diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000002/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b7255b4dfcac15354362ca60464d366dd7612d7 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,347 @@ +{ + "layout_id": 48, + "style_id": 14, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3360023719878313, + -4.602715271524831, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412869477002467 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000003/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c3e3d8225f8819bc83c2735ab593e39acc75d3d --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,341 @@ +{ + "layout_id": 54, + "style_id": 11, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "blender_main_group_1": { + "cls": "Blender" + }, + "blender_main_group_1_auxiliary_main_group_1": { + "cls": "BlenderLid" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.584120158322702, + -0.9389431738088823, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000004/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74713b3612ed824cd0f2707b630b8d3a47cfeba0 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,362 @@ +{ + "layout_id": 31, + "style_id": 18, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1764777484525704, + -4.903197160732481, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000005/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f69a5b7309914a5d5b0374fc11e6434b2ebdbd5d --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,419 @@ +{ + "layout_id": 17, + "style_id": 12, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stovetop_main_group_1": { + "cls": "Stovetop" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "hood_main_group_1": { + "cls": "Hood" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_4_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_5_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_6_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "box_left_group_1": { + "cls": "Box" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "fridge_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "Drawer" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "Drawer" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cab_2_right_group_1": { + "cls": "OpenCabinet" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.539383869914754, + -2.0109697253064307, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.71238880553912 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000006/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d0b4495c551263388904e996551a2b0af9fc707 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,371 @@ +{ + "layout_id": 51, + "style_id": 48, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.699586325543496, + -2.8264386954440543, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712205636499415 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000007/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e812a62450fcb28f00b99ca751a3f021d2479ee4 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,281 @@ +{ + "layout_id": 37, + "style_id": 27, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.518467382942983, + -1.676165732621413, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000009/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eccd7d26e93bad678fc2529eb3bbefa704c0196a --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,353 @@ +{ + "layout_id": 47, + "style_id": 46, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "box_05_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + "cls": "Drawer" + }, + "stack_01_front_group_1_base": { + "cls": "Box" + }, + "stack_01_front_group_1_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + }, + "blender_front_group_2": { + "cls": "Blender" + }, + "blender_front_group_2_auxiliary_front_group_2": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.760887540408972, + -3.3560582537285146, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712237433597448 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000010/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36424c3145abc0b9bb1ae744e2dd49fbe3180a19 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,341 @@ +{ + "layout_id": 54, + "style_id": 16, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "blender_main_group_1": { + "cls": "Blender" + }, + "blender_main_group_1_auxiliary_main_group_1": { + "cls": "BlenderLid" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.433371580187314, + -0.9618270553434062, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000012/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ffcf59d22cc0a781a41329ef84ddea21800d78c --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,314 @@ +{ + "layout_id": 36, + "style_id": 24, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "blender_front_group_1": { + "cls": "Blender" + }, + "blender_front_group_1_auxiliary_front_group_1": { + "cls": "BlenderLid" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.53918206827477, + -4.484337134836053, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000013/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..31854f59bdc8850cf37524ae3f5ff467a53d3fe7 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,320 @@ +{ + "layout_id": 59, + "style_id": 39, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9328064136408476, + -2.110840247897516, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000014/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1ff42189eec12eda601aa95999568cef131fece --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,416 @@ +{ + "layout_id": 15, + "style_id": 14, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "blender_island_group": { + "cls": "Blender" + }, + "paper_towel_island_group": { + "cls": "Accessory" + }, + "blender_island_group_auxiliary_island_group": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6186347535201875, + -2.2193079757459944, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000015/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c345f63167901d71215d5f72d178cabf7b103573 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 39, + "style_id": 27, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.392158333997557, + -3.7164959266820454, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000016/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cfe9c95c0353ac218c3f36302d365ab8bf9042ea --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,407 @@ +{ + "layout_id": 22, + "style_id": 16, + "object_cfgs": [], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "blender_left_group": { + "cls": "Blender" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "blender_left_group_auxiliary_left_group": { + "cls": "BlenderLid" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8735490322070062, + -1.2833223194401022, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000017/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2227052cbb88877cc093aa96a1114076ccfa165f --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,320 @@ +{ + "layout_id": 59, + "style_id": 57, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.7273640262757084, + -2.1422727339872893, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000019/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..83493ddafcf4a9a3ee44209964c3343ef702e325 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,314 @@ +{ + "layout_id": 36, + "style_id": 14, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "blender_front_group_1": { + "cls": "Blender" + }, + "blender_front_group_1_auxiliary_front_group_1": { + "cls": "BlenderLid" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.5627067980933051, + -4.537416892090781, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000020/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3166ade35e12ab867d7c367314402b304fab20f1 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 28, + "style_id": 32, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "blender_island_group": { + "cls": "Blender" + }, + "blender_island_group_auxiliary_island_group": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.90629633893668, + -1.6338400786184581, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000021/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e8b80c0a9188aae809907d682d93eaa72bf3f10 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,335 @@ +{ + "layout_id": 60, + "style_id": 21, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_12_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "wallaccessory_08_room": { + "cls": "WallAccessory" + }, + "wallaccessory_09_room": { + "cls": "WallAccessory" + }, + "wallaccessory_10_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_11_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "Drawer" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_3": { + "cls": "Drawer" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_main_group_1": { + "cls": "Box" + }, + "cube_12_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "fridgebottomfreezer_right_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_05_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_6_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_04_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_06_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_13_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_5_left_group_1": { + "cls": "Counter" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "Drawer" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "blender_left_group_1": { + "cls": "Blender" + }, + "blender_left_group_1_auxiliary_left_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3275486364321734, + -1.033506211894872, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415922821865117 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000022/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a0323752149cc65c4409dde99d8bfc2003adc89 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 12, + "style_id": 54, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_2_main_group": { + "cls": "Counter" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group": { + "cls": "Dishwasher" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "top_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_2_main_group": { + "cls": "Box" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "PanelCabinet" + }, + "box_3_left_group": { + "cls": "Box" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "box_2_left_group": { + "cls": "Box" + }, + "fridge_1_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_left_group": { + "cls": "HousingCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "SingleCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "PanelCabinet" + }, + "box_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_right_group_1": { + "cls": "HingeCabinet" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_1_island_group_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "blender_island_group": { + "cls": "Blender" + }, + "blender_island_group_auxiliary_island_group": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.6546647585746563, + -2.053277691774915, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000023/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec1de3467826aa8a64a0108d3f179d277d2140a5 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,341 @@ +{ + "layout_id": 30, + "style_id": 24, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "blender_right_group": { + "cls": "Blender" + }, + "blender_right_group_auxiliary_right_group": { + "cls": "BlenderLid" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9972998118103495, + -0.40718806205695635, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.3435886114798734e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000026/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e77722ecbdcee8db21dbfdbc7181d8c466f7e9fe --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 46, + "style_id": 40, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "blender_front_group_1": { + "cls": "Blender" + }, + "blender_front_group_1_auxiliary_front_group_1": { + "cls": "BlenderLid" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.34965556097893, + -2.6441243458366244, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000029/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a2a10e327b229f9051bae8af7d32b86943f80fc --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,278 @@ +{ + "layout_id": 34, + "style_id": 35, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1194812817949384, + -2.4769605569913593, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000030/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0e5745b0c2a47c0e45f569c8ef24b4c8a8ad276 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,314 @@ +{ + "layout_id": 36, + "style_id": 48, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "blender_front_group_1": { + "cls": "Blender" + }, + "blender_front_group_1_auxiliary_front_group_1": { + "cls": "BlenderLid" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.40943357691558063, + -4.432159420914138, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000031/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ba24447471bb795d59c223ba3a04b018aab17e9 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,359 @@ +{ + "layout_id": 27, + "style_id": 59, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + }, + "blender_front_group": { + "cls": "Blender" + }, + "blender_front_group_auxiliary_front_group": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4790417901646187, + -2.0308274077152824, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000032/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f50a41804ef2b1b576ad26c5fd442f268b1a3b50 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 46, + "style_id": 39, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "blender_front_group_1": { + "cls": "Blender" + }, + "blender_front_group_1_auxiliary_front_group_1": { + "cls": "BlenderLid" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.001799268766232, + -2.6472947997558234, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000034/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d298e5d924419d8072cce7510cb2b6feeac83e2b --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,281 @@ +{ + "layout_id": 37, + "style_id": 15, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.5136170790190295, + -3.6423025051864886, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000035/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1133dc2f030bed145fc97e10c773500ab72092de --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,341 @@ +{ + "layout_id": 30, + "style_id": 24, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "blender_right_group": { + "cls": "Blender" + }, + "blender_right_group_auxiliary_right_group": { + "cls": "BlenderLid" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9974554582248176, + -0.5673259442424229, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.3435886114798734e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000036/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b914bac1945eb765082a92f54a962978bdd64b2 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,314 @@ +{ + "layout_id": 36, + "style_id": 36, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "blender_front_group_1": { + "cls": "Blender" + }, + "blender_front_group_1_auxiliary_front_group_1": { + "cls": "BlenderLid" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.6577739033802268, + -4.501572469016837, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000038/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..046dc8206ad45509bc9de499e42c9a9b29bf5e6e --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,320 @@ +{ + "layout_id": 59, + "style_id": 24, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_01_room": { + "cls": "Wall" + }, + "wall_left_01_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_02_room": { + "cls": "Wall" + }, + "wall_left_02_backing_room": { + "cls": "Wall" + }, + "wall_left_03_room": { + "cls": "Wall" + }, + "wall_left_03_backing_room": { + "cls": "Wall" + }, + "wall_left_04_room": { + "cls": "Wall" + }, + "wall_left_04_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "singlecabinet_03_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_02_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_01_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_04_main_group_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.755240675429332, + -2.1091074043423883, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000039/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53d937a22a12844a6b8fae4236ced5f2d4650b6c --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,401 @@ +{ + "layout_id": 35, + "style_id": 26, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "blender_island_group": { + "cls": "Blender" + }, + "blender_island_group_auxiliary_island_group": { + "cls": "BlenderLid" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.833339735172612, + -3.0173528845620954, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000040/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36d5c7842db58019d789912337a021e242c27164 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 16, + "style_id": 22, + "object_cfgs": [], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "blender_right_group_1": { + "cls": "Blender" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "blender_right_group_1_auxiliary_right_group_1": { + "cls": "BlenderLid" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2105679501622824, + -4.191629469662985, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000041/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca63850b7564cb4b683d9fabf1f510ba3e3c3ad --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,401 @@ +{ + "layout_id": 24, + "style_id": 50, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.704630197795947, + -1.7269149581052, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000042/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65008ff1ff161ac89b97c1092c5eaee4761fe061 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,362 @@ +{ + "layout_id": 26, + "style_id": 38, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "blender_main_group": { + "cls": "Blender" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "blender_main_group_auxiliary_main_group": { + "cls": "BlenderLid" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0625371780266, + -0.8544754840955187, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000043/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2eee1b7eae4ed3cc1ca8b0a3f8dac9caf5eb9d42 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 33, + "style_id": 14, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2.001_room": { + "cls": "Floor" + }, + "floor_2.001_backing_room": { + "cls": "Floor" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "widestove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "Drawer" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_3": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0054873209490927, + -1.7551412155002617, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5706453736350774 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000044/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c07373854ad0665862c02338d41e3508e7a3e95e --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,341 @@ +{ + "layout_id": 54, + "style_id": 40, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "blender_main_group_1": { + "cls": "Blender" + }, + "blender_main_group_1_auxiliary_main_group_1": { + "cls": "BlenderLid" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.6897877765181635, + -0.9420462384863592, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000045/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c4ed6bc9744525ca0b2a083b81e671b431dca82e --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,290 @@ +{ + "layout_id": 52, + "style_id": 56, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "blender_right_group_1": { + "cls": "Blender" + }, + "blender_right_group_1_auxiliary_right_group_1": { + "cls": "BlenderLid" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4613606224099214, + -2.150622082128002, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000046/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96910eba612413ff800a3dbf21e59e32d0a55e81 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,401 @@ +{ + "layout_id": 24, + "style_id": 58, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.60472751621224, + -1.742821050734576, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000047/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89504a60237165da85de2f74aded9fc5d17fb346 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,527 @@ +{ + "layout_id": 25, + "style_id": 60, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_4": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "SingleCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_corner_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_above_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_corner_2_main_group": { + "cls": "Box" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_3_above_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_above_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "corner_counter_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "PanelCabinet" + }, + "fridge_right_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "middle_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "counter_2_right_group": { + "cls": "Counter" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_2_right_group_4": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "Drawer" + }, + "stack_4_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_3": { + "cls": "Drawer" + }, + "stack_4_right_group_4": { + "cls": "Drawer" + }, + "plant_right_group": { + "cls": "Accessory" + }, + "blender_right_group": { + "cls": "Blender" + }, + "blender_right_group_auxiliary_right_group": { + "cls": "BlenderLid" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_2_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.353569946643473, + -3.8554126155599513, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000050/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bac1f7be40085ebe732f45a013d08a20e34c89cd --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,278 @@ +{ + "layout_id": 34, + "style_id": 37, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1025379323186733, + -3.9499373189023292, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000051/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e89556ff224c9a5d8c83b0d5011b41e506e5e810 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 29, + "style_id": 45, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "blender_left_group": { + "cls": "Blender" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "blender_left_group_auxiliary_left_group": { + "cls": "BlenderLid" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.18045082557675135, + -5.359319178993008, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000052/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be5cab0bc636f2ce11f0e7331d157a67c3179a3d --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,377 @@ +{ + "layout_id": 18, + "style_id": 59, + "object_cfgs": [], + "fixtures": { + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_5_room": { + "cls": "WallAccessory" + }, + "light_switch_6_room": { + "cls": "WallAccessory" + }, + "light_switch_7_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_4": { + "cls": "Drawer" + }, + "stack_2_left_group_5": { + "cls": "Drawer" + }, + "stack_2_left_group_6": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_4": { + "cls": "Drawer" + }, + "stack_4_left_group_5": { + "cls": "Drawer" + }, + "stack_4_left_group_6": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "SingleCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "sink_1_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_1_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "Drawer" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_3": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_right_group_base": { + "cls": "Box" + }, + "stack_5_right_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_base": { + "cls": "Box" + }, + "panel_stack_right_group_1": { + "cls": "PanelCabinet" + }, + "wall_stack_right_group_base": { + "cls": "Box" + }, + "wall_stack_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "blender_right_group": { + "cls": "Blender" + }, + "blender_right_group_auxiliary_right_group": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2189799488285, + -1.5310904035904844, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000054/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed6653e4b50c218cc04340caba9a53604fb540f --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,359 @@ +{ + "layout_id": 27, + "style_id": 36, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + }, + "blender_front_group": { + "cls": "Blender" + }, + "blender_front_group_auxiliary_front_group": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4881911589599266, + -2.021798409341034, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000055/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..35398e45f9820706c2a0899d201a12f4e63fadb3 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,311 @@ +{ + "layout_id": 58, + "style_id": 59, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.427138432584814, + -2.1583885049813896, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.7122376720160215 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000057/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43677fe0f916509ede8d90308cb8cf452095caa4 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,260 @@ +{ + "layout_id": 40, + "style_id": 57, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "blender_right_group_1": { + "cls": "Blender" + }, + "blender_right_group_1_auxiliary_right_group_1": { + "cls": "BlenderLid" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9146112495814163, + -2.8302882329629053, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000058/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f8566ab6610e330d5fcfafaa5a8841edf61d451 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,287 @@ +{ + "layout_id": 55, + "style_id": 21, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "cube_13_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "cube_8_island_group_1": { + "cls": "Box" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.6705465412007823, + -2.2993504888366956, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712223637101589 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000059/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff8817c34f796766316395032016b5413ebdd854 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,347 @@ +{ + "layout_id": 19, + "style_id": 60, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "blender_right_group_1": { + "cls": "Blender" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "blender_right_group_1_auxiliary_right_group_1": { + "cls": "BlenderLid" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.302414290586529, + -1.8933580439258075, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000061/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5de4cd9b7aa96f6c6902298602999853a4d0491c --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,329 @@ +{ + "layout_id": 38, + "style_id": 60, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.140185168860847, + -4.3223084699410945, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000062/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..edd9ffd1ca651969098989c049bc3ae7a59c722a --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 39, + "style_id": 53, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0067797115306125, + -3.7097533863946506, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000063/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ee758c91731a3c9ce239af49345aded7deba7ba7 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,326 @@ +{ + "layout_id": 32, + "style_id": 30, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.292444812321706, + -3.4041051525183925, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000065/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0be75e59f80eed65143c094a82c99b70d8d9ea98 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,401 @@ +{ + "layout_id": 35, + "style_id": 21, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "blender_island_group": { + "cls": "Blender" + }, + "blender_island_group_auxiliary_island_group": { + "cls": "BlenderLid" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.8261054809443122, + -3.1311771080479276, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000066/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..755c1a09488a22a811f1d555a06e13dab534657f --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,362 @@ +{ + "layout_id": 31, + "style_id": 21, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1651416956590306, + -5.382295253443213, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000067/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c6c056b9180238f629cded2d538d2864e73cad7 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,368 @@ +{ + "layout_id": 50, + "style_id": 25, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_3.001_room": { + "cls": "Wall" + }, + "wall_main_3.001_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "cube_09_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "blender_main_group_1": { + "cls": "Blender" + }, + "blender_main_group_1_auxiliary_main_group_1": { + "cls": "BlenderLid" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_01_island_group_1": { + "cls": "Box" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_07_island_group_1": { + "cls": "Box" + }, + "cube_08_island_group_1": { + "cls": "Box" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_13_left_group_1_base": { + "cls": "Box" + }, + "stack_13_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_13_left_group_1_2": { + "cls": "Drawer" + }, + "stack_12_left_group_1_base": { + "cls": "Box" + }, + "stack_12_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_left_group_1_2": { + "cls": "Drawer" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "Drawer" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_3": { + "cls": "Drawer" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "Drawer" + }, + "cube_02_right_group_1": { + "cls": "Box" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.9741295518283484, + -0.8393804440284673, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707959135307359 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000068/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ba599636038d15c0506b8722d2be4b7905771a7 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,302 @@ +{ + "layout_id": 44, + "style_id": 53, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.085550740189816, + -4.183134810689815, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000069/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6fa9f191b64c3748dbc3eaaa4be4248b02a64c41 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,335 @@ +{ + "layout_id": 45, + "style_id": 24, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8760157150873855, + -2.8947813882878854, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000070/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d03f0c9ad9c120351a759d9b23783972748cc830 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,314 @@ +{ + "layout_id": 36, + "style_id": 58, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "blender_front_group_1": { + "cls": "Blender" + }, + "blender_front_group_1_auxiliary_front_group_1": { + "cls": "BlenderLid" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.3389759599574803, + -4.500364453679402, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000077/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..54902e3602736c3667d18d4d8ed84aa12e6b2a05 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,278 @@ +{ + "layout_id": 34, + "style_id": 38, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.115367248371522, + -4.041147082052957, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000080/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5a03e093ff4fcbcc829798d742cde1de5467bae2 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,407 @@ +{ + "layout_id": 22, + "style_id": 41, + "object_cfgs": [], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "blender_left_group": { + "cls": "Blender" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "blender_left_group_auxiliary_left_group": { + "cls": "BlenderLid" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8400566160174826, + -1.1227097919723141, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000081/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ff2773533cfc6cba3d9c356d6077d429ad4f547 