699999997
123
+ ]
124
+ },
125
+ "size": [
126
+ 1.0,
127
+ 0.5
128
+ ],
129
+ "pos": [
130
+ null,
131
+ -1.0
132
+ ],
133
+ "offset": [
134
+ 0.0,
135
+ 0.1
136
+ ]
137
+ },
138
+ "type": "object",
139
+ "info": {
140
+ "groups_containing_sampled_obj": [
141
+ "all",
142
+ "lime",
143
+ "vegetable",
144
+ "food",
145
+ "in_container"
146
+ ],
147
+ "groups": [
148
+ "all"
149
+ ],
150
+ "cat": "lime",
151
+ "split": "train",
152
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml"
153
+ },
154
+ "reset_region": {
155
+ "size": [
156
+ 0.7597999999999998,
157
+ 0.65
158
+ ],
159
+ "offset": [
160
+ 0.9026000000000001,
161
+ -3.469446951953614e-17,
162
+ 0.46
163
+ ],
164
+ "name": "geom_0"
165
+ }
166
+ },
167
+ {
168
+ "name": "distr_counter_3",
169
+ "obj_groups": "all",
170
+ "placement": {
171
+ "fixture": "counter_1_right_group_1",
172
+ "sample_region_kwargs": {
173
+ "ref": "stack_4_right_group_1_2",
174
+ "min_size": [
175
+ 0.056025359999999996,
176
+ 0.11999999999999998,
177
+ 0.010557585
178
+ ]
179
+ },
180
+ "size": [
181
+ 1.0,
182
+ 0.5
183
+ ],
184
+ "pos": [
185
+ null,
186
+ -1.0
187
+ ],
188
+ "offset": [
189
+ 0.0,
190
+ 0.1
191
+ ]
192
+ },
193
+ "type": "object",
194
+ "info": {
195
+ "groups_containing_sampled_obj": [
196
+ "all",
197
+ "chocolate",
198
+ "sweets",
199
+ "food",
200
+ "in_container"
201
+ ],
202
+ "groups": [
203
+ "all"
204
+ ],
205
+ "cat": "chocolate",
206
+ "split": "train",
207
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/chocolate/chocolate_12/model.xml"
208
+ },
209
+ "reset_region": {
210
+ "size": [
211
+ 0.7597999999999998,
212
+ 0.65
213
+ ],
214
+ "offset": [
215
+ 0.9026000000000001,
216
+ -3.469446951953614e-17,
217
+ 0.46
218
+ ],
219
+ "name": "geom_0"
220
+ }
221
+ }
222
+ ],
223
+ "fixtures": {
224
+ "wall_left_1_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "wall_left_1_backing_room": {
228
+ "cls": "Wall"
229
+ },
230
+ "wall_main_1_room": {
231
+ "cls": "Wall"
232
+ },
233
+ "wall_main_1_backing_room": {
234
+ "cls": "Wall"
235
+ },
236
+ "wall_right_1_room": {
237
+ "cls": "Wall"
238
+ },
239
+ "wall_right_1_backing_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_main_2_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_main_2_backing_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_main_3_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_main_3_backing_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "wall_main_4_room": {
255
+ "cls": "Wall"
256
+ },
257
+ "wall_main_4_backing_room": {
258
+ "cls": "Wall"
259
+ },
260
+ "wall_left_2_room": {
261
+ "cls": "Wall"
262
+ },
263
+ "wall_left_2_backing_room": {
264
+ "cls": "Wall"
265
+ },
266
+ "floor_1_room": {
267
+ "cls": "Floor"
268
+ },
269
+ "floor_1_backing_room": {
270
+ "cls": "Floor"
271
+ },
272
+ "floor_2_room": {
273
+ "cls": "Floor"
274
+ },
275
+ "floor_2_backing_room": {
276
+ "cls": "Floor"
277
+ },
278
+ "wallaccessory_room": {
279
+ "cls": "WallAccessory"
280
+ },
281
+ "lightswitch_room": {
282
+ "cls": "WallAccessory"
283
+ },
284
+ "wallaccessory.002_room": {
285
+ "cls": "WallAccessory"
286
+ },
287
+ "window_group_room": {
288
+ "cls": "Window"
289
+ },
290
+ "stool_1_room": {
291
+ "cls": "Stool"
292
+ },
293
+ "stool_2_room": {
294
+ "cls": "Stool"
295
+ },
296
+ "stool_4_room": {
297
+ "cls": "Stool"
298
+ },
299
+ "stool_3_room": {
300
+ "cls": "Stool"
301
+ },
302
+ "counter_1_main_group_1": {
303
+ "cls": "Counter"
304
+ },
305
+ "counter_corner_1_main_group_1": {
306
+ "cls": "Counter"
307
+ },
308
+ "stack_1_main_group_1_base": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_1_main_group_1_1": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "cube_1_main_group_1": {
315
+ "cls": "Box"
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
+ "coffeemachine_main_group_1": {
327
+ "cls": "CoffeeMachine"
328
+ },
329
+ "papertowel_main_group_1": {
330
+ "cls": "Accessory"
331
+ },
332
+ "stovetop_right_group_1": {
333
+ "cls": "Stovetop"
334
+ },
335
+ "counter_1_right_group_1": {
336
+ "cls": "Counter"
337
+ },
338
+ "hingecabinet_3_right_group_1": {
339
+ "cls": "HingeCabinet"
340
+ },
341
+ "hingecabinet_4_right_group_1": {
342
+ "cls": "HingeCabinet"
343
+ },
344
+ "hingecabinet_1_right_group_1": {
345
+ "cls": "HingeCabinet"
346
+ },
347
+ "hingecabinet_2_right_group_1": {
348
+ "cls": "HingeCabinet"
349
+ },
350
+ "stack_1_right_group_1_base": {
351
+ "cls": "Box"
352
+ },
353
+ "stack_1_right_group_1_1": {
354
+ "cls": "SingleCabinet"
355
+ },
356
+ "stack_2_right_group_1_base": {
357
+ "cls": "Box"
358
+ },
359
+ "stack_2_right_group_1_1": {
360
+ "cls": "Drawer"
361
+ },
362
+ "stack_2_right_group_1_2": {
363
+ "cls": "Drawer"
364
+ },
365
+ "stack_2_right_group_1_3": {
366
+ "cls": "Drawer"
367
+ },
368
+ "stack_3_right_group_1_base": {
369
+ "cls": "Box"
370
+ },
371
+ "stack_3_right_group_1_1": {
372
+ "cls": "Drawer"
373
+ },
374
+ "stack_3_right_group_1_2": {
375
+ "cls": "Drawer"
376
+ },
377
+ "stack_3_right_group_1_3": {
378
+ "cls": "PanelCabinet"
379
+ },
380
+ "stack_4_right_group_1_base": {
381
+ "cls": "Box"
382
+ },
383
+ "stack_4_right_group_1_1": {
384
+ "cls": "HingeCabinet"
385
+ },
386
+ "stack_4_right_group_1_2": {
387
+ "cls": "Drawer"
388
+ },
389
+ "cube_1_right_group_1": {
390
+ "cls": "Box"
391
+ },
392
+ "bottom_right_group_1_base": {
393
+ "cls": "Box"
394
+ },
395
+ "bottom_right_group_1_1": {
396
+ "cls": "Drawer"
397
+ },
398
+ "oven_right_group_1": {
399
+ "cls": "Oven"
400
+ },
401
+ "oven_housing_right_group_1": {
402
+ "cls": "HousingCabinet"
403
+ },
404
+ "microwave_right_group_1": {
405
+ "cls": "Microwave"
406
+ },
407
+ "microwave_housing_right_group_1": {
408
+ "cls": "HousingCabinet"
409
+ },
410
+ "top_right_group_1": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "toaster_right_group_1": {
414
+ "cls": "Toaster"
415
+ },
416
+ "counter_1_left_group_1": {
417
+ "cls": "Counter"
418
+ },
419
+ "stack_1_left_group_1_base": {
420
+ "cls": "Box"
421
+ },
422
+ "stack_1_left_group_1_1": {
423
+ "cls": "HingeCabinet"
424
+ },
425
+ "stack_2_left_group_1_base": {
426
+ "cls": "Box"
427
+ },
428
+ "stack_2_left_group_1_1": {
429
+ "cls": "SingleCabinet"
430
+ },
431
+ "knifeblock_left_group_1": {
432
+ "cls": "Accessory"
433
+ },
434
+ "toaster_oven_left_group_1": {
435
+ "cls": "ToasterOven"
436
+ },
437
+ "plant_left_group_1": {
438
+ "cls": "Accessory"
439
+ },
440
+ "cube_1_island_group_1": {
441
+ "cls": "Box"
442
+ },
443
+ "cube_2_island_group_1": {
444
+ "cls": "Box"
445
+ },
446
+ "cube_3_island_group_1": {
447
+ "cls": "Box"
448
+ },
449
+ "sink_island_group_1": {
450
+ "cls": "Sink"
451
+ },
452
+ "island_island_group_1": {
453
+ "cls": "Counter"
454
+ },
455
+ "stack_1_island_group_1_base": {
456
+ "cls": "Box"
457
+ },
458
+ "stack_1_island_group_1_1": {
459
+ "cls": "SingleCabinet"
460
+ },
461
+ "stack_3_island_group_1_base": {
462
+ "cls": "Box"
463
+ },
464
+ "stack_3_island_group_1_1": {
465
+ "cls": "SingleCabinet"
466
+ },
467
+ "stack_2_island_group_1_base": {
468
+ "cls": "Box"
469
+ },
470
+ "stack_2_island_group_1_1": {
471
+ "cls": "HingeCabinet"
472
+ },
473
+ "dishwasher_1_island_group_1": {
474
+ "cls": "Dishwasher"
475
+ }
476
+ },
477
+ "gen_textures": {},
478
+ "lang": "Open the left drawer.",
479
+ "fixture_refs": {
480
+ "drawer": "stack_4_right_group_1_2"
481
+ },
482
+ "cam_configs": {
483
+ "robot0_agentview_center": {
484
+ "pos": [
485
+ -0.6,
486
+ 0.0,
487
+ 1.15
488
+ ],
489
+ "quat": [
490
+ 0.636945903301239,
491
+ 0.3325185477733612,
492
+ -0.3199238181114197,
493
+ -0.6175596117973328
494
+ ],
495
+ "parent_body": "mobilebase0_support"
496
+ },
497
+ "robot0_agentview_left": {
498
+ "pos": [
499
+ -0.5,
500
+ 0.35,
501
+ 1.05
502
+ ],
503
+ "quat": [
504
+ 0.55623853,
505
+ 0.29935253,
506
+ -0.37678665,
507
+ -0.6775092
508
+ ],
509
+ "camera_attribs": {
510
+ "fovy": "60"
511
+ },
512
+ "parent_body": "mobilebase0_support"
513
+ },
514
+ "robot0_agentview_right": {
515
+ "pos": [
516
+ -0.5,
517
+ -0.35,
518
+ 1.05
519
+ ],
520
+ "quat": [
521
+ 0.6775091886520386,
522
+ 0.3767866790294647,
523
+ -0.2993525564670563,
524
+ -0.55623859167099
525
+ ],
526
+ "camera_attribs": {
527
+ "fovy": "60"
528
+ },
529
+ "parent_body": "mobilebase0_support"
530
+ },
531
+ "robot0_frontview": {
532
+ "pos": [
533
+ -0.5,
534
+ 0,
535
+ 0.95
536
+ ],
537
+ "quat": [
538
+ 0.6088936924934387,
539
+ 0.3814677894115448,
540
+ -0.3673907518386841,
541
+ -0.5905545353889465
542
+ ],
543
+ "camera_attribs": {
544
+ "fovy": "60"
545
+ },
546
+ "parent_body": "mobilebase0_support"
547
+ },
548
+ "robot0_eye_in_hand": {
549
+ "pos": [
550
+ 0.05,
551
+ 0,
552
+ 0
553
+ ],
554
+ "quat": [
555
+ 0,
556
+ 0.707107,
557
+ 0.707107,
558
+ 0
559
+ ],
560
+ "parent_body": "robot0_right_hand"
561
+ }
562
+ },
563
+ "init_robot_base_pos": [
564
+ 4.247028589917553,
565
+ -3.381157795782246,
566
+ 0.0
567
+ ],
568
+ "init_robot_base_ori": [
569
+ 0.0,
570
+ 0.0,
571
+ 0.00030199704781619374
572
+ ]
573
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000071/ep_meta.json ADDED
@@ -0,0 +1,521 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 17,
3
+ "style_id": 42,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_6_main_group_1_3",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "whisk",
33
+ "utensil"
34
+ ],
35
+ "groups": [
36
+ "tool",
37
+ "utensil"
38
+ ],
39
+ "cat": "whisk",
40
+ "split": "train",
41
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk002/model.xml"
42
+ },
43
+ "reset_region": {
44
+ "offset": [
45
+ 0.0,
46
+ -0.015000000000000013,
47
+ -0.0776
48
+ ],
49
+ "size": [
50
+ 0.6179999999999999,
51
+ 0.51
52
+ ],
53
+ "height": 0.1852,
54
+ "name": "int"
55
+ }
56
+ },
57
+ {
58
+ "name": "distr_counter_1",
59
+ "obj_groups": "all",
60
+ "placement": {
61
+ "fixture": "counter_1_main_group_1",
62
+ "sample_region_kwargs": {
63
+ "ref": "stack_6_main_group_1_3",
64
+ "min_size": [
65
+ 0.06141700409999998,
66
+ 0.09336129749999995,
67
+ 0.036899635499999986
68
+ ]
69
+ },
70
+ "size": [
71
+ 1.0,
72
+ 0.5
73
+ ],
74
+ "pos": [
75
+ null,
76
+ -1.0
77
+ ],
78
+ "offset": [
79
+ 0.0,
80
+ 0.1
81
+ ]
82
+ },
83
+ "type": "object",
84
+ "info": {
85
+ "groups_containing_sampled_obj": [
86
+ "all",
87
+ "bar_soap",
88
+ "cleaner"
89
+ ],
90
+ "groups": [
91
+ "all"
92
+ ],
93
+ "cat": "bar_soap",
94
+ "split": "train",
95
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml"
96
+ },
97
+ "reset_region": {
98
+ "size": [
99
+ 1.7129897716882048,
100
+ 0.65
101
+ ],
102
+ "offset": [
103
+ 1.2965000000000004,
104
+ -3.469446951953614e-17,
105
+ 0.46
106
+ ],
107
+ "name": "geom_0"
108
+ }
109
+ }
110
+ ],
111
+ "fixtures": {
112
+ "wall_left_1_room": {
113
+ "cls": "Wall"
114
+ },
115
+ "wall_left_1_backing_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_main_1_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "wall_main_1_backing_room": {
122
+ "cls": "Wall"
123
+ },
124
+ "wall_right_1_room": {
125
+ "cls": "Wall"
126
+ },
127
+ "wall_right_1_backing_room": {
128
+ "cls": "Wall"
129
+ },
130
+ "window_group_room": {
131
+ "cls": "Window"
132
+ },
133
+ "floor_1_room": {
134
+ "cls": "Floor"
135
+ },
136
+ "floor_1_backing_room": {
137
+ "cls": "Floor"
138
+ },
139
+ "wall_accessory_1_room": {
140
+ "cls": "WallAccessory"
141
+ },
142
+ "wall_accessory_2_room": {
143
+ "cls": "WallAccessory"
144
+ },
145
+ "wall_accessory_3_room": {
146
+ "cls": "WallAccessory"
147
+ },
148
+ "wall_accessory_4_room": {
149
+ "cls": "WallAccessory"
150
+ },
151
+ "light_switch_1_room": {
152
+ "cls": "WallAccessory"
153
+ },
154
+ "wall_accessory_5_room": {
155
+ "cls": "WallAccessory"
156
+ },
157
+ "wall_accessory_6_room": {
158
+ "cls": "WallAccessory"
159
+ },
160
+ "stool_1_room": {
161
+ "cls": "Stool"
162
+ },
163
+ "stool_2_room": {
164
+ "cls": "Stool"
165
+ },
166
+ "stool_3_room": {
167
+ "cls": "Stool"
168
+ },
169
+ "counter_corner_1_main_group_1": {
170
+ "cls": "Counter"
171
+ },
172
+ "stovetop_main_group_1": {
173
+ "cls": "Stovetop"
174
+ },
175
+ "counter_1_main_group_1": {
176
+ "cls": "Counter"
177
+ },
178
+ "counter_corner_2_main_group_1": {
179
+ "cls": "Counter"
180
+ },
181
+ "box_1_main_group_1": {
182
+ "cls": "Box"
183
+ },
184
+ "stack_1_main_group_1_base": {
185
+ "cls": "Box"
186
+ },
187
+ "stack_1_main_group_1_1": {
188
+ "cls": "SingleCabinet"
189
+ },
190
+ "stack_2_main_group_1_base": {
191
+ "cls": "Box"
192
+ },
193
+ "stack_2_main_group_1_1": {
194
+ "cls": "Drawer"
195
+ },
196
+ "stack_2_main_group_1_2": {
197
+ "cls": "Drawer"
198
+ },
199
+ "stack_2_main_group_1_3": {
200
+ "cls": "Drawer"
201
+ },
202
+ "stack_3_main_group_1_base": {
203
+ "cls": "Box"
204
+ },
205
+ "stack_3_main_group_1_1": {
206
+ "cls": "SingleCabinet"
207
+ },
208
+ "stack_4_main_group_1_base": {
209
+ "cls": "Box"
210
+ },
211
+ "stack_4_main_group_1_1": {
212
+ "cls": "HingeCabinet"
213
+ },
214
+ "stack_5_main_group_1_base": {
215
+ "cls": "Box"
216
+ },
217
+ "stack_5_main_group_1_1": {
218
+ "cls": "SingleCabinet"
219
+ },
220
+ "stack_6_main_group_1_base": {
221
+ "cls": "Box"
222
+ },
223
+ "stack_6_main_group_1_1": {
224
+ "cls": "Drawer"
225
+ },
226
+ "stack_6_main_group_1_2": {
227
+ "cls": "Drawer"
228
+ },
229
+ "stack_6_main_group_1_3": {
230
+ "cls": "Drawer"
231
+ },
232
+ "stack_7_main_group_1_base": {
233
+ "cls": "Box"
234
+ },
235
+ "stack_7_main_group_1_1": {
236
+ "cls": "SingleCabinet"
237
+ },
238
+ "box_2_main_group_1": {
239
+ "cls": "Box"
240
+ },
241
+ "hood_main_group_1": {
242
+ "cls": "Hood"
243
+ },
244
+ "cab_corner_main_group_1": {
245
+ "cls": "Box"
246
+ },
247
+ "cab_1_main_group_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "cab_2_main_group_1": {
251
+ "cls": "HingeCabinet"
252
+ },
253
+ "cab_3_main_group_1": {
254
+ "cls": "SingleCabinet"
255
+ },
256
+ "cab_4_main_group_1": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "cab_5_main_group_1": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "cab_6_main_group_1": {
263
+ "cls": "SingleCabinet"
264
+ },
265
+ "cab_corner_2_main_group_1": {
266
+ "cls": "Box"
267
+ },
268
+ "coffee_machine_main_group_1": {
269
+ "cls": "CoffeeMachine"
270
+ },
271
+ "toaster_main_group_1": {
272
+ "cls": "Toaster"
273
+ },
274
+ "paper_towel_main_group_1": {
275
+ "cls": "Accessory"
276
+ },
277
+ "knife_block_main_group_1": {
278
+ "cls": "Accessory"
279
+ },
280
+ "counter_1_left_group_1": {
281
+ "cls": "Counter"
282
+ },
283
+ "stack_1_left_group_1_base": {
284
+ "cls": "Box"
285
+ },
286
+ "stack_1_left_group_1_1": {
287
+ "cls": "Drawer"
288
+ },
289
+ "stack_1_left_group_1_2": {
290
+ "cls": "Drawer"
291
+ },
292
+ "stack_1_left_group_1_3": {
293
+ "cls": "Drawer"
294
+ },
295
+ "box_left_group_1": {
296
+ "cls": "Box"
297
+ },
298
+ "bottom_left_group_1_base": {
299
+ "cls": "Box"
300
+ },
301
+ "bottom_left_group_1_1": {
302
+ "cls": "Drawer"
303
+ },
304
+ "oven_left_group_1": {
305
+ "cls": "Oven"
306
+ },
307
+ "oven_housing_left_group_1": {
308
+ "cls": "HousingCabinet"
309
+ },
310
+ "microwave_left_group_1": {
311
+ "cls": "Microwave"
312
+ },
313
+ "microwave_housing_left_group_1": {
314
+ "cls": "HousingCabinet"
315
+ },
316
+ "top_left_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "fridge_1_left_group_1": {
320
+ "cls": "FridgeBottomFreezer"
321
+ },
322
+ "fridge_1_housing_left_group_1": {
323
+ "cls": "HousingCabinet"
324
+ },
325
+ "fridge_cabinet_left_group_1": {
326
+ "cls": "HingeCabinet"
327
+ },
328
+ "cab_1_left_group_1": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "toaster_oven_left_group_1": {
332
+ "cls": "ToasterOven"
333
+ },
334
+ "box_right_group_1": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_1_right_group_1_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_1_right_group_1_1": {
341
+ "cls": "Drawer"
342
+ },
343
+ "stack_1_right_group_1_2": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_1_right_group_1_3": {
347
+ "cls": "Drawer"
348
+ },
349
+ "stack_2_right_group_1_base": {
350
+ "cls": "Box"
351
+ },
352
+ "stack_2_right_group_1_1": {
353
+ "cls": "Drawer"
354
+ },
355
+ "stack_2_right_group_1_2": {
356
+ "cls": "Drawer"
357
+ },
358
+ "stack_2_right_group_1_3": {
359
+ "cls": "Drawer"
360
+ },
361
+ "stack_3_right_group_1_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_3_right_group_1_1": {
365
+ "cls": "HingeCabinet"
366
+ },
367
+ "dishwasher_1_right_group_1": {
368
+ "cls": "Dishwasher"
369
+ },
370
+ "stack_4_right_group_1_base": {
371
+ "cls": "Box"
372
+ },
373
+ "stack_4_right_group_1_1": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_4_right_group_1_2": {
377
+ "cls": "Drawer"
378
+ },
379
+ "stack_4_right_group_1_3": {
380
+ "cls": "Drawer"
381
+ },
382
+ "sink_1_right_group_1": {
383
+ "cls": "Sink"
384
+ },
385
+ "counter_1_right_group_1": {
386
+ "cls": "Counter"
387
+ },
388
+ "cab_1_right_group_1": {
389
+ "cls": "OpenCabinet"
390
+ },
391
+ "cab_2_right_group_1": {
392
+ "cls": "OpenCabinet"
393
+ },
394
+ "island_island_group_1": {
395
+ "cls": "Counter"
396
+ },
397
+ "stack_1_island_group_1_base": {
398
+ "cls": "Box"
399
+ },
400
+ "stack_1_island_group_1_1": {
401
+ "cls": "Drawer"
402
+ },
403
+ "stack_1_island_group_1_2": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_2_island_group_1_base": {
407
+ "cls": "Box"
408
+ },
409
+ "stack_2_island_group_1_1": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_2_island_group_1_2": {
413
+ "cls": "Drawer"
414
+ },
415
+ "stack_3_island_group_1_base": {
416
+ "cls": "Box"
417
+ },
418
+ "stack_3_island_group_1_1": {
419
+ "cls": "Drawer"
420
+ },
421
+ "stack_3_island_group_1_2": {
422
+ "cls": "Drawer"
423
+ }
424
+ },
425
+ "gen_textures": {},
426
+ "lang": "Open the right drawer.",
427
+ "fixture_refs": {
428
+ "drawer": "stack_6_main_group_1_3"
429
+ },
430
+ "cam_configs": {
431
+ "robot0_agentview_center": {
432
+ "pos": [
433
+ -0.6,
434
+ 0.0,
435
+ 1.15
436
+ ],
437
+ "quat": [
438
+ 0.636945903301239,
439
+ 0.3325185477733612,
440
+ -0.3199238181114197,
441
+ -0.6175596117973328
442
+ ],
443
+ "parent_body": "mobilebase0_support"
444
+ },
445
+ "robot0_agentview_left": {
446
+ "pos": [
447
+ -0.5,
448
+ 0.35,
449
+ 1.05
450
+ ],
451
+ "quat": [
452
+ 0.55623853,
453
+ 0.29935253,
454
+ -0.37678665,
455
+ -0.6775092
456
+ ],
457
+ "camera_attribs": {
458
+ "fovy": "60"
459
+ },
460
+ "parent_body": "mobilebase0_support"
461
+ },
462
+ "robot0_agentview_right": {
463
+ "pos": [
464
+ -0.5,
465
+ -0.35,
466
+ 1.05
467
+ ],
468
+ "quat": [
469
+ 0.6775091886520386,
470
+ 0.3767866790294647,
471
+ -0.2993525564670563,
472
+ -0.55623859167099
473
+ ],
474
+ "camera_attribs": {
475
+ "fovy": "60"
476
+ },
477
+ "parent_body": "mobilebase0_support"
478
+ },
479
+ "robot0_frontview": {
480
+ "pos": [
481
+ -0.5,
482
+ 0,
483
+ 0.95
484
+ ],
485
+ "quat": [
486
+ 0.6088936924934387,
487
+ 0.3814677894115448,
488
+ -0.3673907518386841,
489
+ -0.5905545353889465
490
+ ],
491
+ "camera_attribs": {
492
+ "fovy": "60"
493
+ },
494
+ "parent_body": "mobilebase0_support"
495
+ },
496
+ "robot0_eye_in_hand": {
497
+ "pos": [
498
+ 0.05,
499
+ 0,
500
+ 0
501
+ ],
502
+ "quat": [
503
+ 0,
504
+ 0.707107,
505
+ 0.707107,
506
+ 0
507
+ ],
508
+ "parent_body": "robot0_right_hand"
509
+ }
510
+ },
511
+ "init_robot_base_pos": [
512
+ 3.5975264280363515,
513
+ -0.9427011603058872,
514
+ 0.0
515
+ ],
516
+ "init_robot_base_ori": [
517
+ 0.0,
518
+ 0.0,
519
+ 1.5707963267948966
520
+ ]
521
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000072/ep_meta.json ADDED
@@ -0,0 +1,632 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 25,
3
+ "style_id": 35,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_1_island_group_1_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "peeler",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "peeler",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler002/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.044
49
+ ],
50
+ "size": [
51
+ 0.641,
52
+ 0.56
53
+ ],
54
+ "height": 0.118,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "island_island_group_1",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_1_island_group_1_2",
65
+ "min_size": [
66
+ 0.07299458639999998,
67
+ 0.11999999999999995,
68
+ 0.07409742479999998
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "onion",
89
+ "vegetable",
90
+ "food",
91
+ "in_container"
92
+ ],
93
+ "groups": [
94
+ "all"
95
+ ],
96
+ "cat": "onion",
97
+ "split": "train",
98
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml"
99
+ },
100
+ "reset_region": {
101
+ "size": [
102
+ 0.8630000000000009,
103
+ 1.4
104
+ ],
105
+ "offset": [
106
+ -1.2449999999999997,
107
+ 0.0,
108
+ 0.46
109
+ ],
110
+ "name": "geom_0"
111
+ }
112
+ }
113
+ ],
114
+ "fixtures": {
115
+ "wall_left_1_room": {
116
+ "cls": "Wall"
117
+ },
118
+ "wall_left_1_backing_room": {
119
+ "cls": "Wall"
120
+ },
121
+ "wall_main_room": {
122
+ "cls": "Wall"
123
+ },
124
+ "wall_main_backing_room": {
125
+ "cls": "Wall"
126
+ },
127
+ "wall_right_1_room": {
128
+ "cls": "Wall"
129
+ },
130
+ "wall_right_1_backing_room": {
131
+ "cls": "Wall"
132
+ },
133
+ "floor_1_room": {
134
+ "cls": "Floor"
135
+ },
136
+ "floor_1_backing_room": {
137
+ "cls": "Floor"
138
+ },
139
+ "wall_accessory_1_room": {
140
+ "cls": "WallAccessory"
141
+ },
142
+ "wall_accessory_2_room": {
143
+ "cls": "WallAccessory"
144
+ },
145
+ "light_switch_1_room": {
146
+ "cls": "WallAccessory"
147
+ },
148
+ "wall_accessory_3_room": {
149
+ "cls": "WallAccessory"
150
+ },
151
+ "light_switch_2_room": {
152
+ "cls": "WallAccessory"
153
+ },
154
+ "light_switch_3_room": {
155
+ "cls": "WallAccessory"
156
+ },
157
+ "wall_accessory_4_room": {
158
+ "cls": "WallAccessory"
159
+ },
160
+ "wall_accessory_5_room": {
161
+ "cls": "WallAccessory"
162
+ },
163
+ "wall_accessory_6_room": {
164
+ "cls": "WallAccessory"
165
+ },
166
+ "wall_accessory_7_room": {
167
+ "cls": "WallAccessory"
168
+ },
169
+ "window_group_1_room": {
170
+ "cls": "Window"
171
+ },
172
+ "window_group_2_room": {
173
+ "cls": "Window"
174
+ },
175
+ "stool_1_room": {
176
+ "cls": "Stool"
177
+ },
178
+ "stool_2_room": {
179
+ "cls": "Stool"
180
+ },
181
+ "counter_corner_main_group": {
182
+ "cls": "Counter"
183
+ },
184
+ "counter_1_main_group": {
185
+ "cls": "Counter"
186
+ },
187
+ "stove_main_group": {
188
+ "cls": "Stove"
189
+ },
190
+ "counter_2_main_group": {
191
+ "cls": "Counter"
192
+ },
193
+ "stack_1_main_group_base": {
194
+ "cls": "Box"
195
+ },
196
+ "stack_1_main_group_1": {
197
+ "cls": "SingleCabinet"
198
+ },
199
+ "stack_2_main_group_base": {
200
+ "cls": "Box"
201
+ },
202
+ "stack_2_main_group_1": {
203
+ "cls": "Drawer"
204
+ },
205
+ "stack_2_main_group_2": {
206
+ "cls": "Drawer"
207
+ },
208
+ "stack_2_main_group_3": {
209
+ "cls": "Drawer"
210
+ },
211
+ "stack_2_main_group_4": {
212
+ "cls": "Drawer"
213
+ },
214
+ "stack_3_main_group_base": {
215
+ "cls": "Box"
216
+ },
217
+ "stack_3_main_group_1": {
218
+ "cls": "SingleCabinet"
219
+ },
220
+ "box_1_main_group": {
221
+ "cls": "Box"
222
+ },
223
+ "stack_4_main_group_base": {
224
+ "cls": "Box"
225
+ },
226
+ "stack_4_main_group_1": {
227
+ "cls": "SingleCabinet"
228
+ },
229
+ "stack_5_main_group_base": {
230
+ "cls": "Box"
231
+ },
232
+ "stack_5_main_group_1": {
233
+ "cls": "Drawer"
234
+ },
235
+ "stack_5_main_group_2": {
236
+ "cls": "Drawer"
237
+ },
238
+ "stack_5_main_group_3": {
239
+ "cls": "Drawer"
240
+ },
241
+ "stack_5_main_group_4": {
242
+ "cls": "Drawer"
243
+ },
244
+ "stack_6_main_group_base": {
245
+ "cls": "Box"
246
+ },
247
+ "stack_6_main_group_1": {
248
+ "cls": "SingleCabinet"
249
+ },
250
+ "box_2_main_group": {
251
+ "cls": "Box"
252
+ },
253
+ "hood_main_group": {
254
+ "cls": "Hood"
255
+ },
256
+ "cab_corner_1_main_group": {
257
+ "cls": "Box"
258
+ },
259
+ "cab_1_main_group": {
260
+ "cls": "HingeCabinet"
261
+ },
262
+ "cab_1_above_main_group": {
263
+ "cls": "HingeCabinet"
264
+ },
265
+ "cab_2_main_group": {
266
+ "cls": "SingleCabinet"
267
+ },
268
+ "cab_2_above_main_group": {
269
+ "cls": "SingleCabinet"
270
+ },
271
+ "cab_corner_2_main_group": {
272
+ "cls": "Box"
273
+ },
274
+ "cab_3_main_group": {
275
+ "cls": "SingleCabinet"
276
+ },
277
+ "cab_3_above_main_group": {
278
+ "cls": "SingleCabinet"
279
+ },
280
+ "cab_4_main_group": {
281
+ "cls": "HingeCabinet"
282
+ },
283
+ "cab_4_above_main_group": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "coffee_machine_main_group": {
287
+ "cls": "CoffeeMachine"
288
+ },
289
+ "toaster_main_group": {
290
+ "cls": "Toaster"
291