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 28, + "style_id": 53, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "sink_main_group": { + "cls": "Sink" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_main_group": { + "cls": "Oven" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_3": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group": { + "cls": "HingeCabinet" + }, + "stovetop_island_group": { + "cls": "Stovetop" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "island_island_group": { + "cls": "Counter" + }, + "cube_island_group": { + "cls": "Box" + }, + "panel_cab_1_island_group_base": { + "cls": "Box" + }, + "panel_cab_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + }, + "stack_3_island_group_3": { + "cls": "Drawer" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "Drawer" + }, + "stack_4_island_group_2": { + "cls": "Drawer" + }, + "stack_4_island_group_3": { + "cls": "Drawer" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "blender_island_group": { + "cls": "Blender" + }, + "blender_island_group_auxiliary_island_group": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.760557762787553, + -1.6710230926911602, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000082/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1843d83a02f06da0a0a84c812211fbaa21277020 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,353 @@ +{ + "layout_id": 47, + "style_id": 42, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "box_05_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + "cls": "Drawer" + }, + "stack_01_front_group_1_base": { + "cls": "Box" + }, + "stack_01_front_group_1_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + }, + "blender_front_group_2": { + "cls": "Blender" + }, + "blender_front_group_2_auxiliary_front_group_2": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.339919639154741, + -3.377024947368626, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712237433597448 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000083/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dbd84be1f7bfe5dadbe1cfaa5c391826cfde614d --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,443 @@ +{ + "layout_id": 29, + "style_id": 56, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "blender_left_group": { + "cls": "Blender" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "blender_left_group_auxiliary_left_group": { + "cls": "BlenderLid" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.19178934420177293, + -3.3298613182047774, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000085/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9883fab05db26736054b9d62465182ef5153e841 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 39, + "style_id": 22, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_5_room": { + "cls": "Wall" + }, + "wall_front_5_backing_room": { + "cls": "Wall" + }, + "wall_right_5_room": { + "cls": "Wall" + }, + "wall_right_5_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_6_room": { + "cls": "Wall" + }, + "wall_front_6_backing_room": { + "cls": "Wall" + }, + "wall_front_7_room": { + "cls": "Wall" + }, + "wall_front_7_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_5_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "Drawer" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_3": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_5_main_group_1_base": { + "cls": "Box" + }, + "stack_5_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_1_2": { + "cls": "Drawer" + }, + "stack_6_main_group_1_base": { + "cls": "Box" + }, + "stack_6_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_main_group_1_2": { + "cls": "Drawer" + }, + "stack_7_main_group_1_base": { + "cls": "Box" + }, + "stack_7_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_island_group_1": { + "cls": "Stovetop" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + }, + "stack_5_island_group_2.001_base": { + "cls": "Box" + }, + "stack_5_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_6_island_group_2.001_base": { + "cls": "Box" + }, + "stack_6_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_6_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_7_island_group_2.001_base": { + "cls": "Box" + }, + "stack_7_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_7_island_group_2.001_2": { + "cls": "Drawer" + }, + "stack_8_island_group_2.001_base": { + "cls": "Box" + }, + "stack_8_island_group_2.001_1": { + "cls": "SingleCabinet" + }, + "stack_8_island_group_2.001_2": { + "cls": "Drawer" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_base": { + "cls": "Box" + }, + "stack_5_front_group_1_1": { + "cls": "Drawer" + }, + "stack_5_front_group_1_2": { + "cls": "Drawer" + }, + "stack_5_front_group_1_3": { + "cls": "Drawer" + }, + "bottom_front_group_1_base": { + "cls": "Box" + }, + "bottom_front_group_1_1": { + "cls": "Drawer" + }, + "oven_front_group_1": { + "cls": "Oven" + }, + "oven_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "microwave_front_group_1": { + "cls": "Microwave" + }, + "microwave_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "top_front_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.136209792861909, + -3.7140964704534203, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000086/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b36326d0ca7fd8d08a7299dd89fbf61ed267dc1d --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,347 @@ +{ + "layout_id": 57, + "style_id": 39, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -2.220684345985334, + -4.461106735379096, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000088/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..13d96e245fba2858194738f8de60e0ea6951fb04 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,401 @@ +{ + "layout_id": 35, + "style_id": 14, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "blender_island_group": { + "cls": "Blender" + }, + "blender_island_group_auxiliary_island_group": { + "cls": "BlenderLid" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.8247634311685241, + -2.9967878769667724, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000089/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef307760bdf4039b75e537212270733cd24b3537 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,302 @@ +{ + "layout_id": 44, + "style_id": 21, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "micro_cab_left_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.0987421450012445, + -4.482825542650123, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000090/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a66ebafc85f4b5f663c96f73a6500256f6882b32 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,281 @@ +{ + "layout_id": 37, + "style_id": 54, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "papertowel_left_group_1": { + "cls": "Accessory" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.494158539827847, + -2.1723839563299827, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000091/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4fef2d2f0b6f0cae1ffc5b01dd93ba15bc73900e --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,401 @@ +{ + "layout_id": 24, + "style_id": 25, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.384907331510152, + -1.6961229167449963, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000093/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..90addaf2c43774a937cac2689a48f4fd1f5e83bd --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,278 @@ +{ + "layout_id": 34, + "style_id": 22, + "object_cfgs": [], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "Drawer" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "Drawer" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_3": { + "cls": "Drawer" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "Drawer" + }, + "stack_4_left_group_1_2": { + "cls": "Drawer" + }, + "stack_4_left_group_1_3": { + "cls": "Drawer" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_left_group_1": { + "cls": "Toaster" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1047593664406055, + -4.2566311853007885, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000094/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..39f5df97ee6419c5a39d88cf7cac58a6432760d5 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,359 @@ +{ + "layout_id": 42, + "style_id": 58, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_right_group_1": { + "cls": "Oven" + }, + "oven_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "plant_left_group_1": { + "cls": "Accessory" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.463262204793611, + -4.8319404155346914, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000095/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c17499b45f613b2130d7a2539087c571633eae0 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,347 @@ +{ + "layout_id": 57, + "style_id": 18, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -2.2098286014802775, + -4.631128826860707, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000096/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4083207d73f7c7c944429d7b412aaf6de6844ce4 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,326 @@ +{ + "layout_id": 32, + "style_id": 40, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.3440585157622262, + -3.636247969102336, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000097/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..33e28da3a75b6f65f6248c2a319c59637e735be8 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,341 @@ +{ + "layout_id": 54, + "style_id": 56, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "blender_main_group_1": { + "cls": "Blender" + }, + "blender_main_group_1_auxiliary_main_group_1": { + "cls": "BlenderLid" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_6_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.754105490306717, + -0.9253908144929879, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000098/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f47c04d114a10aa479da7c7fa0aeb8ecbdab428 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,365 @@ +{ + "layout_id": 46, + "style_id": 49, + "object_cfgs": [], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "blender_front_group_1": { + "cls": "Blender" + }, + "blender_front_group_1_auxiliary_front_group_1": { + "cls": "BlenderLid" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.072308439787513, + -2.629649530064253, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000099/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..caded4b552c94d763f4e879656f60c360fea0ceb --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,335 @@ +{ + "layout_id": 45, + "style_id": 11, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "panelbox_2_island_group_1_base": { + "cls": "Box" + }, + "panelbox_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "panelbox_1_island_group_1_base": { + "cls": "Box" + }, + "panelbox_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "blender_island_group_1": { + "cls": "Blender" + }, + "blender_island_group_1_auxiliary_island_group_1": { + "cls": "BlenderLid" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8901313380815816, + -3.3291494040090877, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000101/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..85fc74102d30fe20f8e0760ffbc1dc026c8a7b3f --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,401 @@ +{ + "layout_id": 35, + "style_id": 26, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "blender_island_group": { + "cls": "Blender" + }, + "blender_island_group_auxiliary_island_group": { + "cls": "BlenderLid" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.8210952033269796, + -3.1236244174467083, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000102/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d65f5da7d042e5401d60e3bf7ad8678f179cbf4f --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,362 @@ +{ + "layout_id": 26, + "style_id": 35, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "blender_main_group": { + "cls": "Blender" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "blender_main_group_auxiliary_main_group": { + "cls": "BlenderLid" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.0380520430933657, + -0.8391042579687252, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000103/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ca332e07f159bda64d61c35d5c0113ac5219d01 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,374 @@ +{ + "layout_id": 16, + "style_id": 19, + "object_cfgs": [], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "blender_right_group_1": { + "cls": "Blender" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "blender_right_group_1_auxiliary_right_group_1": { + "cls": "BlenderLid" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.2064794232817593, + -4.815758769518221, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000104/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000104/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e8a222ac9f96b1e1178b9cf4980652788e690638 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000104/ep_meta.json @@ -0,0 +1,347 @@ +{ + "layout_id": 19, + "style_id": 47, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "blender_right_group_1": { + "cls": "Blender" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "blender_right_group_1_auxiliary_right_group_1": { + "cls": "BlenderLid" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.3149379894396165, + -1.991248458347738, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000105/ep_meta.json b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000105/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e73b0dd185dde1784ce00d55b9cf45c5a61a0046 --- /dev/null +++ b/pretrain/atomic/OpenBlenderLid/20250822/lerobot/extras/episode_000105/ep_meta.json @@ -0,0 +1,320 @@ +{ + "layout_id": 14, + "style_id": 54, + "object_cfgs": [], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "window_group_room": { + "cls": "Window" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "stack_4_main_group_1_3": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_left_group_1": { + "cls": "Counter" + }, + "fridge_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1.002_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_1_left_group_1": { + "cls": "Box" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "blender_left_group_1": { + "cls": "Blender" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "blender_left_group_1_auxiliary_left_group_1": { + "cls": "BlenderLid" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "counter_1_island_group_1": { + "cls": "Counter" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Open the blender by taking off the lid and placing it on the counter.", + "fixture_refs": {}, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7894892192281349, + -2.1108541575049284, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/dataset_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e641b07aae60782859ad8188e32f390ba2299471 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/dataset_meta.json @@ -0,0 +1,392 @@ +{ + "date": "8-19-2025", + "env": "PickPlaceMicrowaveToCounter", + "env_args": { + "type": 1, + "env_name": "PickPlaceMicrowaveToCounter", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "PickPlaceMicrowaveToCounter", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "clutter_mode": 0, + "translucent_robot": false, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + } + }, + "env_info": { + "env_name": "PickPlaceMicrowaveToCounter", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "clutter_mode": 0, + "translucent_robot": true, + "layout_and_style_ids": null, + "controller_configs": { + "type": "HYBRID_MOBILE_BASE", + "composite_controller_specific_configs": { + "left_offset": [ + 0.0, + 0.0, + 0.0 + ], + "right_offset": [ + -0.15, + 0.0, + 0.35 + ], + "left2arm_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2arm_transform": [ + [ + 0, + 0.7071068, + 0.7071068, + 0 + ], + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 0.7071068, + -0.7071068, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "left2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "right2finger_transform": [ + [ + 1, + 