+ },
292
+ "knife_block_main_group": {
293
+ "cls": "Accessory"
294
+ },
295
+ "sink_1_left_group": {
296
+ "cls": "Sink"
297
+ },
298
+ "counter_1_left_group": {
299
+ "cls": "Counter"
300
+ },
301
+ "box_left_group": {
302
+ "cls": "Box"
303
+ },
304
+ "stack_1_left_group_base": {
305
+ "cls": "Box"
306
+ },
307
+ "stack_1_left_group_1": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "stack_2_left_group_base": {
311
+ "cls": "Box"
312
+ },
313
+ "stack_2_left_group_1": {
314
+ "cls": "HingeCabinet"
315
+ },
316
+ "dishwasher_left_group": {
317
+ "cls": "Dishwasher"
318
+ },
319
+ "stack_3_left_group_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_3_left_group_1": {
323
+ "cls": "Drawer"
324
+ },
325
+ "stack_3_left_group_2": {
326
+ "cls": "Drawer"
327
+ },
328
+ "stack_4_left_group_base": {
329
+ "cls": "Box"
330
+ },
331
+ "stack_4_left_group_1": {
332
+ "cls": "Drawer"
333
+ },
334
+ "stack_4_left_group_2": {
335
+ "cls": "Drawer"
336
+ },
337
+ "stack_5_left_group_base": {
338
+ "cls": "Box"
339
+ },
340
+ "stack_5_left_group_1": {
341
+ "cls": "SingleCabinet"
342
+ },
343
+ "stack_5_left_group_2": {
344
+ "cls": "Drawer"
345
+ },
346
+ "cab_1_left_group": {
347
+ "cls": "HingeCabinet"
348
+ },
349
+ "cab_2_left_group": {
350
+ "cls": "HingeCabinet"
351
+ },
352
+ "cab_3_left_group": {
353
+ "cls": "HingeCabinet"
354
+ },
355
+ "cab_4_left_group": {
356
+ "cls": "SingleCabinet"
357
+ },
358
+ "cab_5_left_group": {
359
+ "cls": "HingeCabinet"
360
+ },
361
+ "cab_6_left_group": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "paper_towel_left_group": {
365
+ "cls": "Accessory"
366
+ },
367
+ "toaster_oven_left_group": {
368
+ "cls": "ToasterOven"
369
+ },
370
+ "corner_counter_right_group": {
371
+ "cls": "Counter"
372
+ },
373
+ "counter_1_right_group": {
374
+ "cls": "Counter"
375
+ },
376
+ "box_right_group": {
377
+ "cls": "Box"
378
+ },
379
+ "stack_1_right_group_base": {
380
+ "cls": "Box"
381
+ },
382
+ "stack_1_right_group_1": {
383
+ "cls": "PanelCabinet"
384
+ },
385
+ "fridge_right_group": {
386
+ "cls": "FridgeFrenchDoor"
387
+ },
388
+ "fridge_housing_right_group": {
389
+ "cls": "HousingCabinet"
390
+ },
391
+ "bottom_right_group_base": {
392
+ "cls": "Box"
393
+ },
394
+ "bottom_right_group_1": {
395
+ "cls": "HingeCabinet"
396
+ },
397
+ "middle_right_group": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "microwave_right_group": {
401
+ "cls": "Microwave"
402
+ },
403
+ "microwave_housing_right_group": {
404
+ "cls": "HousingCabinet"
405
+ },
406
+ "top_right_group": {
407
+ "cls": "HingeCabinet"
408
+ },
409
+ "cab_1_right_group": {
410
+ "cls": "HingeCabinet"
411
+ },
412
+ "cab_2_right_group": {
413
+ "cls": "HingeCabinet"
414
+ },
415
+ "counter_2_right_group": {
416
+ "cls": "Counter"
417
+ },
418
+ "stack_2_right_group_base": {
419
+ "cls": "Box"
420
+ },
421
+ "stack_2_right_group_1": {
422
+ "cls": "Drawer"
423
+ },
424
+ "stack_2_right_group_2": {
425
+ "cls": "Drawer"
426
+ },
427
+ "stack_2_right_group_3": {
428
+ "cls": "Drawer"
429
+ },
430
+ "stack_2_right_group_4": {
431
+ "cls": "Drawer"
432
+ },
433
+ "stack_3_right_group_base": {
434
+ "cls": "Box"
435
+ },
436
+ "stack_3_right_group_1": {
437
+ "cls": "HingeCabinet"
438
+ },
439
+ "stack_3_right_group_2": {
440
+ "cls": "Drawer"
441
+ },
442
+ "stack_4_right_group_base": {
443
+ "cls": "Box"
444
+ },
445
+ "stack_4_right_group_1": {
446
+ "cls": "Drawer"
447
+ },
448
+ "stack_4_right_group_2": {
449
+ "cls": "Drawer"
450
+ },
451
+ "stack_4_right_group_3": {
452
+ "cls": "Drawer"
453
+ },
454
+ "stack_4_right_group_4": {
455
+ "cls": "Drawer"
456
+ },
457
+ "plant_right_group": {
458
+ "cls": "Accessory"
459
+ },
460
+ "island_island_group_1": {
461
+ "cls": "Counter"
462
+ },
463
+ "stack_1_island_group_1_base": {
464
+ "cls": "Box"
465
+ },
466
+ "stack_1_island_group_1_1": {
467
+ "cls": "SingleCabinet"
468
+ },
469
+ "stack_1_island_group_1_2": {
470
+ "cls": "Drawer"
471
+ },
472
+ "stack_2_island_group_1_base": {
473
+ "cls": "Box"
474
+ },
475
+ "stack_2_island_group_1_1": {
476
+ "cls": "SingleCabinet"
477
+ },
478
+ "stack_2_island_group_1_2": {
479
+ "cls": "Drawer"
480
+ },
481
+ "stack_3_island_group_1_base": {
482
+ "cls": "Box"
483
+ },
484
+ "stack_3_island_group_1_1": {
485
+ "cls": "SingleCabinet"
486
+ },
487
+ "stack_3_island_group_1_2": {
488
+ "cls": "Drawer"
489
+ },
490
+ "stack_4_island_group_1_base": {
491
+ "cls": "Box"
492
+ },
493
+ "stack_4_island_group_1_1": {
494
+ "cls": "SingleCabinet"
495
+ },
496
+ "stack_4_island_group_1_2": {
497
+ "cls": "Drawer"
498
+ },
499
+ "stack_1_island_group_2_base": {
500
+ "cls": "Box"
501
+ },
502
+ "stack_1_island_group_2_1": {
503
+ "cls": "SingleCabinet"
504
+ },
505
+ "stack_1_island_group_2_2": {
506
+ "cls": "Drawer"
507
+ },
508
+ "stack_2_island_group_2_base": {
509
+ "cls": "Box"
510
+ },
511
+ "stack_2_island_group_2_1": {
512
+ "cls": "SingleCabinet"
513
+ },
514
+ "stack_2_island_group_2_2": {
515
+ "cls": "Drawer"
516
+ },
517
+ "stack_3_island_group_2_base": {
518
+ "cls": "Box"
519
+ },
520
+ "stack_3_island_group_2_1": {
521
+ "cls": "SingleCabinet"
522
+ },
523
+ "stack_3_island_group_2_2": {
524
+ "cls": "Drawer"
525
+ },
526
+ "stack_4_island_group_2_base": {
527
+ "cls": "Box"
528
+ },
529
+ "stack_4_island_group_2_1": {
530
+ "cls": "SingleCabinet"
531
+ },
532
+ "stack_4_island_group_2_2": {
533
+ "cls": "Drawer"
534
+ }
535
+ },
536
+ "gen_textures": {},
537
+ "lang": "Open the left drawer.",
538
+ "fixture_refs": {
539
+ "drawer": "stack_1_island_group_1_2"
540
+ },
541
+ "cam_configs": {
542
+ "robot0_agentview_center": {
543
+ "pos": [
544
+ -0.6,
545
+ 0.0,
546
+ 1.15
547
+ ],
548
+ "quat": [
549
+ 0.636945903301239,
550
+ 0.3325185477733612,
551
+ -0.3199238181114197,
552
+ -0.6175596117973328
553
+ ],
554
+ "parent_body": "mobilebase0_support"
555
+ },
556
+ "robot0_agentview_left": {
557
+ "pos": [
558
+ -0.5,
559
+ 0.35,
560
+ 1.05
561
+ ],
562
+ "quat": [
563
+ 0.55623853,
564
+ 0.29935253,
565
+ -0.37678665,
566
+ -0.6775092
567
+ ],
568
+ "camera_attribs": {
569
+ "fovy": "60"
570
+ },
571
+ "parent_body": "mobilebase0_support"
572
+ },
573
+ "robot0_agentview_right": {
574
+ "pos": [
575
+ -0.5,
576
+ -0.35,
577
+ 1.05
578
+ ],
579
+ "quat": [
580
+ 0.6775091886520386,
581
+ 0.3767866790294647,
582
+ -0.2993525564670563,
583
+ -0.55623859167099
584
+ ],
585
+ "camera_attribs": {
586
+ "fovy": "60"
587
+ },
588
+ "parent_body": "mobilebase0_support"
589
+ },
590
+ "robot0_frontview": {
591
+ "pos": [
592
+ -0.5,
593
+ 0,
594
+ 0.95
595
+ ],
596
+ "quat": [
597
+ 0.6088936924934387,
598
+ 0.3814677894115448,
599
+ -0.3673907518386841,
600
+ -0.5905545353889465
601
+ ],
602
+ "camera_attribs": {
603
+ "fovy": "60"
604
+ },
605
+ "parent_body": "mobilebase0_support"
606
+ },
607
+ "robot0_eye_in_hand": {
608
+ "pos": [
609
+ 0.05,
610
+ 0,
611
+ 0
612
+ ],
613
+ "quat": [
614
+ 0,
615
+ 0.707107,
616
+ 0.707107,
617
+ 0
618
+ ],
619
+ "parent_body": "robot0_right_hand"
620
+ }
621
+ },
622
+ "init_robot_base_pos": [
623
+ 1.694371329964264,
624
+ -2.859929159394764,
625
+ 0.0
626
+ ],
627
+ "init_robot_base_ori": [
628
+ 0.0,
629
+ 0.0,
630
+ 3.422854288892552e-08
631
+ ]
632
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000073/ep_meta.json ADDED
@@ -0,0 +1,465 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 31,
3
+ "style_id": 48,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_4_right_group_1_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "aluminum_foil",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "aluminum_foil",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil003/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.065
49
+ ],
50
+ "size": [
51
+ 0.728,
52
+ 0.51
53
+ ],
54
+ "height": 0.16,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "counter_1_right_group_1",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_4_right_group_1_2",
65
+ "min_size": [
66
+ 0.40162557,
67
+ 0.23769502,
68
+ 0.052876
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "oven_tray",
89
+ "receptacle"
90
+ ],
91
+ "groups": [
92
+ "all"
93
+ ],
94
+ "cat": "oven_tray",
95
+ "split": "train",
96
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray007/model.xml"
97
+ },
98
+ "reset_region": {
99
+ "size": [
100
+ 1.250862321477427,
101
+ 0.65
102
+ ],
103
+ "offset": [
104
+ 0.9750000000000005,
105
+ -3.469446951953614e-17,
106
+ 0.46
107
+ ],
108
+ "name": "geom_0"
109
+ }
110
+ }
111
+ ],
112
+ "fixtures": {
113
+ "wall_main_1_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_main_1_backing_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_right_1_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_right_1_backing_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_main_2_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_main_2_backing_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_left_1_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_left_1_backing_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "wall_main_3_room": {
138
+ "cls": "Wall"
139
+ },
140
+ "wall_main_3_backing_room": {
141
+ "cls": "Wall"
142
+ },
143
+ "floor_1_room": {
144
+ "cls": "Floor"
145
+ },
146
+ "floor_1_backing_room": {
147
+ "cls": "Floor"
148
+ },
149
+ "floor_2_room": {
150
+ "cls": "Floor"
151
+ },
152
+ "floor_2_backing_room": {
153
+ "cls": "Floor"
154
+ },
155
+ "stool_3_room": {
156
+ "cls": "Stool"
157
+ },
158
+ "stool_2_room": {
159
+ "cls": "Stool"
160
+ },
161
+ "stool_1_room": {
162
+ "cls": "Stool"
163
+ },
164
+ "stack_1_main_group_1_base": {
165
+ "cls": "Box"
166
+ },
167
+ "stack_1_main_group_1_1": {
168
+ "cls": "HingeCabinet"
169
+ },
170
+ "fridgebottomfreezer_main_group_1": {
171
+ "cls": "FridgeBottomFreezer"
172
+ },
173
+ "fridgebottomfreezer_housing_main_group_1": {
174
+ "cls": "HousingCabinet"
175
+ },
176
+ "bottom_main_group_1_base": {
177
+ "cls": "Box"
178
+ },
179
+ "bottom_main_group_1_1": {
180
+ "cls": "Drawer"
181
+ },
182
+ "oven_main_group_1": {
183
+ "cls": "Oven"
184
+ },
185
+ "microwave_main_group_1": {
186
+ "cls": "Microwave"
187
+ },
188
+ "hingecabinet_2_main_group_1": {
189
+ "cls": "HingeCabinet"
190
+ },
191
+ "hingecabinet_3_main_group_1": {
192
+ "cls": "HingeCabinet"
193
+ },
194
+ "cube_2_main_group_1": {
195
+ "cls": "Box"
196
+ },
197
+ "cube_3_main_group_1": {
198
+ "cls": "Box"
199
+ },
200
+ "cube_1_main_group_1": {
201
+ "cls": "Box"
202
+ },
203
+ "oven_housing_main_group_1": {
204
+ "cls": "HousingCabinet"
205
+ },
206
+ "hingecabinet_1_main_group_1": {
207
+ "cls": "HingeCabinet"
208
+ },
209
+ "microwave_housing_main_group_1": {
210
+ "cls": "HousingCabinet"
211
+ },
212
+ "top_main_group_1": {
213
+ "cls": "HingeCabinet"
214
+ },
215
+ "stovetop_right_group_1": {
216
+ "cls": "Stovetop"
217
+ },
218
+ "counter_1_right_group_1": {
219
+ "cls": "Counter"
220
+ },
221
+ "hingecabinet_1_right_group_1": {
222
+ "cls": "HingeCabinet"
223
+ },
224
+ "hingecabinet_2_right_group_1": {
225
+ "cls": "HingeCabinet"
226
+ },
227
+ "hingecabinet_3_right_group_1": {
228
+ "cls": "HingeCabinet"
229
+ },
230
+ "hingecabinet_4_right_group_1": {
231
+ "cls": "HingeCabinet"
232
+ },
233
+ "hood_right_group_1": {
234
+ "cls": "Hood"
235
+ },
236
+ "stack_2_right_group_1_base": {
237
+ "cls": "Box"
238
+ },
239
+ "stack_2_right_group_1_1": {
240
+ "cls": "HingeCabinet"
241
+ },
242
+ "stack_2_right_group_1_2": {
243
+ "cls": "Drawer"
244
+ },
245
+ "stack_1_right_group_1_base": {
246
+ "cls": "Box"
247
+ },
248
+ "stack_1_right_group_1_1": {
249
+ "cls": "HingeCabinet"
250
+ },
251
+ "stack_1_right_group_1_2": {
252
+ "cls": "Drawer"
253
+ },
254
+ "stack_4_right_group_1_base": {
255
+ "cls": "Box"
256
+ },
257
+ "stack_4_right_group_1_1": {
258
+ "cls": "HingeCabinet"
259
+ },
260
+ "stack_4_right_group_1_2": {
261
+ "cls": "Drawer"
262
+ },
263
+ "stack_3_right_group_1_base": {
264
+ "cls": "Box"
265
+ },
266
+ "stack_3_right_group_1_1": {
267
+ "cls": "Drawer"
268
+ },
269
+ "stack_3_right_group_1_2": {
270
+ "cls": "Drawer"
271
+ },
272
+ "stack_3_right_group_1_3": {
273
+ "cls": "PanelCabinet"
274
+ },
275
+ "stack_5_right_group_1_base": {
276
+ "cls": "Box"
277
+ },
278
+ "stack_5_right_group_1_1": {
279
+ "cls": "HingeCabinet"
280
+ },
281
+ "stack_5_right_group_1_2": {
282
+ "cls": "Drawer"
283
+ },
284
+ "coffee_machine_right_group_1": {
285
+ "cls": "CoffeeMachine"
286
+ },
287
+ "toaster_right_group_1": {
288
+ "cls": "Toaster"
289
+ },
290
+ "papertowel_right_group_1": {
291
+ "cls": "Accessory"
292
+ },
293
+ "toaster_oven_right_group_1": {
294
+ "cls": "ToasterOven"
295
+ },
296
+ "sink_island_group_1": {
297
+ "cls": "Sink"
298
+ },
299
+ "island_island_group_1": {
300
+ "cls": "Counter"
301
+ },
302
+ "cube_1_island_group_1": {
303
+ "cls": "Box"
304
+ },
305
+ "cube_2_island_group_1": {
306
+ "cls": "Box"
307
+ },
308
+ "cube_3_island_group_1": {
309
+ "cls": "Box"
310
+ },
311
+ "cube_4_island_group_1": {
312
+ "cls": "Box"
313
+ },
314
+ "cube_5_island_group_1": {
315
+ "cls": "Box"
316
+ },
317
+ "stack_1_island_group_1_base": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_1_island_group_1_1": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_1_island_group_1_2": {
324
+ "cls": "Drawer"
325
+ },
326
+ "stack_1_island_group_1_3": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_2_island_group_1_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_2_island_group_1_1": {
333
+ "cls": "HingeCabinet"
334
+ },
335
+ "stack_3_island_group_1_base": {
336
+ "cls": "Box"
337
+ },
338
+ "stack_3_island_group_1_1": {
339
+ "cls": "SingleCabinet"
340
+ },
341
+ "stack_4_island_group_1_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_4_island_group_1_1": {
345
+ "cls": "SingleCabinet"
346
+ },
347
+ "stack_5_island_group_1_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_5_island_group_1_1": {
351
+ "cls": "Drawer"
352
+ },
353
+ "stack_5_island_group_1_2": {
354
+ "cls": "Drawer"
355
+ },
356
+ "stack_5_island_group_1_3": {
357
+ "cls": "Drawer"
358
+ },
359
+ "cube_6_island_group_1": {
360
+ "cls": "Box"
361
+ },
362
+ "cube_7_island_group_1": {
363
+ "cls": "Box"
364
+ },
365
+ "dishwasher_1_island_group_1": {
366
+ "cls": "Dishwasher"
367
+ }
368
+ },
369
+ "gen_textures": {},
370
+ "lang": "Open the right drawer.",
371
+ "fixture_refs": {
372
+ "drawer": "stack_4_right_group_1_2"
373
+ },
374
+ "cam_configs": {
375
+ "robot0_agentview_center": {
376
+ "pos": [
377
+ -0.6,
378
+ 0.0,
379
+ 1.15
380
+ ],
381
+ "quat": [
382
+ 0.636945903301239,
383
+ 0.3325185477733612,
384
+ -0.3199238181114197,
385
+ -0.6175596117973328
386
+ ],
387
+ "parent_body": "mobilebase0_support"
388
+ },
389
+ "robot0_agentview_left": {
390
+ "pos": [
391
+ -0.5,
392
+ 0.35,
393
+ 1.05
394
+ ],
395
+ "quat": [
396
+ 0.55623853,
397
+ 0.29935253,
398
+ -0.37678665,
399
+ -0.6775092
400
+ ],
401
+ "camera_attribs": {
402
+ "fovy": "60"
403
+ },
404
+ "parent_body": "mobilebase0_support"
405
+ },
406
+ "robot0_agentview_right": {
407
+ "pos": [
408
+ -0.5,
409
+ -0.35,
410
+ 1.05
411
+ ],
412
+ "quat": [
413
+ 0.6775091886520386,
414
+ 0.3767866790294647,
415
+ -0.2993525564670563,
416
+ -0.55623859167099
417
+ ],
418
+ "camera_attribs": {
419
+ "fovy": "60"
420
+ },
421
+ "parent_body": "mobilebase0_support"
422
+ },
423
+ "robot0_frontview": {
424
+ "pos": [
425
+ -0.5,
426
+ 0,
427
+ 0.95
428
+ ],
429
+ "quat": [
430
+ 0.6088936924934387,
431
+ 0.3814677894115448,
432
+ -0.3673907518386841,
433
+ -0.5905545353889465
434
+ ],
435
+ "camera_attribs": {
436
+ "fovy": "60"
437
+ },
438
+ "parent_body": "mobilebase0_support"
439
+ },
440
+ "robot0_eye_in_hand": {
441
+ "pos": [
442
+ 0.05,
443
+ 0,
444
+ 0
445
+ ],
446
+ "quat": [
447
+ 0,
448
+ 0.707107,
449
+ 0.707107,
450
+ 0
451
+ ],
452
+ "parent_body": "robot0_right_hand"
453
+ }
454
+ },
455
+ "init_robot_base_pos": [
456
+ 4.735409145601013,
457
+ -5.122799819335845,
458
+ 0.0
459
+ ],
460
+ "init_robot_base_ori": [
461
+ 0.0,
462
+ 0.0,
463
+ 0.00030199704781619374
464
+ ]
465
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000080/ep_meta.json ADDED
@@ -0,0 +1,579 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 33,
3
+ "style_id": 18,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_3_main_group_1_3",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "peeler",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "peeler",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler001/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.065
49
+ ],
50
+ "size": [
51
+ 0.47800000000000004,
52
+ 0.51
53
+ ],
54
+ "height": 0.16,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "counter_2_main_group_1",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_3_main_group_1_3",
65
+ "min_size": [
66
+ 0.046719810000000014,
67
+ 0.22428135000000005,
68
+ 0.033552333000000004
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "baguette",
89
+ "bread_food",
90
+ "food",
91
+ "in_container",
92
+ "food_set1"
93
+ ],
94
+ "groups": [
95
+ "all"
96
+ ],
97
+ "cat": "baguette",
98
+ "split": "train",
99
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml"
100
+ },
101
+ "reset_region": {
102
+ "size": [
103
+ 0.6000000000000001,
104
+ 0.65
105
+ ],
106
+ "offset": [
107
+ -0.5,
108
+ 0.0,
109
+ 0.46
110
+ ],
111
+ "name": "geom_0"
112
+ }
113
+ },
114
+ {
115
+ "name": "distr_counter_2",
116
+ "obj_groups": "all",
117
+ "placement": {
118
+ "fixture": "counter_2_main_group_1",
119
+ "sample_region_kwargs": {
120
+ "ref": "stack_3_main_group_1_3",
121
+ "min_size": [
122
+ 0.06585885792,
123
+ 0.14243651999999998,
124
+ 0.053571671999999994
125
+ ]
126
+ },
127
+ "size": [
128
+ 1.0,
129
+ 0.5
130
+ ],
131
+ "pos": [
132
+ null,
133
+ -1.0
134
+ ],
135
+ "offset": [
136
+ 0.0,
137
+ 0.1
138
+ ]
139
+ },
140
+ "type": "object",
141
+ "info": {
142
+ "groups_containing_sampled_obj": [
143
+ "all",
144
+ "croissant",
145
+ "pastry",
146
+ "food",
147
+ "in_container"
148
+ ],
149
+ "groups": [
150
+ "all"
151
+ ],
152
+ "cat": "croissant",
153
+ "split": "train",
154
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_0/model.xml"
155
+ },
156
+ "reset_region": {
157
+ "size": [
158
+ 0.6000000000000001,
159
+ 0.65
160
+ ],
161
+ "offset": [
162
+ -0.5,
163
+ 0.0,
164
+ 0.46
165
+ ],
166
+ "name": "geom_0"
167
+ }
168
+ },
169
+ {
170
+ "name": "distr_counter_3",
171
+ "obj_groups": "all",
172
+ "placement": {
173
+ "fixture": "counter_2_main_group_1",
174
+ "sample_region_kwargs": {
175
+ "ref": "stack_3_main_group_1_3",
176
+ "min_size": [
177
+ 0.027408497600000005,
178
+ 0.22000000000000003,
179
+ 0.019675121400000002
180
+ ]
181
+ },
182
+ "size": [
183
+ 1.0,
184
+ 0.5
185
+ ],
186
+ "pos": [
187
+ null,
188
+ -1.0
189
+ ],
190
+ "offset": [
191
+ 0.0,
192
+ 0.1
193
+ ]
194
+ },
195
+ "type": "object",
196
+ "info": {
197
+ "groups_containing_sampled_obj": [
198
+ "all",
199
+ "fork",
200
+ "utensil"
201
+ ],
202
+ "groups": [
203
+ "all"
204
+ ],
205
+ "cat": "fork",
206
+ "split": "train",
207
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_1/model.xml"
208
+ },
209
+ "reset_region": {
210
+ "size": [
211
+ 0.6000000000000001,
212
+ 0.65
213
+ ],
214
+ "offset": [
215
+ -0.5,
216
+ 0.0,
217
+ 0.46
218
+ ],
219
+ "name": "geom_0"
220
+ }
221
+ }
222
+ ],
223
+ "fixtures": {
224
+ "wall_main_1_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "wall_main_1_backing_room": {
228
+ "cls": "Wall"
229
+ },
230
+ "wall_left_1_room": {
231
+ "cls": "Wall"
232
+ },
233
+ "wall_left_1_backing_room": {
234
+ "cls": "Wall"
235
+ },
236
+ "wall_right_1_room": {
237
+ "cls": "Wall"
238
+ },
239
+ "wall_right_1_backing_room": {
240
+ "cls": "Wall"
241
+ },
242
+ "wall_main_2_room": {
243
+ "cls": "Wall"
244
+ },
245
+ "wall_main_2_backing_room": {
246
+ "cls": "Wall"
247
+ },
248
+ "wall_main_3.001_room": {
249
+ "cls": "Wall"
250
+ },
251
+ "wall_main_3.001_backing_room": {
252
+ "cls": "Wall"
253
+ },
254
+ "floor_1_room": {
255
+ "cls": "Floor"
256
+ },
257
+ "floor_1_backing_room": {
258
+ "cls": "Floor"
259
+ },
260
+ "floor_2.001_room": {
261
+ "cls": "Floor"
262
+ },
263
+ "floor_2.001_backing_room": {
264
+ "cls": "Floor"
265
+ },
266
+ "stool_1_room": {
267
+ "cls": "Stool"
268
+ },
269
+ "stool_2_room": {
270
+ "cls": "Stool"
271
+ },
272
+ "stool_3_room": {
273
+ "cls": "Stool"
274
+ },
275
+ "stool_4_room": {
276
+ "cls": "Stool"
277
+ },
278
+ "counter_2_right_group_1": {
279
+ "cls": "Counter"
280
+ },
281
+ "hingecabinet_1_right_group_1": {
282
+ "cls": "HingeCabinet"
283
+ },
284
+ "hingecabinet_2_right_group_1": {
285
+ "cls": "HingeCabinet"
286
+ },
287
+ "hingecabinet_3_right_group_1": {
288
+ "cls": "HingeCabinet"
289
+ },
290
+ "stack_1_right_group_1_base": {
291
+ "cls": "Box"
292
+ },
293
+ "stack_1_right_group_1_1": {
294
+ "cls": "HingeCabinet"
295
+ },
296
+ "stack_1_right_group_1_2": {
297
+ "cls": "Drawer"
298
+ },
299
+ "stack_2_right_group_1_base": {
300
+ "cls": "Box"
301
+ },
302
+ "stack_2_right_group_1_1": {
303
+ "cls": "HingeCabinet"
304
+ },
305
+ "stack_2_right_group_1_2": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_3_right_group_1_base": {
309
+ "cls": "Box"
310
+ },
311
+ "stack_3_right_group_1_1": {
312
+ "cls": "HingeCabinet"
313
+ },
314
+ "stack_3_right_group_1_2": {
315
+ "cls": "Drawer"
316
+ },
317
+ "counter_1_right_group_1": {
318
+ "cls": "Counter"
319
+ },
320
+ "fridgefrenchdoor_right_group_1": {
321
+ "cls": "FridgeFrenchDoor"
322
+ },
323
+ "fridgefrenchdoor_housing_right_group_1": {
324
+ "cls": "HousingCabinet"
325
+ },
326
+ "hingecabinet_4_right_group_1": {
327
+ "cls": "HingeCabinet"
328
+ },
329
+ "bottom_right_group_1_base": {
330
+ "cls": "Box"
331
+ },
332
+ "bottom_right_group_1_1": {
333
+ "cls": "Drawer"
334
+ },
335
+ "microwave_right_group_1": {
336
+ "cls": "Microwave"
337
+ },
338
+ "oven_cabinet_right_group_1": {
339
+ "cls": "HingeCabinet"
340
+ },
341
+ "microwave_housing_right_group_1": {
342
+ "cls": "HousingCabinet"
343
+ },
344
+ "top_right_group_1": {
345
+ "cls": "HingeCabinet"
346
+ },
347
+ "coffee_machine_right_group_1": {
348
+ "cls": "CoffeeMachine"
349
+ },
350
+ "toaster_right_group_1": {
351
+ "cls": "Toaster"
352
+ },
353
+ "hingecabinet_1_main_group_1": {
354
+ "cls": "HingeCabinet"
355
+ },
356
+ "hingecabinet_2_main_group_1": {
357
+ "cls": "HingeCabinet"
358
+ },
359
+ "singlecabinet_1_main_group_1": {
360
+ "cls": "SingleCabinet"
361
+ },
362
+ "singlecabinet_2_main_group_1": {
363
+ "cls": "SingleCabinet"
364
+ },
365
+ "counter_1_main_group_1": {
366
+ "cls": "Counter"
367
+ },
368
+ "counter_2_main_group_1": {
369
+ "cls": "Counter"
370
+ },
371
+ "widestove_main_group_1": {
372
+ "cls": "Stove"
373
+ },
374
+ "widestove_hood_main_group_1": {
375
+ "cls": "Hood"
376
+ },
377
+ "stack_1_main_group_1_base": {
378
+ "cls": "Box"
379
+ },
380
+ "stack_1_main_group_1_1": {
381
+ "cls": "HingeCabinet"
382
+ },
383
+ "stack_1_main_group_1_2": {
384
+ "cls": "Drawer"
385
+ },
386
+ "stack_4_main_group_1_base": {
387
+ "cls": "Box"
388
+ },
389
+ "stack_4_main_group_1_1": {
390
+ "cls": "HingeCabinet"
391
+ },
392
+ "stack_4_main_group_1_2": {
393
+ "cls": "Drawer"
394
+ },
395
+ "stack_2_main_group_1_base": {
396
+ "cls": "Box"
397
+ },
398
+ "stack_2_main_group_1_1": {
399
+ "cls": "Drawer"
400
+ },
401
+ "stack_2_main_group_1_2": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_2_main_group_1_3": {
405
+ "cls": "Drawer"
406
+ },
407
+ "stack_3_main_group_1_base": {
408
+ "cls": "Box"
409
+ },
410
+ "stack_3_main_group_1_1": {
411
+ "cls": "Drawer"
412
+ },
413
+ "stack_3_main_group_1_2": {
414
+ "cls": "Drawer"
415
+ },
416
+ "stack_3_main_group_1_3": {
417
+ "cls": "Drawer"
418
+ },
419
+ "knife_block_main_group_1": {
420
+ "cls": "Accessory"
421
+ },
422
+ "paper_towel_main_group_1": {
423
+ "cls": "Accessory"
424
+ },
425
+ "toaster_oven_main_group_1": {
426
+ "cls": "ToasterOven"
427
+ },
428
+ "sink_island_group_1": {
429
+ "cls": "Sink"
430
+ },
431
+ "island_island_group_1": {
432
+ "cls": "Counter"
433
+ },
434
+ "stack_2_island_group_1_base": {
435
+ "cls": "Box"
436
+ },
437
+ "stack_2_island_group_1_1": {
438
+ "cls": "SingleCabinet"
439
+ },
440
+ "stack_2_island_group_1_2": {
441
+ "cls": "Drawer"
442
+ },
443
+ "stack_1_island_group_1_base": {
444
+ "cls": "Box"
445
+ },
446
+ "stack_1_island_group_1_1": {
447
+ "cls": "HingeCabinet"
448
+ },
449
+ "stack_1_island_group_1_2": {
450
+ "cls": "Drawer"
451
+ },
452
+ "stack_3_island_group_1_base": {
453
+ "cls": "Box"
454
+ },
455
+ "stack_3_island_group_1_1": {
456
+ "cls": "HingeCabinet"
457
+ },