0, + 0, + 0 + ], + [ + 0, + 1, + 0, + 0 + ], + [ + 0, + 0, + 1, + 0 + ], + [ + 0, + 0, + 0, + 1 + ] + ], + "body_part_ordering": [ + "right", + "right_gripper", + "base", + "torso" + ] + }, + "body_parts": { + "right": { + "type": "OSC_POSE", + "input_max": 1, + "input_min": -1, + "output_max": [ + 0.05, + 0.05, + 0.05, + 0.5, + 0.5, + 0.5 + ], + "output_min": [ + -0.05, + -0.05, + -0.05, + -0.5, + -0.5, + -0.5 + ], + "kp": 150, + "damping_ratio": 1, + "impedance_mode": "fixed", + "kp_limits": [ + 0, + 300 + ], + "damping_ratio_limits": [ + 0, + 10 + ], + "position_limits": null, + "orientation_limits": null, + "uncouple_pos_ori": true, + "input_type": "delta", + "input_ref_frame": "base", + "interpolation": null, + "ramp_ratio": 0.2, + "gripper": { + "type": "GRIP" + } + }, + "torso": { + "type": "JOINT_POSITION", + "interpolation": "null", + "kp": 2000 + }, + "base": { + "type": "JOINT_VELOCITY", + "interpolation": "null" + } + } + } + }, + "mujoco_version": "3.3.1", + "robocasa_version": "0.5.1", + "robosuite_version": "1.5.2", + "time": "7:49:16", + "total": 38729 +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000000/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a0f370f4922d90647b8bdb2fc1f41accd143cee --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 27, + "style_id": 40, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.07337464565538579, + 0.012427838471776323, + -0.191713013819385 + ], + "size": [ + 0.31884461129966335, + 0.3336744440562758 + ], + "height": 0.4079961979862752, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_3/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.6643301243791433, + 0.65 + ], + "offset": [ + 0.4278349378104285, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.0864876, + 0.124099272, + 0.0324864 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick009/model.xml" + }, + "reset_region": { + "size": [ + 1.6643301243791433, + 0.65 + ], + "offset": [ + 0.4278349378104285, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Pick the potato from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group", + "counter": "counter_1_main_group", + "distr_counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.06926786211098, + -0.9283429156365615, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000001/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5fe31201464cb168726494dbf0dfc24906e326a6 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 38, + "style_id": 28, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.08010752580350822, + 0.019043812269774682, + -0.152609920992332 + ], + "size": [ + 0.40342725847059824, + 0.375708704838823 + ], + "height": 0.31623474311388466, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_2/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.23310807345, + 0.23310807345, + 0.023453234437499998 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 1.629925166500994, + 0.65 + ], + "offset": [ + 1.1140374167495033, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.29065548, + 0.11315986, + 0.04336968 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube_tray", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "ice_cube_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray002/model.xml" + }, + "reset_region": { + "size": [ + 1.629925166500994, + 0.65 + ], + "offset": [ + 1.1140374167495033, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the onion from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_1_main_group_1", + "distr_counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.128723040217154, + -0.9437429756170932, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000002/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b74883210a4500d50c4a9a90617f184bfcd3313 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,619 @@ +{ + "layout_id": 29, + "style_id": 36, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml" + }, + "reset_region": { + "offset": [ + -0.0915872710370225, + 0.0021894529816959413, + -0.16148701607602675 + ], + "size": [ + 0.33378309738942086, + 0.24720263046298316 + ], + "height": 0.32401369832620674, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.07811054999999999, + 0.07811058599999998, + 0.15108616049999998 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "all" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_14/model.xml" + }, + "reset_region": { + "size": [ + 2.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "oven_main_group": { + "cls": "Oven" + }, + "oven_housing_main_group": { + "cls": "HousingCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "fridge_main_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "panel_stack_main_group_base": { + "cls": "Box" + }, + "panel_stack_main_group_1": { + "cls": "PanelCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "stovetop_left_group": { + "cls": "Stovetop" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "PanelCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "stack_5_left_group_base": { + "cls": "Box" + }, + "stack_5_left_group_1": { + "cls": "Drawer" + }, + "stack_5_left_group_2": { + "cls": "Drawer" + }, + "stack_5_left_group_3": { + "cls": "Drawer" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_box_1_island_group_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_3": { + "cls": "Drawer" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_island_group_base": { + "cls": "Box" + }, + "stack_4_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_base": { + "cls": "Box" + }, + "stack_5_island_group_1": { + "cls": "Drawer" + }, + "stack_5_island_group_2": { + "cls": "Drawer" + }, + "stack_5_island_group_3": { + "cls": "Drawer" + }, + "panel_cab_2_island_group_base": { + "cls": "Box" + }, + "panel_cab_2_island_group_1": { + "cls": "PanelCabinet" + }, + "box_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the eggplant from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group", + "counter": "counter_1_main_group", + "distr_counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.4972660556310361, + -1.0998070649162233, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000004/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6fede24f57eed682cbdb230062e7264b8eec069f --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 22, + "style_id": 22, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_front_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.069841467347648, + -0.029036920244731833, + -0.16941893781068557 + ], + "size": [ + 0.34635533719228195, + 0.2843515277270208 + ], + "height": 0.35235277660176445, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun002/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "microwave_front_group", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.6744382524900397, + 0.85 + ], + "offset": [ + -0.72178087375498, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "microwave_front_group", + "min_size": [ + 0.1276002, + 0.1276002, + 0.206605125 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jar", + "decoration", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jar", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/jar/Jar010/model.xml" + }, + "reset_region": { + "size": [ + 0.6744382524900397, + 0.85 + ], + "offset": [ + -0.72178087375498, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the hotdog bun from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_front_group", + "counter": "dining_dining_area_group_1", + "distr_counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.585288025031868, + -2.2721422325135414, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000008/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41e78c2779324738f7e3c2e7198ba1ff60ac1b52 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,466 @@ +{ + "layout_id": 52, + "style_id": 30, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_left_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.06152229631242964, + -0.004155083784169691, + -0.19877209360224013 + ], + "size": [ + 0.4039483397659413, + 0.32094587992739043 + ], + "height": 0.4026445312902539, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "egg", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_0/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7490000000000006, + 0.65 + ], + "offset": [ + -0.12999999999999967, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.07408379999999999, + 0.07426247999999999, + 0.18231372 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "paprika", + "spice" + ], + "groups": [ + "all" + ], + "cat": "paprika", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/paprika/Paprika001/model.xml" + }, + "reset_region": { + "size": [ + 0.7490000000000006, + 0.65 + ], + "offset": [ + -0.12999999999999967, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1.001_room": { + "cls": "Wall" + }, + "wall_front_1.001_backing_room": { + "cls": "Wall" + }, + "wall_front_2.002_room": { + "cls": "Wall" + }, + "wall_front_2.002_backing_room": { + "cls": "Wall" + }, + "wall_front_3.003_room": { + "cls": "Wall" + }, + "wall_front_3.003_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "cube_5_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_01_right_group_1_base": { + "cls": "Box" + }, + "stack_01_right_group_1_1": { + "cls": "Drawer" + }, + "stack_01_right_group_1_2": { + "cls": "Drawer" + }, + "stack_01_right_group_1_3": { + "cls": "Drawer" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "fridgebottomfreezer_left_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "cab_micro_left_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the egg from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_left_group_1", + "counter": "counter_1_left_group_1", + "distr_counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.7884997868600545, + -1.2407494620199364, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1414412336089432 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000011/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aaf353e33e4661cf313c505bebc3b455f17628ff --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 51, + "style_id": 55, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "offset": [ + -0.006505881498898969, + -0.012472219901466575, + -0.15754986421045405 + ], + "size": [ + 0.40646463156237866, + 0.2993684550377968 + ], + "height": 0.3379266210812201, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_1/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.794707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.05747576910560051, + 0.2983830713120845, + 0.13044025008318824 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ladle", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "ladle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_1/model.xml" + }, + "reset_region": { + "size": [ + 0.794707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the potato from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_3_main_group_1", + "distr_counter": "counter_3_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.202963205153114, + -0.8378860981818129, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000014/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0af2ca5f56b82285792c667acd144dcfced53f9 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 48, + "style_id": 49, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005147692477039112, + 0.013495296321316227, + -0.1479454202909003 + ], + "size": [ + 0.2688657705493946, + 0.33885853689603507 + ], + "height": 0.3067419058872784, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.1044614, + 0.650012 + ], + "offset": [ + 1.0863893, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.124456, + 0.112916, + 0.190716 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "flour_bag" + ], + "groups": [ + "all" + ], + "cat": "flour_bag", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/flour_bag/FlourBag003/model.xml" + }, + "reset_region": { + "size": [ + 1.1044614, + 0.650012 + ], + "offset": [ + 1.0863893, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the chicken drumstick from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_3_right_group_1", + "distr_counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4583792191564537, + -5.352229563100706, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000015/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b12d6e98af65161537e6fe39e23f3b89acb4da83 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,575 @@ +{ + "layout_id": 56, + "style_id": 25, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.08638706334437687, + -0.033523597948505984, + -0.16308867408954242 + ], + "size": [ + 0.359355672408551, + 0.28012324909211994 + ], + "height": 0.32371534222931797, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_8_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.147992, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_8_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.1362503415, + 0.1622017635, + 0.0230092905 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "digital_scale", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "digital_scale", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/digital_scale/DigitalScale002/model.xml" + }, + "reset_region": { + "size": [ + 1.147992, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_13_island_group_2_base": { + "cls": "Box" + }, + "stack_13_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_04_island_group_2_base": { + "cls": "Box" + }, + "stack_04_island_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_12_island_group_2_base": { + "cls": "Box" + }, + "stack_12_island_group_2_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_3_main_group_1": { + "cls": "OpenCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "stack_11_main_group_1_base": { + "cls": "Box" + }, + "stack_11_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "Drawer" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_3": { + "cls": "Drawer" + }, + "stack_08_main_group_1_base": { + "cls": "Box" + }, + "stack_08_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_main_group_1_base": { + "cls": "Box" + }, + "stack_07_main_group_1_1": { + "cls": "Drawer" + }, + "stack_07_main_group_1_2": { + "cls": "Drawer" + }, + "stack_07_main_group_1_3": { + "cls": "Drawer" + }, + "cube_8_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_9_right_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_8_right_group_1": { + "cls": "Counter" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "Drawer" + }, + "stack_6_right_group_1_2": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_11_right_group_1": { + "cls": "Box" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "cube_12_right_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the cheese from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_8_right_group_1", + "distr_counter": "counter_8_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.672836174572247, + -3.5534334192047905, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000018/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..699b5f6f473789f7e5fa218609cf01288c3c0e62 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,580 @@ +{ + "layout_id": 24, + "style_id": 23, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.07908312453162634, + 0.015137534530752464, + -0.18434128887483214 + ], + "size": [ + 0.30951738357214487, + 0.3081049751555467 + ], + "height": 0.351834652298867, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group", + "min_size": [ + 0.2566317107223312, + 0.2543053154683122, + 0.07540958341449114 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.559722295888907, + 1.95 + ], + "offset": [ + -1.1201388520555464, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group", + "min_size": [ + 0.0996603576661762, + 0.21908139565469228, + 0.07186802448511127 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_0/model.xml" + }, + "reset_region": { + "size": [ + 1.559722295888907, + 1.95 + ], + "offset": [ + -1.1201388520555464, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "Drawer" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_4": { + "cls": "Drawer" + }, + "stack_3_main_group_5": { + "cls": "Drawer" + }, + "stack_3_main_group_6": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "Drawer" + }, + "stack_5_main_group_2": { + "cls": "Drawer" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "Drawer" + }, + "stack_6_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_base": { + "cls": "Box" + }, + "stack_7_main_group_1": { + "cls": "Drawer" + }, + "stack_7_main_group_2": { + "cls": "Drawer" + }, + "stack_7_main_group_3": { + "cls": "Drawer" + }, + "wall_stack_main_group_base": { + "cls": "Box" + }, + "wall_stack_main_group_1": { + "cls": "HingeCabinet" + }, + "wall_stack_main_group_2": { + "cls": "HingeCabinet" + }, + "hood_main_group": { + "cls": "Hood" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "SingleCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "fridge_top_cabinet_right_group": { + "cls": "HingeCabinet" + }, + "sink_1_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "box_island_group_1": { + "cls": "Box" + }, + "panel_box_1_island_group_1_base": { + "cls": "Box" + }, + "panel_box_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the steak from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_right_group", + "counter": "island_island_group_1", + "distr_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.3593143351409696, + -3.1754341791383207, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000024/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e00d7760a5ffe04179fb969831c12db34e86325 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,517 @@ +{ + "layout_id": 30, + "style_id": 35, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_left_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.07867035693848269, + -0.0027137561555638234, + -0.1621421195471264 + ], + "size": [ + 0.4178628082650453, + 0.3023457928893496 + ], + "height": 0.30523683921179834, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun003/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "microwave_left_group", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "microwave_left_group", + "min_size": [ + 0.04814730989999997, + 0.04814730403499998, + 0.19765048435999993 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "drink", + "alcohol" + ], + "groups": [ + "all" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_18/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick the hotdog bun from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_left_group", + "counter": "counter_1_left_group", + "distr_counter": "counter_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8131327636315118, + -2.5376505414780985, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000025/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bde29131b63321efba85085a822974f9236e5aa2 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,524 @@ +{ + "layout_id": 19, + "style_id": 23, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_3", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.08013756619204802, + 0.015137534530752464, + -0.18679917272649657 + ], + "size": [ + 0.31364428201977346, + 0.3081049751555467 + ], + "height": 0.35652578099618526, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_3", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_3", + "min_size": [ + 0.05719011626240604, + 0.13750258354841272, + 0.048723098039999996 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "croissant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_10/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick the bell pepper from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_3", + "counter": "counter_1_right_group_1", + "distr_counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.988520751874883, + -0.8349597661749751, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000027/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d6d229a468edf666a93176c3f3a07aa3bf280da --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,525 @@ +{ + "layout_id": 19, + "style_id": 23, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_3", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.08013756619204802, + 0.015137534530752464, + -0.18679917272649657 + ], + "size": [ + 0.31364428201977346, + 0.3081049751555467 + ], + "height": 0.35652578099618526, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_3", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_3", + "min_size": [ + 0.08040939360000002, + 0.08081546320000002, + 0.05186704160000002 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_1/model.xml" + }, + "reset_region": { + "size": [ + 1.972, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_1_left_group_1_3": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_3": { + "cls": "Drawer" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "middle_1_left_group_1": { + "cls": "HingeCabinet" + }, + "middle_2_left_group_1": { + "cls": "HingeCabinet" + }, + "top_1_left_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_corner_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "paper_towel_right_group_1": { + "cls": "Accessory" + }, + "counter_corner_1_main_group_3": { + "cls": "Counter" + }, + "stove_main_group_3": { + "cls": "Stove" + }, + "fridge_1_main_group_3": { + "cls": "FridgeBottomFreezer" + }, + "fridge_1_housing_main_group_3": { + "cls": "HousingCabinet" + }, + "top_1_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_3": { + "cls": "OpenCabinet" + }, + "microwave_main_group_3": { + "cls": "Microwave" + }, + "cab_micro_main_group_3": { + "cls": "HingeCabinet" + }, + "cab_corner_main_group_3": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "box_dining_area_group": { + "cls": "Box" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_4": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_3": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick the fish from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_3", + "counter": "counter_1_right_group_1", + "distr_counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.1315677199406537, + -0.8740685888650007, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000028/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d772c32d6074753832b30e86dcd0420d904db4e --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,522 @@ +{ + "layout_id": 48, + "style_id": 28, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "offset": [ + -0.08010752580350822, + 0.019043812269774682, + -0.152609920992332 + ], + "size": [ + 0.40342725847059824, + 0.375708704838823 + ], + "height": 0.31623474311388466, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow003/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.23270280075, + 0.23270367960000002, + 0.0122388154875 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml" + }, + "reset_region": { + "size": [ + 1.1746465665009942, + 0.650012 + ], + "offset": [ + 1.0512967167495035, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.2566432, + 0.16957228000000002, + 0.10173730400000001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware030/model.xml" + }, + "reset_region": { + "size": [ + 1.1746465665009942, + 0.650012 + ], + "offset": [ + 1.0512967167495035, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "lightswitch_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_2_room": { + "cls": "WallAccessory" + }, + "lightswitch_3_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_right_group_1": { + "cls": "OpenCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_3_right_group_1": { + "cls": "Counter" + }, + "stack_04_right_group_1_base": { + "cls": "Box" + }, + "stack_04_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "Drawer" + }, + "stack_06_right_group_1_2": { + "cls": "Drawer" + }, + "stack_06_right_group_1_3": { + "cls": "Drawer" + }, + "stack_03_right_group_1_base": { + "cls": "Box" + }, + "stack_03_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_right_group_1_2": { + "cls": "Drawer" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "widestove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "Drawer" + }, + "stack_08_island_group_1_2": { + "cls": "Drawer" + }, + "stack_08_island_group_1_3": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the marshmallow from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_3_right_group_1", + "distr_counter": "counter_3_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.4735027601717885, + -5.383864071025011, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000032/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f35e7222ad503a6854889f9f676d207f67972bf --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 58, + "style_id": 50, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_left_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml" + }, + "reset_region": { + "offset": [ + -0.06311871883702735, + -0.004143536407979334, + -0.16217768356107554 + ], + "size": [ + 0.39650613433713966, + 0.3140232922187045 + ], + "height": 0.34059419153750087, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_19/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "island_2_island_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.911556, + 0.911783 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "island_2_island_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.10137259000000001, + 0.13517484000000002, + 0.29093232 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "spray", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "spray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray005/model.xml" + }, + "reset_region": { + "size": [ + 0.911556, + 0.911783 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the potato from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_left_group_1", + "counter": "island_2_island_group_1", + "distr_counter": "island_2_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0997028107287563, + -2.814487039626955, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000033/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9946ad5e63e20f474b96d4ed9cb3d0dc438f27d --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,550 @@ +{ + "layout_id": 16, + "style_id": 26, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.06478453841214396, + 0.013543793511303498, + -0.17289824279704694 + ], + "size": [ + 0.3971543138650188, + 0.30677377502574266 + ], + "height": 0.36442581430422016, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 0.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.15037848, + 0.150377922, + 0.21903074100000003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "jar", + "decoration", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "jar", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/jar/Jar011/model.xml" + }, + "reset_region": { + "size": [ + 0.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_4_room": { + "cls": "Wall" + }, + "wall_right_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "cab_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_main_group_1": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "sink_1_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_3": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_3": { + "cls": "Drawer" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "stack_5_right_group_1_3": { + "cls": "Drawer" + }, + "dishwasher_right_group_1": { + "cls": "Dishwasher" + }, + "panel_stack_right_group_1_base": { + "cls": "Box" + }, + "panel_stack_right_group_1_1": { + "cls": "PanelCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2": { + "cls": "Drawer" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick the garlic from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_1_main_group_1", + "distr_counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.8256780404592676, + -0.8751929757085566, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000037/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..05aee625eb1423105367d3f0de97b129c9448874 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,516 @@ +{ + "layout_id": 30, + "style_id": 42, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_left_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.07538395902873454, + 0.007718642389776528, + -0.1731098675946129 + ], + "size": [ + 0.3679636387689645, + 0.28157987199265655 + ], + "height": 0.3580210031325005, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "microwave_left_group", + "min_size": [ + 0.23125013257500002, + 0.23125020817500003, + 0.018714614625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "microwave_left_group", + "min_size": [ + 0.09208515799999997, + 0.09208515799999997, + 0.10109999199999996 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "coffee_cup", + "drink" + ], + "groups": [ + "all" + ], + "cat": "coffee_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_15/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick the shrimp from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_left_group", + "counter": "counter_1_left_group", + "distr_counter": "counter_1_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8281450215373442, + -2.570617076044221, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000048/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac1a846a814f9bf7843e30f102a871e84afc0c4c --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,585 @@ +{ + "layout_id": 22, + "style_id": 32, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_front_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.07968455426808113, + 0.020383485144178683, + -0.15975329689585296 + ], + "size": [ + 0.27444786707736657, + 0.2553602756731213 + ], + "height": 0.3388365338927893, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_2/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "microwave_front_group", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.6429980356914049, + 0.85 + ], + "offset": [ + -0.7375009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "microwave_front_group", + "min_size": [ + 0.05706042569999998, + 0.14107461809999997, + 0.05876966047499998 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "eggplant", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "eggplant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml" + }, + "reset_region": { + "size": [ + 0.6429980356914049, + 0.85 + ], + "offset": [ + -0.7375009821542975, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "floor_4_room": { + "cls": "Floor" + }, + "floor_4_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "oven_left_group": { + "cls": "Oven" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "stovetop_dining_area_group_1": { + "cls": "Stovetop" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_1_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_1_2": { + "cls": "Drawer" + }, + "dining_dining_area_group_2": { + "cls": "Counter" + }, + "stack_1_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_2_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2_2": { + "cls": "Drawer" + }, + "stack_3_dining_area_group_2_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_2_2": { + "cls": "Drawer" + }, + "bottom_front_group_base": { + "cls": "Box" + }, + "bottom_front_group_1": { + "cls": "Drawer" + }, + "middle_front_group": { + "cls": "HingeCabinet" + }, + "microwave_front_group": { + "cls": "Microwave" + }, + "microwave_housing_front_group": { + "cls": "HousingCabinet" + }, + "top_front_group": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the tomato from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_front_group", + "counter": "dining_dining_area_group_1", + "distr_counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.664585446626974, + -2.2341929931555713, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000049/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e750e3960aae506da2cf8d4eab341ce0fb648dff --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 31, + "style_id": 40, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.07337464565538579, + 0.013808709413084805, + -0.191713013819385 + ], + "size": [ + 0.31884461129966335, + 0.37074938228475085 + ], + "height": 0.4079961979862752, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.742312364379143, + 1.3 + ], + "offset": [ + 1.178825317810428, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.05840713366587696, + 0.1199999940887535, + 0.05755418774893327 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_1/model.xml" + }, + "reset_region": { + "size": [ + 1.742312364379143, + 1.3 + ], + "offset": [ + 