458
+ "stack_3_island_group_1_2": {
459
+ "cls": "PanelCabinet"
460
+ },
461
+ "stack_4_island_group_1_base": {
462
+ "cls": "Box"
463
+ },
464
+ "stack_4_island_group_1_1": {
465
+ "cls": "SingleCabinet"
466
+ },
467
+ "stack_4_island_group_1_2": {
468
+ "cls": "Drawer"
469
+ },
470
+ "cube_1_island_group_1": {
471
+ "cls": "Box"
472
+ },
473
+ "cube_2_island_group_1": {
474
+ "cls": "Box"
475
+ },
476
+ "cube_3_island_group_1": {
477
+ "cls": "Box"
478
+ },
479
+ "dishwasher_1_island_group_1": {
480
+ "cls": "Dishwasher"
481
+ }
482
+ },
483
+ "gen_textures": {},
484
+ "lang": "Open the right drawer.",
485
+ "fixture_refs": {
486
+ "drawer": "stack_3_main_group_1_3"
487
+ },
488
+ "cam_configs": {
489
+ "robot0_agentview_center": {
490
+ "pos": [
491
+ -0.6,
492
+ 0.0,
493
+ 1.15
494
+ ],
495
+ "quat": [
496
+ 0.636945903301239,
497
+ 0.3325185477733612,
498
+ -0.3199238181114197,
499
+ -0.6175596117973328
500
+ ],
501
+ "parent_body": "mobilebase0_support"
502
+ },
503
+ "robot0_agentview_left": {
504
+ "pos": [
505
+ -0.5,
506
+ 0.35,
507
+ 1.05
508
+ ],
509
+ "quat": [
510
+ 0.55623853,
511
+ 0.29935253,
512
+ -0.37678665,
513
+ -0.6775092
514
+ ],
515
+ "camera_attribs": {
516
+ "fovy": "60"
517
+ },
518
+ "parent_body": "mobilebase0_support"
519
+ },
520
+ "robot0_agentview_right": {
521
+ "pos": [
522
+ -0.5,
523
+ -0.35,
524
+ 1.05
525
+ ],
526
+ "quat": [
527
+ 0.6775091886520386,
528
+ 0.3767866790294647,
529
+ -0.2993525564670563,
530
+ -0.55623859167099
531
+ ],
532
+ "camera_attribs": {
533
+ "fovy": "60"
534
+ },
535
+ "parent_body": "mobilebase0_support"
536
+ },
537
+ "robot0_frontview": {
538
+ "pos": [
539
+ -0.5,
540
+ 0,
541
+ 0.95
542
+ ],
543
+ "quat": [
544
+ 0.6088936924934387,
545
+ 0.3814677894115448,
546
+ -0.3673907518386841,
547
+ -0.5905545353889465
548
+ ],
549
+ "camera_attribs": {
550
+ "fovy": "60"
551
+ },
552
+ "parent_body": "mobilebase0_support"
553
+ },
554
+ "robot0_eye_in_hand": {
555
+ "pos": [
556
+ 0.05,
557
+ 0,
558
+ 0
559
+ ],
560
+ "quat": [
561
+ 0,
562
+ 0.707107,
563
+ 0.707107,
564
+ 0
565
+ ],
566
+ "parent_body": "robot0_right_hand"
567
+ }
568
+ },
569
+ "init_robot_base_pos": [
570
+ 2.2683776166869074,
571
+ -0.9294954486145613,
572
+ 0.0
573
+ ],
574
+ "init_robot_base_ori": [
575
+ 0.0,
576
+ 0.0,
577
+ 1.5707963267948966
578
+ ]
579
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000083/ep_meta.json ADDED
@@ -0,0 +1,611 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 56,
3
+ "style_id": 36,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_7_right_group_1_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "pizza_cutter",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "pizza_cutter",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter003/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.065
49
+ ],
50
+ "size": [
51
+ 0.9759959999999999,
52
+ 0.51
53
+ ],
54
+ "height": 0.16,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "counter_8_right_group_1",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_7_right_group_1_2",
65
+ "min_size": [
66
+ 0.03813121895440393,
67
+ 0.19069905186689878,
68
+ 0.031375287099999996
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "spoon",
89
+ "utensil"
90
+ ],
91
+ "groups": [
92
+ "all"
93
+ ],
94
+ "cat": "spoon",
95
+ "split": "train",
96
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_0/model.xml"
97
+ },
98
+ "reset_region": {
99
+ "size": [
100
+ 1.0979919999999992,
101
+ 0.65
102
+ ],
103
+ "offset": [
104
+ -0.025000000000000355,
105
+ 0.0,
106
+ 0.46
107
+ ],
108
+ "name": "geom_0"
109
+ }
110
+ },
111
+ {
112
+ "name": "distr_counter_2",
113
+ "obj_groups": "all",
114
+ "placement": {
115
+ "fixture": "counter_8_right_group_1",
116
+ "sample_region_kwargs": {
117
+ "ref": "stack_7_right_group_1_2",
118
+ "min_size": [
119
+ 0.0636291621,
120
+ 0.06076200060000001,
121
+ 0.062018189730000006
122
+ ]
123
+ },
124
+ "size": [
125
+ 1.0,
126
+ 0.5
127
+ ],
128
+ "pos": [
129
+ null,
130
+ -1.0
131
+ ],
132
+ "offset": [
133
+ 0.0,
134
+ 0.1
135
+ ]
136
+ },
137
+ "type": "object",
138
+ "info": {
139
+ "groups_containing_sampled_obj": [
140
+ "all",
141
+ "apple",
142
+ "fruit",
143
+ "food",
144
+ "in_container",
145
+ "food_set1",
146
+ "group1"
147
+ ],
148
+ "groups": [
149
+ "all"
150
+ ],
151
+ "cat": "apple",
152
+ "split": "train",
153
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_1/model.xml"
154
+ },
155
+ "reset_region": {
156
+ "size": [
157
+ 1.0979919999999992,
158
+ 0.65
159
+ ],
160
+ "offset": [
161
+ -0.025000000000000355,
162
+ 0.0,
163
+ 0.46
164
+ ],
165
+ "name": "geom_0"
166
+ }
167
+ },
168
+ {
169
+ "name": "distr_counter_3",
170
+ "obj_groups": "all",
171
+ "placement": {
172
+ "fixture": "counter_8_right_group_1",
173
+ "sample_region_kwargs": {
174
+ "ref": "stack_7_right_group_1_2",
175
+ "min_size": [
176
+ 0.2758605,
177
+ 0.232753188,
178
+ 0.123258252
179
+ ]
180
+ },
181
+ "size": [
182
+ 1.0,
183
+ 0.5
184
+ ],
185
+ "pos": [
186
+ null,
187
+ -1.0
188
+ ],
189
+ "offset": [
190
+ 0.0,
191
+ 0.1
192
+ ]
193
+ },
194
+ "type": "object",
195
+ "info": {
196
+ "groups_containing_sampled_obj": [
197
+ "all",
198
+ "colander",
199
+ "receptacle"
200
+ ],
201
+ "groups": [
202
+ "all"
203
+ ],
204
+ "cat": "colander",
205
+ "split": "train",
206
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander007/model.xml"
207
+ },
208
+ "reset_region": {
209
+ "size": [
210
+ 1.0979919999999992,
211
+ 0.65
212
+ ],
213
+ "offset": [
214
+ -0.025000000000000355,
215
+ 0.0,
216
+ 0.46
217
+ ],
218
+ "name": "geom_0"
219
+ }
220
+ }
221
+ ],
222
+ "fixtures": {
223
+ "wall_main_1_room": {
224
+ "cls": "Wall"
225
+ },
226
+ "wall_main_1_backing_room": {
227
+ "cls": "Wall"
228
+ },
229
+ "wall_right_1_room": {
230
+ "cls": "Wall"
231
+ },
232
+ "wall_right_1_backing_room": {
233
+ "cls": "Wall"
234
+ },
235
+ "floor_1_room": {
236
+ "cls": "Floor"
237
+ },
238
+ "floor_1_backing_room": {
239
+ "cls": "Floor"
240
+ },
241
+ "wallaccessory_1_room": {
242
+ "cls": "WallAccessory"
243
+ },
244
+ "wallaccessory_2_room": {
245
+ "cls": "WallAccessory"
246
+ },
247
+ "wallaccessory_3_room": {
248
+ "cls": "WallAccessory"
249
+ },
250
+ "wallaccessory_4_room": {
251
+ "cls": "WallAccessory"
252
+ },
253
+ "lightswitch_02_room": {
254
+ "cls": "WallAccessory"
255
+ },
256
+ "lightswitch_03_room": {
257
+ "cls": "WallAccessory"
258
+ },
259
+ "stool_3_room": {
260
+ "cls": "Stool"
261
+ },
262
+ "stool_2_room": {
263
+ "cls": "Stool"
264
+ },
265
+ "stool_1_room": {
266
+ "cls": "Stool"
267
+ },
268
+ "stack_13_island_group_2_base": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_13_island_group_2_1": {
272
+ "cls": "HingeCabinet"
273
+ },
274
+ "stack_04_island_group_2_base": {
275
+ "cls": "Box"
276
+ },
277
+ "stack_04_island_group_2_1": {
278
+ "cls": "HingeCabinet"
279
+ },
280
+ "stack_12_island_group_2_base": {
281
+ "cls": "Box"
282
+ },
283
+ "stack_12_island_group_2_1": {
284
+ "cls": "HingeCabinet"
285
+ },
286
+ "singlecabinet_2_main_group_1": {
287
+ "cls": "SingleCabinet"
288
+ },
289
+ "hingecabinet_5_main_group_1": {
290
+ "cls": "HingeCabinet"
291
+ },
292
+ "hingecabinet_4_main_group_1": {
293
+ "cls": "HingeCabinet"
294
+ },
295
+ "opencabinet_2_main_group_1": {
296
+ "cls": "OpenCabinet"
297
+ },
298
+ "opencabinet_3_main_group_1": {
299
+ "cls": "OpenCabinet"
300
+ },
301
+ "counter_2_main_group_1": {
302
+ "cls": "Counter"
303
+ },
304
+ "counter_corner_1_main_group_1": {
305
+ "cls": "Counter"
306
+ },
307
+ "counter_3_main_group_1": {
308
+ "cls": "Counter"
309
+ },
310
+ "stove_main_group_1": {
311
+ "cls": "Stove"
312
+ },
313
+ "stove_hood_main_group_1": {
314
+ "cls": "Hood"
315
+ },
316
+ "cube_4_main_group_1": {
317
+ "cls": "Box"
318
+ },
319
+ "stack_11_main_group_1_base": {
320
+ "cls": "Box"
321
+ },
322
+ "stack_11_main_group_1_1": {
323
+ "cls": "SingleCabinet"
324
+ },
325
+ "stack_03_main_group_1_base": {
326
+ "cls": "Box"
327
+ },
328
+ "stack_03_main_group_1_1": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "stack_03_main_group_1_2": {
332
+ "cls": "Drawer"
333
+ },
334
+ "stack_02_main_group_1_base": {
335
+ "cls": "Box"
336
+ },
337
+ "stack_02_main_group_1_1": {
338
+ "cls": "SingleCabinet"
339
+ },
340
+ "stack_04_main_group_1_base": {
341
+ "cls": "Box"
342
+ },
343
+ "stack_04_main_group_1_1": {
344
+ "cls": "Drawer"
345
+ },
346
+ "stack_04_main_group_1_2": {
347
+ "cls": "Drawer"
348
+ },
349
+ "stack_04_main_group_1_3": {
350
+ "cls": "Drawer"
351
+ },
352
+ "stack_08_main_group_1_base": {
353
+ "cls": "Box"
354
+ },
355
+ "stack_08_main_group_1_1": {
356
+ "cls": "HingeCabinet"
357
+ },
358
+ "stack_08_main_group_1_2": {
359
+ "cls": "Drawer"
360
+ },
361
+ "stack_06_main_group_1_base": {
362
+ "cls": "Box"
363
+ },
364
+ "stack_06_main_group_1_1": {
365
+ "cls": "SingleCabinet"
366
+ },
367
+ "stack_07_main_group_1_base": {
368
+ "cls": "Box"
369
+ },
370
+ "stack_07_main_group_1_1": {
371
+ "cls": "Drawer"
372
+ },
373
+ "stack_07_main_group_1_2": {
374
+ "cls": "Drawer"
375
+ },
376
+ "stack_07_main_group_1_3": {
377
+ "cls": "Drawer"
378
+ },
379
+ "cube_8_main_group_1": {
380
+ "cls": "Box"
381
+ },
382
+ "coffee_machine_main_group_1": {
383
+ "cls": "CoffeeMachine"
384
+ },
385
+ "papertowel_main_group_1": {
386
+ "cls": "Accessory"
387
+ },
388
+ "plant_main_group_1": {
389
+ "cls": "Accessory"
390
+ },
391
+ "toaster_oven_main_group_1": {
392
+ "cls": "ToasterOven"
393
+ },
394
+ "singlecabinet_1_right_group_1": {
395
+ "cls": "SingleCabinet"
396
+ },
397
+ "hingecabinet_1_right_group_1": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "hingecabinet_9_right_group_1": {
401
+ "cls": "HingeCabinet"
402
+ },
403
+ "counter_1_right_group_1": {
404
+ "cls": "Counter"
405
+ },
406
+ "counter_8_right_group_1": {
407
+ "cls": "Counter"
408
+ },
409
+ "stack_6_right_group_1_base": {
410
+ "cls": "Box"
411
+ },
412
+ "stack_6_right_group_1_1": {
413
+ "cls": "Drawer"
414
+ },
415
+ "stack_6_right_group_1_2": {
416
+ "cls": "HingeCabinet"
417
+ },
418
+ "stack_4_right_group_1_base": {
419
+ "cls": "Box"
420
+ },
421
+ "stack_4_right_group_1_1": {
422
+ "cls": "SingleCabinet"
423
+ },
424
+ "cube_11_right_group_1": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_7_right_group_1_base": {
428
+ "cls": "Box"
429
+ },
430
+ "stack_7_right_group_1_1": {
431
+ "cls": "HingeCabinet"
432
+ },
433
+ "stack_7_right_group_1_2": {
434
+ "cls": "Drawer"
435
+ },
436
+ "cube_12_right_group_1": {
437
+ "cls": "Box"
438
+ },
439
+ "fridgefrenchdoor_right_group_1": {
440
+ "cls": "FridgeFrenchDoor"
441
+ },
442
+ "fridgefrenchdoor_housing_right_group_1": {
443
+ "cls": "HousingCabinet"
444
+ },
445
+ "bottom_right_group_1_base": {
446
+ "cls": "Box"
447
+ },
448
+ "bottom_right_group_1_1": {
449
+ "cls": "Drawer"
450
+ },
451
+ "oven_cabinet_right_group_1": {
452
+ "cls": "HingeCabinet"
453
+ },
454
+ "microwave_right_group_1": {
455
+ "cls": "Microwave"
456
+ },
457
+ "microwave_housing_right_group_1": {
458
+ "cls": "HousingCabinet"
459
+ },
460
+ "top_right_group_1": {
461
+ "cls": "HingeCabinet"
462
+ },
463
+ "hingecabinet_2_right_group_1": {
464
+ "cls": "HingeCabinet"
465
+ },
466
+ "toaster_right_group_1": {
467
+ "cls": "Toaster"
468
+ },
469
+ "sink_island_group_1": {
470
+ "cls": "Sink"
471
+ },
472
+ "island_island_group_1": {
473
+ "cls": "Counter"
474
+ },
475
+ "stack_11_island_group_1_base": {
476
+ "cls": "Box"
477
+ },
478
+ "stack_11_island_group_1_1": {
479
+ "cls": "HingeCabinet"
480
+ },
481
+ "stack_11_island_group_1_2": {
482
+ "cls": "PanelCabinet"
483
+ },
484
+ "stack_09_island_group_1_base": {
485
+ "cls": "Box"
486
+ },
487
+ "stack_09_island_group_1_1": {
488
+ "cls": "Drawer"
489
+ },
490
+ "stack_09_island_group_1_2": {
491
+ "cls": "Drawer"
492
+ },
493
+ "stack_09_island_group_1_3": {
494
+ "cls": "Drawer"
495
+ },
496
+ "stack_10_island_group_1_base": {
497
+ "cls": "Box"
498
+ },
499
+ "stack_10_island_group_1_1": {
500
+ "cls": "SingleCabinet"
501
+ },
502
+ "stack_10_island_group_1_2": {
503
+ "cls": "Drawer"
504
+ },
505
+ "dishwasher_1_island_group_1": {
506
+ "cls": "Dishwasher"
507
+ },
508
+ "cube_1_island_group_1": {
509
+ "cls": "Box"
510
+ },
511
+ "cube_2_island_group_1": {
512
+ "cls": "Box"
513
+ }
514
+ },