1.178825317810428, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "fridgebottomfreezer_main_group_1": { + "cls": "FridgeBottomFreezer" + }, + "fridgebottomfreezer_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "stovetop_right_group_1": { + "cls": "Stovetop" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "hood_right_group_1": { + "cls": "Hood" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_4_right_group_1_base": { + "cls": "Box" + }, + "stack_4_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "PanelCabinet" + }, + "stack_5_right_group_1_base": { + "cls": "Box" + }, + "stack_5_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_right_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "papertowel_right_group_1": { + "cls": "Accessory" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group_1": { + "cls": "Sink" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "cube_4_island_group_1": { + "cls": "Box" + }, + "cube_5_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_1_base": { + "cls": "Box" + }, + "stack_5_island_group_1_1": { + "cls": "Drawer" + }, + "stack_5_island_group_1_2": { + "cls": "Drawer" + }, + "stack_5_island_group_1_3": { + "cls": "Drawer" + }, + "cube_6_island_group_1": { + "cls": "Box" + }, + "cube_7_island_group_1": { + "cls": "Box" + }, + "dishwasher_1_island_group_1": { + "cls": "Dishwasher" + } + }, + "gen_textures": {}, + "lang": "Pick the onion from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "island_island_group_1", + "distr_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.9777102270234193, + -1.133362917401427, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000053/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94f9f862c826d2d67e069fb13ba25aba0a5b2452 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 51, + "style_id": 30, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.06234259359659537, + -0.003739575405752732, + -0.2014223881836033 + ], + "size": [ + 0.40933431762948713, + 0.2888512919346514 + ], + "height": 0.40801312504079057, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.5344987060768136, + 0.65 + ], + "offset": [ + 0.8205516469615934, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.131274737, + 0.13076197200000003, + 0.12267713700000002 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pancake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pancake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes001/model.xml" + }, + "reset_region": { + "size": [ + 1.5344987060768136, + 0.65 + ], + "offset": [ + 0.8205516469615934, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "wallaccessory_05_room": { + "cls": "WallAccessory" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "wallaccessory_07_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_3_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_05_main_group_1_base": { + "cls": "Box" + }, + "stack_05_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_base": { + "cls": "Box" + }, + "stack_06_main_group_1_1": { + "cls": "Drawer" + }, + "stack_06_main_group_1_2": { + "cls": "Drawer" + }, + "stack_06_main_group_1_3": { + "cls": "Drawer" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "stack_09_island_group_1_base": { + "cls": "Box" + }, + "stack_09_island_group_1_1": { + "cls": "Drawer" + }, + "stack_09_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_1_3": { + "cls": "Drawer" + }, + "stack_11_island_group_1_base": { + "cls": "Box" + }, + "stack_11_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_1_2": { + "cls": "Drawer" + }, + "stack_10_island_group_1_base": { + "cls": "Box" + }, + "stack_10_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_10_island_group_1_2": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the hot dog from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_2_main_group_1", + "distr_counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.279651374848179, + -0.8438969120839211, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000056/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87e6e52b07d5c2447c80172521a29995c145d68a --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,538 @@ +{ + "layout_id": 26, + "style_id": 27, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.0005216328376732998, + 0.0121457666891846, + -0.14991802589477896 + ], + "size": [ + 0.2724506474900532, + 0.30497268320643156 + ], + "height": 0.3108317979657754, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.23125013257500002, + 0.23125020817500003, + 0.018714614625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "size": [ + 0.9, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.29065548, + 0.11315986, + 0.04336968 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "ice_cube_tray", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "ice_cube_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray002/model.xml" + }, + "reset_region": { + "size": [ + 1.78, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "Drawer" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_3": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "fridge_main_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_main_group": { + "cls": "HousingCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_4": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_main_group": { + "cls": "ToasterOven" + }, + "sink_1_front_group": { + "cls": "Sink" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_front_group": { + "cls": "Dishwasher" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "cab_1_front_group": { + "cls": "HingeCabinet" + }, + "counter_corner_right_group": { + "cls": "Counter" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "box_right_group": { + "cls": "Box" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_3_right_group_3": { + "cls": "Drawer" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_right_group": { + "cls": "CoffeeMachine" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "paper_towel_right_group": { + "cls": "Accessory" + }, + "island_island_group": { + "cls": "Counter" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "box_1_island_group": { + "cls": "Box" + }, + "box_2_island_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the sweet potato from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group", + "counter": "counter_1_main_group", + "distr_counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.208298504078896, + -0.8157411835593519, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000060/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51a6a8643307d68b11b65d538b285c020c54c755 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 58, + "style_id": 22, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_left_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.069841467347648, + -0.029036920244731833, + -0.16941893781068557 + ], + "size": [ + 0.34635533719228195, + 0.2843515277270208 + ], + "height": 0.35235277660176445, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "island_2_island_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.23270280075, + 0.23270367960000002, + 0.0122388154875 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml" + }, + "reset_region": { + "size": [ + 0.911556, + 0.911783 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "island_2_island_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.04820910818784264, + 0.04797472361147629, + 0.07149926069000001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml" + }, + "reset_region": { + "size": [ + 0.911556, + 0.911783 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "lightswitch_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_14_main_group_1": { + "cls": "Box" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "cube_15_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "fridgefrenchdoor_left_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "Drawer" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_07_island_group_1_3": { + "cls": "Drawer" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_08_island_group_1_base": { + "cls": "Box" + }, + "stack_08_island_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_16_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the fish from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_left_group_1", + "counter": "island_2_island_group_1", + "distr_counter": "island_2_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.0394742347953945, + -2.9359650442821494, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000064/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d8e55b632a7c3a6052a13d36a2b3a57ef29c0c58 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,501 @@ +{ + "layout_id": 11, + "style_id": 47, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.054192247258878515, + 0.013145995615866483, + -0.20521640827615367 + ], + "size": [ + 0.312114953582436, + 0.25547897124496777 + ], + "height": 0.42371746357321477, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bell_pepper", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "bell_pepper", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.23310807345, + 0.23310807345, + 0.023453234437499998 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.05983110359999998, + 0.059777203199999976, + 0.05999755379999998 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "candle", + "decoration" + ], + "groups": [ + "all" + ], + "cat": "candle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_0/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Pick the bell pepper from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group", + "counter": "counter_1_main_group", + "distr_counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.0790290834069682, + -0.8638588984629616, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000066/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..62ebdeea4db80fdfd05ea97e4a779d664884fa58 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,503 @@ +{ + "layout_id": 32, + "style_id": 54, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.06489777112194599, + -0.010215397425780023, + -0.1724398977887099 + ], + "size": [ + 0.39618053811004805, + 0.3221324740213354 + ], + "height": 0.3446502337682016, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "carrot", + "vegetable", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "food" + ], + "cat": "carrot", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.600025, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.14256, + 0.09448000000000001, + 0.05448 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tupperware", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "tupperware", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml" + }, + "reset_region": { + "size": [ + 0.600025, + 0.650008 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "widestove_right_group_1": { + "cls": "Stove" + }, + "widestove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "bottom_right_group_1_base": { + "cls": "Box" + }, + "bottom_right_group_1_1": { + "cls": "Drawer" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "coffee_machine_right_group_1": { + "cls": "CoffeeMachine" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "Drawer" + }, + "stack_1_island_group_1_2": { + "cls": "Drawer" + }, + "stack_1_island_group_1_3": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "Drawer" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_2_island_group_1_3": { + "cls": "Drawer" + }, + "papertowel_island_group_1": { + "cls": "Accessory" + }, + "plant_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the carrot from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_2_right_group_1", + "distr_counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 3.261053778270174, + -4.175535874003319, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000071/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3f681b98481b4319316a8feefd18b5107d49b5b --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 57, + "style_id": 19, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.09544418649608716, + -0.019290090845594854, + -0.17591249270193043 + ], + "size": [ + 0.34320416779111573, + 0.2575215985910084 + ], + "height": 0.366967808880722, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.24705742527000002, + 0.24545688741000002, + 0.02023132842 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.6734568734549254, + 0.65 + ], + "offset": [ + 1.0389135632725375, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.05656026095999997, + 0.05656026095999997, + 0.08549999999999995 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "size": [ + 0.6734568734549254, + 0.65 + ], + "offset": [ + 1.0389135632725375, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the corn from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_1_main_group_1", + "distr_counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.091610169781217, + -4.702404124200497, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000072/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43dcd83a1bbac7e47b6bc3bc8be5a42cc2c23071 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,492 @@ +{ + "layout_id": 36, + "style_id": 33, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.05763026933612102, + 0.02194816893599802, + -0.16753786267343299 + ], + "size": [ + 0.3837392911491846, + 0.30000112242509336 + ], + "height": 0.34435401562982487, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "squash", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "squash", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_15/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.23270280075, + 0.23270367960000002, + 0.0122388154875 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml" + }, + "reset_region": { + "size": [ + 1.05, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "broccoli", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "broccoli", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml" + }, + "reset_region": { + "size": [ + 1.05, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "papertowel_front_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_1_2": { + "cls": "Drawer" + }, + "plant_right_group_1": { + "cls": "Accessory" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Pick the squash from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_2_right_group_1", + "distr_counter": "counter_2_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.1348433939537568, + -1.5765068442120338, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000073/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f94975f615a93e271b53c600580590458fe2e478 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,517 @@ +{ + "layout_id": 30, + "style_id": 43, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_left_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.057362644721110974, + 0.018949835055598212, + -0.15348896596964093 + ], + "size": [ + 0.3628455607914186, + 0.25622305232786396 + ], + "height": 0.33417867703179815, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "egg", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_3/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "microwave_left_group", + "min_size": [ + 0.23310807345, + 0.23310807345, + 0.023453234437499998 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "microwave_left_group", + "min_size": [ + 0.06952096620000002, + 0.0695265864, + 0.2531386147500001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "water_bottle", + "drink" + ], + "groups": [ + "all" + ], + "cat": "water_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_21/model.xml" + }, + "reset_region": { + "size": [ + 2.4, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "ligh_switch_2_room": { + "cls": "WallAccessory" + }, + "light_switch_3_room": { + "cls": "WallAccessory" + }, + "light_switch_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "Drawer" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_1_left_group_3": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "Drawer" + }, + "stack_3_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_3": { + "cls": "Drawer" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "Drawer" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "stack_4_left_group_3": { + "cls": "Drawer" + }, + "fridge_left_group": { + "cls": "FridgeFrenchDoor" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "microwave_left_group": { + "cls": "Microwave" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "HingeCabinet" + }, + "cab_5_left_group": { + "cls": "HingeCabinet" + }, + "cab_6_left_group": { + "cls": "HingeCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "sink_right_group": { + "cls": "Sink" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "SingleCabinet" + }, + "dishwasher_right_group": { + "cls": "Dishwasher" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_right_group_base": { + "cls": "Box" + }, + "stack_3_right_group_1": { + "cls": "Drawer" + }, + "stack_3_right_group_2": { + "cls": "Drawer" + }, + "stack_4_right_group_base": { + "cls": "Box" + }, + "stack_4_right_group_1": { + "cls": "SingleCabinet" + }, + "box_right_group": { + "cls": "Box" + }, + "cab_1_right_group": { + "cls": "OpenCabinet" + }, + "cab_2_right_group": { + "cls": "OpenCabinet" + }, + "toaster_right_group": { + "cls": "Toaster" + }, + "dining_front_group": { + "cls": "Counter" + }, + "box_front_group": { + "cls": "Box" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "Drawer" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_3": { + "cls": "Drawer" + }, + "stack_2_front_group_4": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick the egg from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_left_group", + "counter": "counter_2_left_group", + "distr_counter": "counter_2_left_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.8868722302062173, + -2.2879516909832422, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000074/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc72bfa36f66c304173c1d02b5a25f34fbe47e99 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,594 @@ +{ + "layout_id": 49, + "style_id": 24, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.0690789315408249, + -0.0075074789248701645, + -0.13324593714896618 + ], + "size": [ + 0.40890811418380146, + 0.3094311464110352 + ], + "height": 0.2585555239986759, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.486196, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.28189456799999996, + 0.21749480399999999, + 0.094138764 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "colander", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "colander", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/colander/Colander003/model.xml" + }, + "reset_region": { + "size": [ + 2.486196, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_main_4_room": { + "cls": "Wall" + }, + "wall_main_4_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_7_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "wallaccessory_11_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_4_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_13_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "Drawer" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_03_main_group_1_3": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_07_right_group_1_base": { + "cls": "Box" + }, + "stack_07_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_07_right_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "fridgefrenchdoor_left_group_2": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_left_group_2": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_2": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "counter_5_front_group_1": { + "cls": "Counter" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_base": { + "cls": "Box" + }, + "stack_13_front_group_1_1": { + "cls": "Drawer" + }, + "stack_13_front_group_1_2": { + "cls": "Drawer" + }, + "stack_13_front_group_1_3": { + "cls": "Drawer" + }, + "stack_14_front_group_1_base": { + "cls": "Box" + }, + "stack_14_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_14_front_group_1_2": { + "cls": "Drawer" + }, + "stack_15_front_group_1_base": { + "cls": "Box" + }, + "stack_15_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_15_front_group_1_2": { + "cls": "Drawer" + }, + "stack_11_front_group_1_base": { + "cls": "Box" + }, + "stack_11_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_11_front_group_1_2": { + "cls": "Drawer" + }, + "cube_4_front_group_1": { + "cls": "Box" + }, + "cube_11_front_group_1": { + "cls": "Box" + }, + "cube_5_front_group_1": { + "cls": "Box" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "stack_10_dining_area_group_base": { + "cls": "Box" + }, + "stack_10_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_10_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_09_dining_area_group_base": { + "cls": "Box" + }, + "stack_09_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_09_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_08_dining_area_group_base": { + "cls": "Box" + }, + "stack_08_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_08_dining_area_group_2": { + "cls": "Drawer" + }, + "cube_2_dining_area_group": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the tomato from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_2_main_group_1", + "distr_counter": "counter_2_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.559372204109734, + -1.1927539211472444, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000075/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f9975d60d782fb15cbbd482ccad66734baa60de1 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,537 @@ +{ + "layout_id": 27, + "style_id": 16, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "offset": [ + -0.086169661985042, + -0.032179416038614135, + -0.16369410255902853 + ], + "size": [ + 0.37868884710723305, + 0.30147956197607606 + ], + "height": 0.3265260281767839, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.24499104372000002, + 0.24499081394999997, + 0.02685923388 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.5303482098843442, + 0.65 + ], + "offset": [ + 0.49482589505782815, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.11961480026999996, + 0.12189832283999998, + 0.05081281112249998 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "sweets", + "pastry", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_4/model.xml" + }, + "reset_region": { + "size": [ + 1.5303482098843442, + 0.65 + ], + "offset": [ + 0.49482589505782815, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "window_group_3_room": { + "cls": "Window" + }, + "window_group_4_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_1_main_group": { + "cls": "Sink" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "SingleCabinet" + }, + "bottom_main_group_base": { + "cls": "Box" + }, + "bottom_main_group_1": { + "cls": "Drawer" + }, + "middle_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "microwave_housing_main_group": { + "cls": "HousingCabinet" + }, + "top_main_group": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "SingleCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "Drawer" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_3": { + "cls": "Drawer" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "fridge_top_left_group": { + "cls": "HingeCabinet" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_front_group": { + "cls": "Counter" + }, + "stove_front_group": { + "cls": "Stove" + }, + "counter_2_front_group": { + "cls": "Counter" + }, + "counter_3_front_group": { + "cls": "Counter" + }, + "counter_4_front_group": { + "cls": "Counter" + }, + "counter_5_front_group": { + "cls": "Counter" + }, + "stack_1_front_group_base": { + "cls": "Box" + }, + "stack_1_front_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_2": { + "cls": "Drawer" + }, + "stack_2_front_group_base": { + "cls": "Box" + }, + "stack_2_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2": { + "cls": "Drawer" + }, + "stack_3_front_group_base": { + "cls": "Box" + }, + "stack_3_front_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2": { + "cls": "Drawer" + }, + "box_1_front_group": { + "cls": "Box" + }, + "box_2_front_group": { + "cls": "Box" + }, + "box_3_front_group": { + "cls": "Box" + }, + "hood_front_group": { + "cls": "Hood" + } + }, + "gen_textures": {}, + "lang": "Pick the garlic from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group", + "counter": "counter_1_main_group", + "distr_counter": "counter_1_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.097484383562846, + -0.9237779190748415, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000076/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b0a625a77d395c784663fa5357aae02d35026ca --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,525 @@ +{ + "layout_id": 57, + "style_id": 51, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.09306696782098627, + 0.027938375760720578, + -0.1559222722792771 + ], + "size": [ + 0.29114606266692394, + 0.27406815588754946 + ], + "height": 0.34002365227170894, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "egg", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_10/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.23270280075, + 0.23270367960000002, + 0.0122388154875 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml" + }, + "reset_region": { + "size": [ + 0.7321268998027661, + 0.65 + ], + "offset": [ + 1.0095785500986167, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.05761994327999999, + 0.07254297791999997, + 0.05125164552 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7321268998027661, + 0.65 + ], + "offset": [ + 1.0095785500986167, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the egg from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_1_main_group_1", + "distr_counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.0987603514937174, + -4.827274767531185, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000078/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0e33315013ef572da0d73777c3b03115eb83869d --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,591 @@ +{ + "layout_id": 15, + "style_id": 21, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.09146871144542836, + 0.03854963778151615, + -0.159472300674424 + ], + "size": [ + 0.3680689232480825, + 0.2816993425872131 + ], + "height": 0.3079281316316854, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "egg", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "egg", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/egg/egg_4/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.09582112799999999, + 0.0784163495, + 0.044385525 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "turkey_slice" + ], + "groups": [ + "all" + ], + "cat": "turkey_slice", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turkey_slice/TurkeySlice006/model.xml" + }, + "reset_region": { + "size": [ + 0.8, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_4_room": { + "cls": "Wall" + }, + "wall_left_4_backing_room": { + "cls": "Wall" + }, + "wall_left_5_room": { + "cls": "Wall" + }, + "wall_left_5_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "floor_3_room": { + "cls": "Floor" + }, + "floor_3_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "fridge_1_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_main_group_1": { + "cls": "Oven" + }, + "oven_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "Drawer" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "stovetop_1_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "Drawer" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_front_group_1_2": { + "cls": "Drawer" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_base": { + "cls": "Box" + }, + "stack_3_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_1": { + "cls": "ToasterOven" + }, + "sink_island_group": { + "cls": "Sink" + }, + "island_island_group": { + "cls": "Counter" + }, + "panel_stack_island_group_base": { + "cls": "Box" + }, + "panel_stack_island_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_island_group": { + "cls": "Dishwasher" + }, + "box_island_group": { + "cls": "Box" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_island_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_2_island_group_3": { + "cls": "Drawer" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "PanelCabinet" + }, + "paper_towel_island_group": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick the egg from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_1_main_group_1", + "distr_counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.46981569961549047, + -0.5877594093915208, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000079/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ea4c0fb9700a5d32d0afe7db7edbcafd74a334f5 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,437 @@ +{ + "layout_id": 40, + "style_id": 11, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.05734180812563168, + -0.007843840680985661, + -0.16522270469192504 + ], + "size": [ + 0.4516546375684607, + 0.32836182920739365 + ], + "height": 0.3501929168899687, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "garlic", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "garlic", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.23270280075, + 0.23270367960000002, + 0.0122388154875 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml" + }, + "reset_region": { + "size": [ + 0.7749566980517522, + 0.65 + ], + "offset": [ + 0.8300216509741241, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.075759723, + 0.1426930235, + 0.051661035999999994 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun007/model.xml" + }, + "reset_region": { + "size": [ + 0.7749566980517522, + 0.65 + ], + "offset": [ + 0.8300216509741241, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the garlic from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_1_right_group_1", + "distr_counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.931850407685669, + -3.493686165851479, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000080/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc16b755f85e50f24ea2c26683d7a1d90d91e853 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,580 @@ +{ + "layout_id": 35, + "style_id": 53, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_left_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.08609895283055947, + 0.002480606008886735, + -0.17297589002008185 + ], + "size": [ + 0.44888642688244984, + 0.3555662288886925 + ], + "height": 0.36745436576953805, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + -0.8274999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "microwave_left_group_1", + "min_size": [ + 0.0428590073, + 0.11305835380000002, + 0.05232753230000001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sweet_potato", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "sweet_potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_2/model.xml" + }, + "reset_region": { + "size": [ + 1.105, + 0.65 + ], + "offset": [ + -0.8274999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "wall_main_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "Drawer" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_1_main_group_1_3": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "knifeblock_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "cube_2_right_group_1": { + "cls": "Box" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "Drawer" + }, + "stack_3_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_3": { + "cls": "Drawer" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_right_group_1": { + "cls": "Box" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "PanelCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "cube_3_right_group_1": { + "cls": "Box" + }, + "stovetop_left_group_1": { + "cls": "Stovetop" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "bottom_left_group_1_base": { + "cls": "Box" + }, + "bottom_left_group_1_1": { + "cls": "Drawer" + }, + "oven_left_group_1": { + "cls": "Oven" + }, + "oven_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "microwave_left_group_1": { + "cls": "Microwave" + }, + "microwave_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "top_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_2": { + "cls": "Drawer" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_left_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_2": { + "cls": "Drawer" + }, + "coffeemachine_left_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "counter_1_island_group": { + "cls": "Counter" + }, + "stack_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2": { + "cls": "Drawer" + }, + "stack_1_island_group_base": { + "cls": "Box" + }, + "stack_1_island_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_island_group_base": { + "cls": "Box" + }, + "stack_3_island_group_1": { + "cls": "SingleCabinet" + }, + "plant_island_group": { + "cls": "Accessory" + }, + "stack_2_dining_area_group_base": { + "cls": "Box" + }, + "stack_2_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_2_dining_area_group_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_dining_area_group_base": { + "cls": "Box" + }, + "stack_1_dining_area_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_dining_area_group_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_dining_area_group_2": { + "cls": "Drawer" + }, + "stool_3_stool_group_1": { + "cls": "Stool" + }, + "stool_2_stool_group_1": { + "cls": "Stool" + }, + "stool_1_stool_group_1": { + "cls": "Stool" + } + }, + "gen_textures": {}, + "lang": "Pick