515
+ "gen_textures": {},
516
+ "lang": "Open the left drawer.",
517
+ "fixture_refs": {
518
+ "drawer": "stack_7_right_group_1_2"
519
+ },
520
+ "cam_configs": {
521
+ "robot0_agentview_center": {
522
+ "pos": [
523
+ -0.6,
524
+ 0.0,
525
+ 1.15
526
+ ],
527
+ "quat": [
528
+ 0.636945903301239,
529
+ 0.3325185477733612,
530
+ -0.3199238181114197,
531
+ -0.6175596117973328
532
+ ],
533
+ "parent_body": "mobilebase0_support"
534
+ },
535
+ "robot0_agentview_left": {
536
+ "pos": [
537
+ -0.5,
538
+ 0.35,
539
+ 1.05
540
+ ],
541
+ "quat": [
542
+ 0.55623853,
543
+ 0.29935253,
544
+ -0.37678665,
545
+ -0.6775092
546
+ ],
547
+ "camera_attribs": {
548
+ "fovy": "60"
549
+ },
550
+ "parent_body": "mobilebase0_support"
551
+ },
552
+ "robot0_agentview_right": {
553
+ "pos": [
554
+ -0.5,
555
+ -0.35,
556
+ 1.05
557
+ ],
558
+ "quat": [
559
+ 0.6775091886520386,
560
+ 0.3767866790294647,
561
+ -0.2993525564670563,
562
+ -0.55623859167099
563
+ ],
564
+ "camera_attribs": {
565
+ "fovy": "60"
566
+ },
567
+ "parent_body": "mobilebase0_support"
568
+ },
569
+ "robot0_frontview": {
570
+ "pos": [
571
+ -0.5,
572
+ 0,
573
+ 0.95
574
+ ],
575
+ "quat": [
576
+ 0.6088936924934387,
577
+ 0.3814677894115448,
578
+ -0.3673907518386841,
579
+ -0.5905545353889465
580
+ ],
581
+ "camera_attribs": {
582
+ "fovy": "60"
583
+ },
584
+ "parent_body": "mobilebase0_support"
585
+ },
586
+ "robot0_eye_in_hand": {
587
+ "pos": [
588
+ 0.05,
589
+ 0,
590
+ 0
591
+ ],
592
+ "quat": [
593
+ 0,
594
+ 0.707107,
595
+ 0.707107,
596
+ 0
597
+ ],
598
+ "parent_body": "robot0_right_hand"
599
+ }
600
+ },
601
+ "init_robot_base_pos": [
602
+ 5.869579940606169,
603
+ -5.240263425532882,
604
+ 0.0
605
+ ],
606
+ "init_robot_base_ori": [
607
+ 0.0,
608
+ 0.0,
609
+ -0.0001655254467980427
610
+ ]
611
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000086/ep_meta.json ADDED
@@ -0,0 +1,546 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 29,
3
+ "style_id": 40,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_3_main_group_3",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "tongs",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "tongs",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs006/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.07339999999999999
49
+ ],
50
+ "size": [
51
+ 0.5779999999999998,
52
+ 0.51
53
+ ],
54
+ "height": 0.17679999999999998,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "counter_1_main_group",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_3_main_group_3",
65
+ "min_size": [
66
+ 0.21063237813066102,
67
+ 0.2825111977020369,
68
+ 0.013640948370000005
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "cutting_board",
89
+ "receptacle"
90
+ ],
91
+ "groups": [
92
+ "all"
93
+ ],
94
+ "cat": "cutting_board",
95
+ "split": "train",
96
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_12/model.xml"
97
+ },
98
+ "reset_region": {
99
+ "size": [
100
+ 2.0999999999999988,
101
+ 0.65
102
+ ],
103
+ "offset": [
104
+ 0.35000000000000053,
105
+ 0.0,
106
+ 0.46
107
+ ],
108
+ "name": "geom_0"
109
+ }
110
+ }
111
+ ],
112
+ "fixtures": {
113
+ "wall_main_1_room": {
114
+ "cls": "Wall"
115
+ },
116
+ "wall_main_1_backing_room": {
117
+ "cls": "Wall"
118
+ },
119
+ "wall_left_4_room": {
120
+ "cls": "Wall"
121
+ },
122
+ "wall_left_4_backing_room": {
123
+ "cls": "Wall"
124
+ },
125
+ "wall_right_1_room": {
126
+ "cls": "Wall"
127
+ },
128
+ "wall_right_1_backing_room": {
129
+ "cls": "Wall"
130
+ },
131
+ "wall_left_1_room": {
132
+ "cls": "Wall"
133
+ },
134
+ "wall_left_1_backing_room": {
135
+ "cls": "Wall"
136
+ },
137
+ "wall_left_3_room": {
138
+ "cls": "Wall"
139
+ },
140
+ "wall_left_3_backing_room": {
141
+ "cls": "Wall"
142
+ },
143
+ "wall_left_2_room": {
144
+ "cls": "Wall"
145
+ },
146
+ "wall_left_2_backing_room": {
147
+ "cls": "Wall"
148
+ },
149
+ "wall_main_2_room": {
150
+ "cls": "Wall"
151
+ },
152
+ "wall_main_2_backing_room": {
153
+ "cls": "Wall"
154
+ },
155
+ "wall_front_1_room": {
156
+ "cls": "Wall"
157
+ },
158
+ "wall_front_1_backing_room": {
159
+ "cls": "Wall"
160
+ },
161
+ "floor_1_room": {
162
+ "cls": "Floor"
163
+ },
164
+ "floor_1_backing_room": {
165
+ "cls": "Floor"
166
+ },
167
+ "floor_2_room": {
168
+ "cls": "Floor"
169
+ },
170
+ "floor_2_backing_room": {
171
+ "cls": "Floor"
172
+ },
173
+ "light_switch_1_room": {
174
+ "cls": "WallAccessory"
175
+ },
176
+ "wall_accessory_1_room": {
177
+ "cls": "WallAccessory"
178
+ },
179
+ "light_switch_2_room": {
180
+ "cls": "WallAccessory"
181
+ },
182
+ "wall_accessory_2_room": {
183
+ "cls": "WallAccessory"
184
+ },
185
+ "stool_1_room": {
186
+ "cls": "Stool"
187
+ },
188
+ "stool_2_room": {
189
+ "cls": "Stool"
190
+ },
191
+ "stool_3_room": {
192
+ "cls": "Stool"
193
+ },
194
+ "stool_4_room": {
195
+ "cls": "Stool"
196
+ },
197
+ "bottom_main_group_base": {
198
+ "cls": "Box"
199
+ },
200
+ "bottom_main_group_1": {
201
+ "cls": "Drawer"
202
+ },
203
+ "oven_main_group": {
204
+ "cls": "Oven"
205
+ },
206
+ "oven_housing_main_group": {
207
+ "cls": "HousingCabinet"
208
+ },
209
+ "microwave_main_group": {
210
+ "cls": "Microwave"
211
+ },
212
+ "microwave_housing_main_group": {
213
+ "cls": "HousingCabinet"
214
+ },
215
+ "middle_main_group": {
216
+ "cls": "HingeCabinet"
217
+ },
218
+ "top_main_group": {
219
+ "cls": "HingeCabinet"
220
+ },
221
+ "fridge_main_group": {
222
+ "cls": "FridgeSideBySide"
223
+ },
224
+ "fridge_housing_main_group": {
225
+ "cls": "HousingCabinet"
226
+ },
227
+ "counter_1_main_group": {
228
+ "cls": "Counter"
229
+ },
230
+ "stack_1_main_group_base": {
231
+ "cls": "Box"
232
+ },
233
+ "stack_1_main_group_1": {
234
+ "cls": "Drawer"
235
+ },
236
+ "stack_1_main_group_2": {
237
+ "cls": "Drawer"
238
+ },
239
+ "stack_1_main_group_3": {
240
+ "cls": "Drawer"
241
+ },
242
+ "stack_2_main_group_base": {
243
+ "cls": "Box"
244
+ },
245
+ "stack_2_main_group_1": {
246
+ "cls": "Drawer"
247
+ },
248
+ "stack_2_main_group_2": {
249
+ "cls": "Drawer"
250
+ },
251
+ "stack_2_main_group_3": {
252
+ "cls": "Drawer"
253
+ },
254
+ "stack_3_main_group_base": {
255
+ "cls": "Box"
256
+ },
257
+ "stack_3_main_group_1": {
258
+ "cls": "Drawer"
259
+ },
260
+ "stack_3_main_group_2": {
261
+ "cls": "Drawer"
262
+ },
263
+ "stack_3_main_group_3": {
264
+ "cls": "Drawer"
265
+ },
266
+ "dishwasher_main_group": {
267
+ "cls": "Dishwasher"
268
+ },
269
+ "panel_stack_main_group_base": {
270
+ "cls": "Box"
271
+ },
272
+ "panel_stack_main_group_1": {
273
+ "cls": "PanelCabinet"
274
+ },
275
+ "cab_1_main_group": {
276
+ "cls": "HingeCabinet"
277
+ },
278
+ "cab_2_main_group": {
279
+ "cls": "HingeCabinet"
280
+ },
281
+ "cab_3_main_group": {
282
+ "cls": "HingeCabinet"
283
+ },
284
+ "cab_4_main_group": {
285
+ "cls": "HingeCabinet"
286
+ },
287
+ "cab_5_main_group": {
288
+ "cls": "HingeCabinet"
289
+ },
290
+ "cab_6_main_group": {
291
+ "cls": "HingeCabinet"
292
+ },
293
+ "toaster_oven_main_group": {
294
+ "cls": "ToasterOven"
295
+ },
296
+ "paper_towel_main_group": {
297
+ "cls": "Accessory"
298
+ },
299
+ "stovetop_left_group": {
300
+ "cls": "Stovetop"
301
+ },
302
+ "counter_1_left_group": {
303
+ "cls": "Counter"
304
+ },
305
+ "stack_1_left_group_base": {
306
+ "cls": "Box"
307
+ },
308
+ "stack_1_left_group_1": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_1_left_group_2": {
312
+ "cls": "Drawer"
313
+ },
314
+ "stack_1_left_group_3": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_2_left_group_base": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_2_left_group_1": {
321
+ "cls": "Drawer"
322
+ },
323
+ "stack_2_left_group_2": {
324
+ "cls": "Drawer"
325
+ },
326
+ "stack_2_left_group_3": {
327
+ "cls": "Drawer"
328
+ },
329
+ "stack_3_left_group_base": {
330
+ "cls": "Box"
331
+ },
332
+ "stack_3_left_group_1": {
333
+ "cls": "Drawer"
334
+ },
335
+ "stack_3_left_group_2": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_3_left_group_3": {
339
+ "cls": "PanelCabinet"
340
+ },
341
+ "stack_4_left_group_base": {
342
+ "cls": "Box"
343
+ },
344
+ "stack_4_left_group_1": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_4_left_group_2": {
348
+ "cls": "Drawer"
349
+ },
350
+ "stack_4_left_group_3": {
351
+ "cls": "Drawer"
352
+ },
353
+ "stack_5_left_group_base": {
354
+ "cls": "Box"
355
+ },
356
+ "stack_5_left_group_1": {
357
+ "cls": "Drawer"
358
+ },
359
+ "stack_5_left_group_2": {
360
+ "cls": "Drawer"
361
+ },
362
+ "stack_5_left_group_3": {
363
+ "cls": "Drawer"
364
+ },
365
+ "hood_left_group": {
366
+ "cls": "Hood"
367
+ },
368
+ "cab_1_left_group": {
369
+ "cls": "HingeCabinet"
370
+ },
371
+ "cab_2_left_group": {
372
+ "cls": "HingeCabinet"
373
+ },
374
+ "cab_3_left_group": {
375
+ "cls": "HingeCabinet"
376
+ },
377
+ "cab_4_left_group": {
378
+ "cls": "HingeCabinet"
379
+ },
380
+ "coffee_machine_left_group": {
381
+ "cls": "CoffeeMachine"
382
+ },
383
+ "toaster_left_group": {
384
+ "cls": "Toaster"
385
+ },
386
+ "sink_island_group": {
387
+ "cls": "Sink"
388
+ },
389
+ "island_island_group": {
390
+ "cls": "Counter"
391
+ },
392
+ "panel_box_1_island_group_base": {
393
+ "cls": "Box"
394
+ },
395
+ "panel_box_1_island_group_1": {
396
+ "cls": "PanelCabinet"
397
+ },
398
+ "stack_1_island_group_base": {
399
+ "cls": "Box"
400
+ },
401
+ "stack_1_island_group_1": {
402
+ "cls": "Drawer"
403
+ },
404
+ "stack_1_island_group_2": {
405
+ "cls": "Drawer"
406
+ },
407
+ "stack_1_island_group_3": {
408
+ "cls": "Drawer"
409
+ },
410
+ "stack_2_island_group_base": {
411
+ "cls": "Box"
412
+ },
413
+ "stack_2_island_group_1": {
414
+ "cls": "SingleCabinet"
415
+ },
416
+ "stack_3_island_group_base": {
417
+ "cls": "Box"
418
+ },
419
+ "stack_3_island_group_1": {
420
+ "cls": "HingeCabinet"
421
+ },
422
+ "stack_4_island_group_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_4_island_group_1": {
426
+ "cls": "SingleCabinet"
427
+ },
428
+ "stack_5_island_group_base": {
429
+ "cls": "Box"
430
+ },
431
+ "stack_5_island_group_1": {
432
+ "cls": "Drawer"
433
+ },
434
+ "stack_5_island_group_2": {
435
+ "cls": "Drawer"
436
+ },
437
+ "stack_5_island_group_3": {
438
+ "cls": "Drawer"
439
+ },
440
+ "panel_cab_2_island_group_base": {
441
+ "cls": "Box"
442
+ },
443
+ "panel_cab_2_island_group_1": {
444
+ "cls": "PanelCabinet"
445
+ },
446
+ "box_island_group": {
447
+ "cls": "Box"
448
+ }
449
+ },
450
+ "gen_textures": {},
451
+ "lang": "Open the right drawer.",
452
+ "fixture_refs": {
453
+ "drawer": "stack_3_main_group_3"
454
+ },
455
+ "cam_configs": {
456
+ "robot0_agentview_center": {
457
+ "pos": [
458
+ -0.6,
459
+ 0.0,
460
+ 1.15
461
+ ],
462
+ "quat": [
463
+ 0.636945903301239,
464
+ 0.3325185477733612,
465
+ -0.3199238181114197,
466
+ -0.6175596117973328
467
+ ],
468
+ "parent_body": "mobilebase0_support"
469
+ },
470
+ "robot0_agentview_left": {
471
+ "pos": [
472
+ -0.5,
473
+ 0.35,
474
+ 1.05
475
+ ],
476
+ "quat": [
477
+ 0.55623853,
478
+ 0.29935253,
479
+ -0.37678665,
480
+ -0.6775092
481
+ ],
482
+ "camera_attribs": {
483
+ "fovy": "60"
484
+ },
485
+ "parent_body": "mobilebase0_support"
486
+ },
487
+ "robot0_agentview_right": {
488
+ "pos": [
489
+ -0.5,
490
+ -0.35,
491
+ 1.05
492
+ ],
493
+ "quat": [
494
+ 0.6775091886520386,
495
+ 0.3767866790294647,
496
+ -0.2993525564670563,
497
+ -0.55623859167099
498
+ ],
499
+ "camera_attribs": {
500
+ "fovy": "60"
501
+ },
502
+ "parent_body": "mobilebase0_support"
503
+ },
504
+ "robot0_frontview": {
505
+ "pos": [
506
+ -0.5,
507
+ 0,
508
+ 0.95
509
+ ],
510
+ "quat": [
511
+ 0.6088936924934387,
512
+ 0.3814677894115448,
513
+ -0.3673907518386841,
514
+ -0.5905545353889465
515
+ ],
516
+ "camera_attribs": {
517
+ "fovy": "60"
518
+ },
519
+ "parent_body": "mobilebase0_support"
520
+ },
521
+ "robot0_eye_in_hand": {
522
+ "pos": [
523
+ 0.05,
524
+ 0,
525
+ 0
526
+ ],
527
+ "quat": [
528
+ 0,
529
+ 0.707107,
530
+ 0.707107,
531
+ 0
532
+ ],
533
+ "parent_body": "robot0_right_hand"
534
+ }
535
+ },
536
+ "init_robot_base_pos": [
537
+ 2.881993677668378,
538
+ -0.9136386143014378,
539
+ 0.0
540
+ ],
541
+ "init_robot_base_ori": [
542
+ 0.0,
543
+ 0.0,
544
+ 1.5707963267948966
545
+ ]
546
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000092/ep_meta.json ADDED
@@ -0,0 +1,735 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 25,
3
+ "style_id": 47,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_2_main_group_4",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "measuring_cup",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "measuring_cup",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup001/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.044
49
+ ],
50
+ "size": [
51
+ 0.47800000000000004,
52
+ 0.51
53
+ ],
54
+ "height": 0.118,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "counter_1_main_group",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_2_main_group_4",
65
+ "min_size": [
66
+ 0.12590818,
67
+ 0.11677833,
68
+ 0.18507827
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "flour_bag"
89
+ ],
90
+ "groups": [
91
+ "all"
92
+ ],
93
+ "cat": "flour_bag",
94
+ "split": "train",
95
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/flour_bag/FlourBag004/model.xml"
96
+ },
97
+ "reset_region": {
98
+ "size": [
99
+ 1.5000000000000002,
100
+ 0.65
101
+ ],
102
+ "offset": [
103
+ 0.021499999999999853,
104
+ 0.0,
105
+ 0.46
106
+ ],
107
+ "name": "geom_0"
108
+ }
109
+ },
110
+ {
111
+ "name": "distr_counter_2",
112
+ "obj_groups": "all",
113
+ "placement": {
114
+ "fixture": "counter_1_main_group",
115
+ "sample_region_kwargs": {
116
+ "ref": "stack_2_main_group_4",
117
+ "min_size": [
118
+ 0.10720892633305211,
119
+ 0.17180828659984487,
120
+ 0.1052163734375
121
+ ]
122
+ },
123
+ "size": [
124
+ 1.0,
125
+ 0.5
126
+ ],
127
+ "pos": [
128
+ null,
129
+ -1.0
130
+ ],
131
+ "offset": [
132
+ 0.0,
133
+ 0.1
134
+ ]
135
+ },
136
+ "type": "object",
137
+ "info": {
138
+ "groups_containing_sampled_obj": [
139
+ "all",
140
+ "teapot",
141
+ "receptacle"
142
+ ],
143
+ "groups": [
144
+ "all"
145
+ ],
146
+ "cat": "teapot",
147
+ "split": "train",
148
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/teapot/teapot_0/model.xml"
149
+ },
150
+ "reset_region": {
151
+ "size": [
152
+ 1.5000000000000002,
153
+ 0.65
154
+ ],
155
+ "offset": [
156
+ 0.021499999999999853,
157
+ 0.0,
158
+ 0.46
159
+ ],
160
+ "name": "geom_0"
161
+ }
162
+ },
163
+ {
164
+ "name": "distr_counter_3",
165
+ "obj_groups": "all",
166
+ "placement": {
167
+ "fixture": "counter_1_main_group",
168
+ "sample_region_kwargs": {
169
+ "ref": "stack_2_main_group_4",
170
+ "min_size": [
171
+ 0.04585254299999999,
172
+ 0.0458525364,
173
+ 0.16679836634999998
174
+ ]
175
+ },
176
+ "size": [
177
+ 1.0,
178
+ 0.5
179
+ ],
180
+ "pos": [
181
+ null,
182
+ -1.0
183
+ ],
184
+ "offset": [
185
+ 0.0,
186
+ 0.1
187
+ ]
188
+ },
189
+ "type": "object",
190
+ "info": {
191
+ "groups_containing_sampled_obj": [
192
+ "all",
193
+ "ketchup",
194
+ "condiment"
195
+ ],
196
+ "groups": [
197
+ "all"
198
+ ],
199
+ "cat": "ketchup",
200
+ "split": "train",
201
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_2/model.xml"
202
+ },
203
+ "reset_region": {
204
+ "size": [
205
+ 1.5000000000000002,
206
+ 0.65
207
+ ],
208
+ "offset": [
209
+ 0.021499999999999853,
210
+ 0.0,
211
+ 0.46
212
+ ],
213
+ "name": "geom_0"
214
+ }
215
+ }
216
+ ],
217
+ "fixtures": {
218
+ "wall_left_1_room": {
219
+ "cls": "Wall"
220
+ },
221
+ "wall_left_1_backing_room": {
222
+ "cls": "Wall"
223
+ },
224
+ "wall_main_room": {
225
+ "cls": "Wall"
226
+ },
227
+ "wall_main_backing_room": {
228
+ "cls": "Wall"
229
+ },
230
+ "wall_right_1_room": {
231
+ "cls": "Wall"
232
+ },
233
+ "wall_right_1_backing_room": {
234
+ "cls": "Wall"
235
+ },
236
+ "floor_1_room": {
237
+ "cls": "Floor"
238
+ },
239
+ "floor_1_backing_room": {
240
+ "cls": "Floor"
241
+ },
242
+ "wall_accessory_1_room": {
243
+ "cls": "WallAccessory"
244
+ },
245
+ "wall_accessory_2_room": {
246
+ "cls": "WallAccessory"
247
+ },
248
+ "light_switch_1_room": {
249
+ "cls": "WallAccessory"
250
+ },
251
+ "wall_accessory_3_room": {
252
+ "cls": "WallAccessory"
253
+ },
254
+ "light_switch_2_room": {
255
+ "cls": "WallAccessory"
256
+ },
257
+ "light_switch_3_room": {
258
+ "cls": "WallAccessory"
259
+ },
260
+ "wall_accessory_4_room": {
261
+ "cls": "WallAccessory"
262
+ },
263
+ "wall_accessory_5_room": {
264
+ "cls": "WallAccessory"
265
+ },
266
+ "wall_accessory_6_room": {
267
+ "cls": "WallAccessory"
268
+ },
269
+ "wall_accessory_7_room": {
270
+ "cls": "WallAccessory"
271
+ },
272
+ "window_group_1_room": {
273
+ "cls": "Window"
274
+ },
275
+ "window_group_2_room": {
276
+ "cls": "Window"
277
+ },
278
+ "stool_1_room": {
279
+ "cls": "Stool"
280
+ },
281
+ "stool_2_room": {
282
+ "cls": "Stool"
283
+ },
284
+ "counter_corner_main_group": {
285
+ "cls": "Counter"
286
+ },
287
+ "counter_1_main_group": {
288
+ "cls": "Counter"
289
+ },
290
+ "stove_main_group": {
291
+ "cls": "Stove"
292
+ },
293
+ "counter_2_main_group": {
294
+ "cls": "Counter"
295
+ },
296
+ "stack_1_main_group_base": {
297
+ "cls": "Box"
298
+ },
299
+ "stack_1_main_group_1": {
300
+ "cls": "SingleCabinet"
301
+ },
302
+ "stack_2_main_group_base": {
303
+ "cls": "Box"
304
+ },
305
+ "stack_2_main_group_1": {
306
+ "cls": "Drawer"
307
+ },
308
+ "stack_2_main_group_2": {
309
+ "cls": "Drawer"
310
+ },
311
+ "stack_2_main_group_3": {
312
+ "cls": "Drawer"
313
+ },
314
+ "stack_2_main_group_4": {
315
+ "cls": "Drawer"
316
+ },
317
+ "stack_3_main_group_base": {
318
+ "cls": "Box"
319
+ },
320
+ "stack_3_main_group_1": {
321
+ "cls": "SingleCabinet"
322
+ },
323
+ "box_1_main_group": {
324
+ "cls": "Box"
325
+ },
326
+ "stack_4_main_group_base": {
327
+ "cls": "Box"
328
+ },
329
+ "stack_4_main_group_1": {
330
+ "cls": "SingleCabinet"
331
+ },
332
+ "stack_5_main_group_base": {
333
+ "cls": "Box"
334
+ },
335
+ "stack_5_main_group_1": {
336
+ "cls": "Drawer"
337
+ },
338
+ "stack_5_main_group_2": {
339
+ "cls": "Drawer"
340
+ },
341
+ "stack_5_main_group_3": {
342
+ "cls": "Drawer"
343
+ },
344
+ "stack_5_main_group_4": {
345
+ "cls": "Drawer"
346
+ },
347
+ "stack_6_main_group_base": {
348
+ "cls": "Box"
349
+ },
350
+ "stack_6_main_group_1": {
351
+ "cls": "SingleCabinet"
352
+ },
353
+ "box_2_main_group": {
354
+ "cls": "Box"
355
+ },
356
+ "hood_main_group": {
357
+ "cls": "Hood"
358
+ },
359
+ "cab_corner_1_main_group": {
360
+ "cls": "Box"
361
+ },
362
+ "cab_1_main_group": {
363
+ "cls": "HingeCabinet"
364
+ },
365
+ "cab_1_above_main_group": {
366
+ "cls": "HingeCabinet"
367
+ },
368
+ "cab_2_main_group": {
369
+ "cls": "SingleCabinet"
370
+ },
371
+ "cab_2_above_main_group": {
372
+ "cls": "SingleCabinet"
373
+ },
374
+ "cab_corner_2_main_group": {
375
+ "cls": "Box"
376
+ },
377
+ "cab_3_main_group": {
378
+ "cls": "SingleCabinet"
379
+ },
380
+ "cab_3_above_main_group": {
381
+ "cls": "SingleCabinet"
382
+ },
383
+ "cab_4_main_group": {
384
+ "cls": "HingeCabinet"
385
+ },
386
+ "cab_4_above_main_group": {
387
+ "cls": "HingeCabinet"
388
+ },
389
+ "coffee_machine_main_group": {
390
+ "cls": "CoffeeMachine"
391
+ },
392
+ "toaster_main_group": {
393
+ "cls": "Toaster"
394
+ },
395
+ "knife_block_main_group": {
396
+ "cls": "Accessory"
397
+ },
398
+ "sink_1_left_group": {
399
+ "cls": "Sink"
400
+ },
401
+ "counter_1_left_group": {
402
+ "cls": "Counter"
403
+ },
404
+ "box_left_group": {
405
+ "cls": "Box"
406
+ },
407
+ "stack_1_left_group_base": {
408
+ "cls": "Box"
409
+ },
410
+ "stack_1_left_group_1": {
411
+ "cls": "HingeCabinet"
412
+ },
413
+ "stack_2_left_group_base": {
414
+ "cls": "Box"
415
+ },
416
+ "stack_2_left_group_1": {
417
+ "cls": "HingeCabinet"
418
+ },
419
+ "dishwasher_left_group": {
420
+ "cls": "Dishwasher"
421
+ },
422
+ "stack_3_left_group_base": {
423
+ "cls": "Box"
424
+ },
425
+ "stack_3_left_group_1": {
426
+ "cls": "Drawer"
427
+ },
428
+ "stack_3_left_group_2": {
429
+ "cls": "Drawer"
430
+ },
431
+ "stack_4_left_group_base": {
432
+ "cls": "Box"
433
+ },
434
+ "stack_4_left_group_1": {
435
+ "cls": "Drawer"
436
+ },
437
+ "stack_4_left_group_2": {
438
+ "cls": "Drawer"
439
+ },
440
+ "stack_5_left_group_base": {
441
+ "cls": "Box"
442
+ },
443
+ "stack_5_left_group_1": {
444
+ "cls": "SingleCabinet"
445
+ },
446
+ "stack_5_left_group_2": {
447
+ "cls": "Drawer"
448
+ },
449
+ "cab_1_left_group": {
450
+ "cls": "HingeCabinet"
451
+ },
452
+ "cab_2_left_group": {
453
+ "cls": "HingeCabinet"
454
+ },
455
+ "cab_3_left_group": {
456
+ "cls": "HingeCabinet"
457
+ },
458
+ "cab_4_left_group": {
459
+ "cls": "SingleCabinet"
460
+ },
461
+ "cab_5_left_group": {
462
+ "cls": "HingeCabinet"
463
+ },
464
+ "cab_6_left_group": {
465
+ "cls": "HingeCabinet"
466
+ },
467
+ "paper_towel_left_group": {
468
+ "cls": "Accessory"
469
+ },
470
+ "toaster_oven_left_group": {
471
+ "cls": "ToasterOven"
472
+ },
473
+ "corner_counter_right_group": {
474
+ "cls": "Counter"
475
+ },
476
+ "counter_1_right_group": {
477
+ "cls": "Counter"
478
+ },
479
+ "box_right_group": {
480
+ "cls": "Box"
481
+ },
482
+ "stack_1_right_group_base": {
483
+ "cls": "Box"
484
+ },
485
+ "stack_1_right_group_1": {
486
+ "cls": "PanelCabinet"
487
+ },
488
+ "fridge_right_group": {
489
+ "cls": "FridgeFrenchDoor"
490
+ },
491
+ "fridge_housing_right_group": {
492
+ "cls": "HousingCabinet"
493
+ },
494
+ "bottom_right_group_base": {
495
+ "cls": "Box"
496
+ },
497
+ "bottom_right_group_1": {
498
+ "cls": "HingeCabinet"
499
+ },
500
+ "middle_right_group": {
501
+ "cls": "HingeCabinet"
502
+ },
503
+ "microwave_right_group": {
504
+ "cls": "Microwave"
505
+ },
506
+ "microwave_housing_right_group": {
507
+ "cls": "HousingCabinet"
508
+ },
509
+ "top_right_group": {
510
+ "cls": "HingeCabinet"
511
+ },
512
+ "cab_1_right_group": {
513
+ "cls": "HingeCabinet"
514
+ },
515
+ "cab_2_right_group": {
516
+ "cls": "HingeCabinet"
517
+ },
518
+ "counter_2_right_group": {
519
+ "cls": "Counter"
520
+ },
521
+ "stack_2_right_group_base": {
522
+ "cls": "Box"
523
+ },
524
+ "stack_2_right_group_1": {
525
+ "cls": "Drawer"
526
+ },
527
+ "stack_2_right_group_2": {
528
+ "cls": "Drawer"
529
+ },
530
+ "stack_2_right_group_3": {
531
+ "cls": "Drawer"
532
+ },
533
+ "stack_2_right_group_4": {
534
+ "cls": "Drawer"
535
+ },
536
+ "stack_3_right_group_base": {
537
+ "cls": "Box"
538
+ },
539
+ "stack_3_right_group_1": {
540
+ "cls": "HingeCabinet"
541
+ },
542
+ "stack_3_right_group_2": {
543
+ "cls": "Drawer"
544
+ },
545
+ "stack_4_right_group_base": {
546
+ "cls": "Box"
547
+ },
548
+ "stack_4_right_group_1": {
549
+ "cls": "Drawer"
550
+ },
551
+ "stack_4_right_group_2": {
552
+ "cls": "Drawer"
553
+ },
554
+ "stack_4_right_group_3": {
555
+ "cls": "Drawer"
556
+ },
557
+ "stack_4_right_group_4": {
558
+ "cls": "Drawer"
559
+ },
560
+ "plant_right_group": {
561
+ "cls": "Accessory"
562
+ },
563
+ "island_island_group_1": {
564
+ "cls": "Counter"
565
+ },
566
+ "stack_1_island_group_1_base": {
567
+ "cls": "Box"
568
+ },
569
+ "stack_1_island_group_1_1": {
570
+ "cls": "SingleCabinet"
571
+ },
572
+ "stack_1_island_group_1_2": {
573
+ "cls": "Drawer"
574
+ },
575
+ "stack_2_island_group_1_base": {
576
+ "cls": "Box"
577
+ },
578
+ "stack_2_island_group_1_1": {
579
+ "cls": "SingleCabinet"
580
+ },
581
+ "stack_2_island_group_1_2": {
582
+ "cls": "Drawer"
583
+ },
584
+ "stack_3_island_group_1_base": {
585
+ "cls": "Box"
586
+ },
587
+ "stack_3_island_group_1_1": {
588
+ "cls": "SingleCabinet"
589
+ },
590
+ "stack_3_island_group_1_2": {
591
+ "cls": "Drawer"
592
+ },
593
+ "stack_4_island_group_1_base": {
594
+ "cls": "Box"
595
+ },
596
+ "stack_4_island_group_1_1": {
597
+ "cls": "SingleCabinet"
598
+ },
599
+ "stack_4_island_group_1_2": {
600
+ "cls": "Drawer"
601
+ },
602
+ "stack_1_island_group_2_base": {
603
+ "cls": "Box"
604
+ },
605
+ "stack_1_island_group_2_1": {
606
+ "cls": "SingleCabinet"
607
+ },
608
+ "stack_1_island_group_2_2": {
609
+ "cls": "Drawer"
610
+ },
611
+ "stack_2_island_group_2_base": {
612
+ "cls": "Box"
613
+ },
614
+ "stack_2_island_group_2_1": {
615
+ "cls": "SingleCabinet"
616
+ },
617
+ "stack_2_island_group_2_2": {
618
+ "cls": "Drawer"
619
+ },
620
+ "stack_3_island_group_2_base": {
621
+ "cls": "Box"
622
+ },
623
+ "stack_3_island_group_2_1": {
624
+ "cls": "SingleCabinet"
625
+ },
626
+ "stack_3_island_group_2_2": {
627
+ "cls": "Drawer"
628
+ },
629
+ "stack_4_island_group_2_base": {
630
+ "cls": "Box"
631
+ },
632
+ "stack_4_island_group_2_1": {
633
+ "cls": "SingleCabinet"
634
+ },
635
+ "stack_4_island_group_2_2": {
636
+ "cls": "Drawer"
637
+ }
638
+ },
639
+ "gen_textures": {},
640
+ "lang": "Open the left drawer.",
641
+ "fixture_refs": {
642
+ "drawer": "stack_2_main_group_4"
643
+ },
644
+ "cam_configs": {
645
+ "robot0_agentview_center": {
646
+ "pos": [
647
+ -0.6,
648
+ 0.0,
649
+ 1.15
650
+ ],
651
+ "quat": [
652
+ 0.636945903301239,
653
+ 0.3325185477733612,
654
+ -0.3199238181114197,
655
+ -0.6175596117973328
656
+ ],
657
+ "parent_body": "mobilebase0_support"
658
+ },
659
+ "robot0_agentview_left": {
660
+ "pos": [
661
+ -0.5,
662
+ 0.35,
663
+ 1.05
664
+ ],
665
+ "quat": [
666
+ 0.55623853,
667
+ 0.29935253,
668
+ -0.37678665,
669
+ -0.6775092
670
+ ],
671
+ "camera_attribs": {
672
+ "fovy": "60"
673
+ },
674
+ "parent_body": "mobilebase0_support"
675
+ },
676
+ "robot0_agentview_right": {
677
+ "pos": [
678
+ -0.5,
679
+ -0.35,
680
+ 1.05
681
+ ],
682
+ "quat": [
683
+ 0.6775091886520386,
684
+ 0.3767866790294647,
685
+ -0.2993525564670563,
686
+ -0.55623859167099
687
+ ],
688
+ "camera_attribs": {
689
+ "fovy": "60"
690
+ },
691
+ "parent_body": "mobilebase0_support"
692
+ },
693
+ "robot0_frontview": {
694
+ "pos": [
695
+ -0.5,
696
+ 0,
697
+ 0.95
698
+ ],
699
+ "quat": [
700
+ 0.6088936924934387,
701
+ 0.3814677894115448,
702
+ -0.3673907518386841,
703
+ -0.5905545353889465
704
+ ],
705
+ "camera_attribs": {
706
+ "fovy": "60"
707
+ },
708
+ "parent_body": "mobilebase0_support"
709
+ },
710
+ "robot0_eye_in_hand": {
711
+ "pos": [
712
+ 0.05,
713
+ 0,
714
+ 0
715
+ ],
716
+ "quat": [
717
+ 0,
718
+ 0.707107,
719
+ 0.707107,
720
+ 0
721
+ ],
722
+ "parent_body": "robot0_right_hand"
723
+ }
724
+ },
725
+ "init_robot_base_pos": [
726
+ 1.911402497739004,
727
+ -0.8941148249077983,
728
+ 0.0
729
+ ],
730
+ "init_robot_base_ori": [
731
+ 0.0,
732
+ 0.0,
733
+ 1.5707963267948966
734
+ ]
735
+ }
pretrain/atomic/OpenDrawer/20250819/lerobot/extras/episode_000101/ep_meta.json ADDED
@@ -0,0 +1,536 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "layout_id": 28,
3
+ "style_id": 51,
4
+ "object_cfgs": [
5
+ {
6
+ "name": "drawer_obj",
7
+ "obj_groups": [
8
+ "tool",
9
+ "utensil"
10
+ ],
11
+ "graspable": true,
12
+ "max_size": [
13
+ null,
14
+ null,
15
+ 0.1
16
+ ],
17
+ "placement": {
18
+ "fixture": "stack_3_main_group_2",
19
+ "size": [
20
+ 0.3,
21
+ 0.3
22
+ ],
23
+ "pos": [
24
+ null,
25
+ -0.75
26
+ ]
27
+ },
28
+ "type": "object",
29
+ "info": {
30
+ "groups_containing_sampled_obj": [
31
+ "all",
32
+ "tongs",
33
+ "tool",
34
+ "in_container"
35
+ ],
36
+ "groups": [
37
+ "tool",
38
+ "utensil"
39
+ ],
40
+ "cat": "tongs",
41
+ "split": "train",
42
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs001/model.xml"
43
+ },
44
+ "reset_region": {
45
+ "offset": [
46
+ 0.0,
47
+ -0.015000000000000013,
48
+ -0.044
49
+ ],
50
+ "size": [
51
+ 0.308,
52
+ 0.51
53
+ ],
54
+ "height": 0.118,
55
+ "name": "int"
56
+ }
57
+ },
58
+ {
59
+ "name": "distr_counter_1",
60
+ "obj_groups": "all",
61
+ "placement": {
62
+ "fixture": "counter_2_main_group",
63
+ "sample_region_kwargs": {
64
+ "ref": "stack_3_main_group_2",
65
+ "min_size": [
66
+ 0.06715230685627568,
67
+ 0.09280654851251298,
68
+ 0.07102568635516467
69
+ ]
70
+ },
71
+ "size": [
72
+ 1.0,
73
+ 0.5
74
+ ],
75
+ "pos": [
76
+ null,
77
+ -1.0
78
+ ],
79
+ "offset": [
80
+ 0.0,
81
+ 0.1
82
+ ]
83
+ },
84
+ "type": "object",
85
+ "info": {
86
+ "groups_containing_sampled_obj": [
87
+ "all",
88
+ "broccoli",
89
+ "vegetable",
90
+ "food",
91
+ "in_container",
92
+ "oven_ready"
93
+ ],
94
+ "groups": [
95
+ "all"
96
+ ],
97
+ "cat": "broccoli",
98
+ "split": "train",
99
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml"
100
+ },
101
+ "reset_region": {
102
+ "size": [
103
+ 1.2699999999999996,
104
+ 0.65
105
+ ],
106
+ "offset": [
107
+ -1.205,
108
+ -3.469446951953614e-17,
109
+ 0.46
110
+ ],
111
+ "name": "geom_0"
112
+ }
113
+ },
114
+ {
115
+ "name": "distr_counter_2",
116
+ "obj_groups": "all",
117
+ "placement": {
118
+ "fixture": "counter_2_main_group",
119
+ "sample_region_kwargs": {
120
+ "ref": "stack_3_main_group_2",
121
+ "min_size": [
122
+ 0.07384239449999998,
123
+ 0.07426866764648381,
124
+ 0.055746330854518675
125
+ ]
126
+ },
127
+ "size": [
128
+ 1.0,
129
+ 0.5
130
+ ],
131
+ "pos": [
132
+ null,
133
+ -1.0
134
+ ],
135
+ "offset": [
136
+ 0.0,
137
+ 0.1
138
+ ]
139
+ },
140
+ "type": "object",
141
+ "info": {
142
+ "groups_containing_sampled_obj": [
143
+ "all",
144
+ "orange",
145
+ "fruit",
146
+ "food",
147
+ "in_container",
148
+ "food_set1"
149
+ ],
150
+ "groups": [
151
+ "all"
152
+ ],
153
+ "cat": "orange",
154
+ "split": "train",
155
+ "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_0/model.xml"
156
+ },
157
+ "reset_region": {
158
+ "size": [
159
+ 1.2699999999999996,
160
+ 0.65
161
+ ],
162
+ "offset": [
163
+ -1.205,
164
+ -3.469446951953614e-17,
165
+ 0.46
166
+ ],
167
+ "name": "geom_0"
168
+ }
169
+ }
170
+ ],
171
+ "fixtures": {
172
+ "wall_left_1_room": {
173
+ "cls": "Wall"
174
+ },
175
+ "wall_left_1_backing_room": {
176
+ "cls": "Wall"
177
+ },
178
+ "wall_main_room": {
179
+ "cls": "Wall"
180
+ },
181
+ "wall_main_backing_room": {
182
+ "cls": "Wall"
183
+ },
184
+ "wall_right_1_room": {
185
+ "cls": "Wall"
186
+ },
187
+ "wall_right_1_backing_room": {
188
+ "cls": "Wall"
189
+ },
190
+ "wall_right_3_room": {
191
+ "cls": "Wall"
192
+ },
193
+ "wall_right_3_backing_room": {
194
+ "cls": "Wall"
195
+ },
196
+ "wall_left_3_room": {
197
+ "cls": "Wall"
198
+ },
199
+ "wall_left_3_backing_room": {
200
+ "cls": "Wall"
201
+ },
202
+ "wall_left_2_room": {
203
+ "cls": "Wall"
204
+ },
205
+ "wall_left_2_backing_room": {
206
+ "cls": "Wall"
207
+ },
208
+ "wall_right_2_room": {
209
+ "cls": "Wall"
210
+ },
211
+ "wall_right_2_backing_room": {
212
+ "cls": "Wall"
213
+ },
214
+ "floor_1_room": {
215
+ "cls": "Floor"
216
+ },
217
+ "floor_1_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
+ "light_switch_1_room": {
227
+ "cls": "WallAccessory"
228
+ },
229
+ "window_group_room": {
230
+ "cls": "Window"
231
+ },
232
+ "stool_1_room": {
233
+ "cls": "Stool"
234
+ },
235
+ "stool_2_room": {
236
+ "cls": "Stool"
237
+ },
238
+ "stool_3_room": {
239
+ "cls": "Stool"
240
+ },
241
+ "stool_4_room": {
242
+ "cls": "Stool"
243
+ },
244
+ "bottom_main_group_base": {
245
+ "cls": "Box"
246
+ },
247
+ "bottom_main_group_1": {
248
+ "cls": "HingeCabinet"
249
+ },
250
+ "microwave_main_group": {
251
+ "cls": "Microwave"
252
+ },
253
+ "microwave_housing_main_group": {
254
+ "cls": "HousingCabinet"
255
+ },
256
+ "top_main_group": {
257
+ "cls": "HingeCabinet"
258
+ },
259
+ "counter_1_main_group": {
260
+ "cls": "Counter"
261
+ },
262
+ "sink_main_group": {
263
+ "cls": "Sink"
264
+ },
265
+ "counter_2_main_group": {
266
+ "cls": "Counter"
267
+ },
268
+ "stack_1_main_group_base": {
269
+ "cls": "Box"
270
+ },
271
+ "stack_1_main_group_1": {
272
+ "cls": "SingleCabinet"
273
+ },
274
+ "stack_1_main_group_2": {
275
+ "cls": "Drawer"
276
+ },
277
+ "stack_2_main_group_base": {
278
+ "cls": "Box"
279
+ },
280
+ "stack_2_main_group_1": {
281
+ "cls": "SingleCabinet"
282
+ },
283
+ "stack_2_main_group_2": {
284
+ "cls": "Drawer"
285
+ },
286
+ "stack_3_main_group_base": {
287
+ "cls": "Box"
288
+ },
289
+ "stack_3_main_group_1": {
290
+ "cls": "SingleCabinet"
291
+ },
292
+ "stack_3_main_group_2": {
293
+ "cls": "Drawer"
294
+ },
295
+ "stack_4_main_group_base": {
296
+ "cls": "Box"
297
+ },
298
+ "stack_4_main_group_1": {
299
+ "cls": "SingleCabinet"
300
+ },
301
+ "stack_4_main_group_2": {
302
+ "cls": "Drawer"
303
+ },
304
+ "stack_5_main_group_base": {
305
+ "cls": "Box"
306
+ },
307
+ "stack_5_main_group_1": {
308
+ "cls": "HingeCabinet"
309
+ },
310
+ "oven_main_group": {
311
+ "cls": "Oven"
312
+ },
313
+ "stack_6_main_group_base": {
314
+ "cls": "Box"
315
+ },
316
+ "stack_6_main_group_1": {
317
+ "cls": "HingeCabinet"
318
+ },
319
+ "stack_6_main_group_2": {
320
+ "cls": "Drawer"
321
+ },
322
+ "stack_7_main_group_base": {
323
+ "cls": "Box"
324
+ },
325
+ "stack_7_main_group_1": {
326
+ "cls": "Drawer"
327
+ },
328
+ "stack_7_main_group_2": {
329
+ "cls": "HingeCabinet"
330
+ },
331
+ "stack_7_main_group_3": {
332
+ "cls": "SingleCabinet"
333
+ },
334
+ "cab_1_main_group": {
335
+ "cls": "SingleCabinet"
336
+ },
337
+ "cab_2_main_group": {
338
+ "cls": "HingeCabinet"
339
+ },
340
+ "cab_3_main_group": {
341
+ "cls": "HingeCabinet"
342
+ },
343
+ "coffee_machine_main_group": {
344
+ "cls": "CoffeeMachine"
345
+ },
346
+ "toaster_main_group": {
347
+ "cls": "Toaster"
348
+ },
349
+ "toaster_oven_main_group": {
350
+ "cls": "ToasterOven"
351
+ },
352
+ "paper_towel_main_group": {
353
+ "cls": "Accessory"
354
+ },
355
+ "fridge_right_group": {
356
+ "cls": "FridgeBottomFreezer"
357
+ },
358
+ "fridge_housing_right_group": {
359
+ "cls": "HousingCabinet"
360
+ },
361
+ "fridge_top_right_group": {
362
+ "cls": "HingeCabinet"
363
+ },
364
+ "stovetop_island_group": {
365
+ "cls": "Stovetop"
366
+ },
367
+ "counter_1_island_group": {
368
+ "cls": "Counter"
369
+ },
370
+ "island_island_group": {
371
+ "cls": "Counter"
372
+ },
373
+ "cube_island_group": {
374
+ "cls": "Box"
375
+ },
376
+ "panel_cab_1_island_group_base": {
377
+ "cls": "Box"
378
+ },
379
+ "panel_cab_1_island_group_1": {
380
+ "cls": "PanelCabinet"
381
+ },
382
+ "stack_1_island_group_base": {
383
+ "cls": "Box"
384
+ },
385
+ "stack_1_island_group_1": {
386
+ "cls": "SingleCabinet"
387
+ },
388
+ "stack_1_island_group_2": {
389
+ "cls": "Drawer"
390
+ },
391
+ "dishwasher_island_group": {
392
+ "cls": "Dishwasher"
393
+ },
394
+ "stack_2_island_group_base": {
395
+ "cls": "Box"
396
+ },
397
+ "stack_2_island_group_1": {
398
+ "cls": "HingeCabinet"
399
+ },
400
+ "stack_3_island_group_base": {
401
+ "cls": "Box"
402
+ },
403
+ "stack_3_island_group_1": {
404
+ "cls": "Drawer"
405
+ },
406
+ "stack_3_island_group_2": {
407
+ "cls": "Drawer"
408
+ },
409
+ "stack_3_island_group_3": {
410
+ "cls": "Drawer"
411
+ },
412
+ "stack_4_island_group_base": {
413
+ "cls": "Box"
414
+ },
415
+ "stack_4_island_group_1": {
416
+ "cls": "Drawer"
417
+ },
418
+ "stack_4_island_group_2": {
419
+ "cls": "Drawer"
420
+ },
421
+ "stack_4_island_group_3": {
422
+ "cls": "Drawer"
423
+ },
424
+ "stack_5_island_group_base": {
425
+ "cls": "Box"
426
+ },
427
+ "stack_5_island_group_1": {
428
+ "cls": "SingleCabinet"
429
+ },
430
+ "stack_5_island_group_2": {
431
+ "cls": "Drawer"
432
+ },
433
+ "panel_cab_2_island_group_base": {
434
+ "cls": "Box"
435
+ },
436
+ "panel_cab_2_island_group_1": {
437
+ "cls": "PanelCabinet"
438
+ }
439
+ },
440
+ "gen_textures": {},
441
+ "lang": "Open the left drawer.",
442
+ "fixture_refs": {
443
+ "drawer": "stack_3_main_group_2"
444
+ },
445
+ "cam_configs": {
446
+ "robot0_agentview_center": {
447
+ "pos": [
448
+ -0.6,
449
+ 0.0,
450
+ 1.15
451
+ ],
452
+ "quat": [
453
+ 0.636945903301239,
454
+ 0.3325185477733612,
455
+ -0.3199238181114197,
456
+ -0.6175596117973328
457
+ ],
458
+ "parent_body": "mobilebase0_support"
459
+ },
460
+ "robot0_agentview_left": {
461
+ "pos": [
462
+ -0.5,
463
+ 0.35,
464
+ 1.05
465
+ ],
466
+ "quat": [
467
+ 0.55623853,
468
+ 0.29935253,
469
+ -0.37678665,
470
+ -0.6775092
471
+ ],
472
+ "camera_attribs": {
473
+ "fovy": "60"
474
+ },
475
+ "parent_body": "mobilebase0_support"
476
+ },
477
+ "robot0_agentview_right": {
478
+ "pos": [
479
+ -0.5,
480
+ -0.35,
481
+ 1.05
482
+ ],
483
+ "quat": [
484
+ 0.6775091886520386,
485
+ 0.3767866790294647,
486
+ -0.2993525564670563,
487
+ -0.55623859167099
488
+ ],
489
+ "camera_attribs": {
490
+ "fovy": "60"
491
+ },
492
+ "parent_body": "mobilebase0_support"
493
+ },
494
+ "robot0_frontview": {
495
+ "pos": [
496
+ -0.5,
497
+ 0,
498
+ 0.95
499
+ ],
500
+ "quat": [
501
+ 0.6088936924934387,
502
+ 0.3814677894115448,
503
+ -0.3673907518386841,
504
+ -0.5905545353889465
505
+ ],
506
+ "camera_attribs": {
507
+ "fovy": "60"
508
+ },
509
+ "parent_body": "mobilebase0_support"
510
+ },
511
+ "robot0_eye_in_hand": {
512
+ "pos": [
513
+ 0.05,
514
+ 0,
515
+ 0
516
+ ],
517
+ "quat": [
518
+ 0,
519
+ 0.707107,
520
+ 0.707107,
521
+ 0
522
+ ],
523
+ "parent_body": "robot0_right_hand"
524
+ }
525
+ },
526
+ "init_robot_base_pos": [
527
+ 2.3826238471600405,
528
+ -0.8648856796060981,
529
+ 0.0
530
+ ],
531
+ "init_robot_base_ori": [
532
+ 0.0,
533
+ 0.0,
534
+ 1.5707963267948966
535
+ ]
536
+ }