the corn from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_left_group_1", + "counter": "counter_1_left_group_1", + "distr_counter": "counter_1_left_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 0.9310262468258668, + -3.152649565409223, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000083/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51950e56f83a3bb68fb431ba550f163166198798 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,506 @@ +{ + "layout_id": 38, + "style_id": 34, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml" + }, + "reset_region": { + "offset": [ + -0.07969798436805174, + 0.020712181434374755, + -0.19051313885369148 + ], + "size": [ + 0.4319638926319297, + 0.3839552626938051 + ], + "height": 0.3712949738223025, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_4/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.23187298679999999, + 0.231873067125, + 0.014080967775000001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.623510034487567, + 0.65 + ], + "offset": [ + 1.1172449827562165, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.082699376, + 0.190864, + 0.06475840000000001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml" + }, + "reset_region": { + "size": [ + 1.623510034487567, + 0.65 + ], + "offset": [ + 1.1172449827562165, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.005_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.004_room": { + "cls": "WallAccessory" + }, + "wallaccessory.007_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "opencabinet_1_main_group_1": { + "cls": "OpenCabinet" + }, + "opencabinet_2_main_group_1": { + "cls": "OpenCabinet" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_1_base": { + "cls": "Box" + }, + "stack_4_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_main_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "stack_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "HingeCabinet" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "fridgesidebyside_left_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_left_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_left_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_4_left_group_1_base": { + "cls": "Box" + }, + "stack_4_left_group_1_1": { + "cls": "HingeCabinet" + }, + "knifeblock_left_group_1": { + "cls": "Accessory" + }, + "toaster_oven_left_group_1": { + "cls": "ToasterOven" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "cube_3_island_group_1": { + "cls": "Box" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_2": { + "cls": "Drawer" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "stack_4_island_group_1_base": { + "cls": "Box" + }, + "stack_4_island_group_1_1": { + "cls": "Drawer" + }, + "stack_4_island_group_1_2": { + "cls": "Drawer" + }, + "cube_2_island_group_1": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the cheese from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_1_main_group_1", + "distr_counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.319276354992167, + -0.9532120491400741, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000084/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..665ff642f1ae5d6e50f989c537ecd3ed17193133 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,528 @@ +{ + "layout_id": 47, + "style_id": 33, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.05763026933612102, + 0.02194816893599802, + -0.16753786267343299 + ], + "size": [ + 0.3837392911491846, + 0.30000112242509336 + ], + "height": 0.34435401562982487, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hotdog_bun", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "hotdog_bun", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun001/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_02_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.511926, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_02_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.031848425599999994, + 0.11617911679999998, + 0.15879855199999998 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cereal", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "cereal", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_10/model.xml" + }, + "reset_region": { + "size": [ + 0.511926, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "lightswitch_02_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_6.001_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "hingecabinet_5_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_right_group_1": { + "cls": "HingeCabinet" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_03_right_group_1": { + "cls": "Counter" + }, + "counter_corner_2_right_group_1": { + "cls": "Counter" + }, + "stack_05_right_group_1_base": { + "cls": "Box" + }, + "stack_05_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_right_group_1_2": { + "cls": "Drawer" + }, + "box_05_right_group_1": { + "cls": "Box" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "stack_06_right_group_1_base": { + "cls": "Box" + }, + "stack_06_right_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_06_right_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_right_group_1_base": { + "cls": "Box" + }, + "stack_08_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_08_right_group_1_2": { + "cls": "Drawer" + }, + "hingecabinet_1_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_front_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_05_front_group_1": { + "cls": "Counter" + }, + "stack_02_front_group_1_base": { + "cls": "Box" + }, + "stack_02_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_02_front_group_1_2": { + "cls": "Drawer" + }, + "stack_01_front_group_1_base": { + "cls": "Box" + }, + "stack_01_front_group_1_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_6_main_group_1": { + "cls": "HingeCabinet" + }, + "counter_02_main_group_1": { + "cls": "Counter" + }, + "counter_01_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "micro_cab_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "cube_main_group_1": { + "cls": "Box" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "stack_04_main_group_1_base": { + "cls": "Box" + }, + "stack_04_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_main_group_1_2": { + "cls": "Drawer" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "counter_04_front_group_2": { + "cls": "Counter" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "Drawer" + }, + "stack_10_front_group_2_2": { + "cls": "Drawer" + }, + "stack_10_front_group_2_3": { + "cls": "Drawer" + }, + "stack_10_front_group_2_4": { + "cls": "Drawer" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_front_group_2_2": { + "cls": "Drawer" + }, + "cube_front_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the hotdog bun from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_02_main_group_1", + "distr_counter": "counter_02_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 5.295522605040857, + -0.9391986889684162, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378857158503 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000086/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..06a0ca48e4193a1a37f449f98e8e4863170594aa --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,504 @@ +{ + "layout_id": 11, + "style_id": 34, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.08076062415962576, + 0.01864096329093727, + -0.19305331403840734 + ], + "size": [ + 0.4377234112003554, + 0.3455597364244246 + ], + "height": 0.3762455734732665, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.23316937559999998, + 0.233169455925, + 0.019775783475 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.027149190159279808, + 0.11703501625277146, + 0.05390286950999998 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml" + }, + "reset_region": { + "size": [ + 1.131, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_room": { + "cls": "Wall" + }, + "wall_main_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_left_2_backing_room": { + "cls": "Wall" + }, + "wall_left_3_room": { + "cls": "Wall" + }, + "wall_left_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "light_switch_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_1_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "Drawer" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_1_main_group_3": { + "cls": "Drawer" + }, + "stack_1_main_group_4": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "Drawer" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_3": { + "cls": "Drawer" + }, + "stack_4_main_group_4": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_5_main_group_2": { + "cls": "SingleCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "HingeCabinet" + }, + "counter_stack_main_group_base": { + "cls": "Box" + }, + "counter_stack_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_2": { + "cls": "SingleCabinet" + }, + "counter_stack_main_group_3": { + "cls": "HingeCabinet" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "sink_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "counter_left_group": { + "cls": "Counter" + }, + "panel_cab_left_group_base": { + "cls": "Box" + }, + "panel_cab_left_group_1": { + "cls": "PanelCabinet" + }, + "dishwasher_left_group": { + "cls": "Dishwasher" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "box_left_group": { + "cls": "Box" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group": { + "cls": "Accessory" + }, + "box_right_group": { + "cls": "Box" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "dining_dining_group": { + "cls": "Counter" + } + }, + "gen_textures": {}, + "lang": "Pick the marshmallow from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group", + "counter": "counter_2_main_group", + "distr_counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.24234641932943, + -0.8236906792951537, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000087/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..519b035a88aafeaaf8f05d5f418708a2c97dda2c --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,439 @@ +{ + "layout_id": 40, + "style_id": 25, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "offset": [ + -0.08753889085563522, + -0.030171238153655383, + -0.16526318974406964 + ], + "size": [ + 0.3641470813739983, + 0.2521109241829079 + ], + "height": 0.32803154679237556, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "corn", + "vegetable", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "corn", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_1/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.24709981284000002, + 0.24709756509000005, + 0.021416774287499996 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.720325, + 0.65 + ], + "offset": [ + 0.8573375000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.046719810000000014, + 0.22428135000000005, + 0.033552333000000004 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "baguette", + "bread_food", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "baguette", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/baguette/baguette_1/model.xml" + }, + "reset_region": { + "size": [ + 0.720325, + 0.65 + ], + "offset": [ + 0.8573375000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "box_1_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "Drawer" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "sink_right_group_1": { + "cls": "Sink" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "box_1_right_group_1": { + "cls": "Box" + }, + "stack_1_right_group_1_base": { + "cls": "Box" + }, + "stack_1_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_base": { + "cls": "Box" + }, + "stack_2_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_right_group_1": { + "cls": "Dishwasher" + }, + "box_2_right_group_1": { + "cls": "Box" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "fridgefrenchdoor_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the corn from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_1_right_group_1", + "distr_counter": "counter_1_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.8862383077084672, + -3.442394548517588, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000092/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f9668b7511bfba3d2071961747980901285a4b83 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,527 @@ +{ + "layout_id": 53, + "style_id": 24, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_right_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.0690789315408249, + -0.0075074789248701645, + -0.13324593714896618 + ], + "size": [ + 0.40890811418380146, + 0.3094311464110352 + ], + "height": 0.2585555239986759, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mushroom", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "mushroom", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_5_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.245914494345, + 0.24590248636500003, + 0.033029782155 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.599999, + 0.650035 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_5_right_group_1", + "sample_region_kwargs": { + "ref": "microwave_right_group_1", + "min_size": [ + 0.06578622, + 0.15680246, + 0.15320367000000001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "cleaner", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush007/model.xml" + }, + "reset_region": { + "size": [ + 0.599999, + 0.650035 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_4_room": { + "cls": "Wall" + }, + "wall_front_4_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_1_room": { + "cls": "WallAccessory" + }, + "wallaccessory_2_room": { + "cls": "WallAccessory" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "wallaccessory_5_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "window_group_2_room": { + "cls": "Window" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_1_room": { + "cls": "Stool" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_1_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_2_main_group_1_base": { + "cls": "Box" + }, + "stack_2_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "dining_dining_area_group_1": { + "cls": "Counter" + }, + "stack_3_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_3_dining_area_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_4_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_4_dining_area_group_1_1": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_2": { + "cls": "Drawer" + }, + "stack_4_dining_area_group_1_3": { + "cls": "Drawer" + }, + "stack_5_dining_area_group_1_base": { + "cls": "Box" + }, + "stack_5_dining_area_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_5_dining_area_group_1_2": { + "cls": "Drawer" + }, + "cube_6_dining_area_group_1": { + "cls": "Box" + }, + "cube_1_dining_area_group_1": { + "cls": "Box" + }, + "cube_4_right_group_1": { + "cls": "Box" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "counter_4_right_group_1": { + "cls": "Counter" + }, + "counter_5_right_group_1": { + "cls": "Counter" + }, + "counter_corner_1_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "micro_cab_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_right_group_1_base": { + "cls": "Box" + }, + "stack_6_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_6_right_group_1_2": { + "cls": "Drawer" + }, + "stack_7_right_group_1_base": { + "cls": "Box" + }, + "stack_7_right_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_7_right_group_1_2": { + "cls": "Drawer" + }, + "stack_8_right_group_1_base": { + "cls": "Box" + }, + "stack_8_right_group_1_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "hingecabinet_4_front_group_1": { + "cls": "HingeCabinet" + }, + "counter_3_front_group_1": { + "cls": "Counter" + }, + "stack_9_front_group_1_base": { + "cls": "Box" + }, + "stack_9_front_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "fridgefrenchdoor_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_2_front_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_front_group_1": { + "cls": "CoffeeMachine" + } + }, + "gen_textures": {}, + "lang": "Pick the mushroom from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_right_group_1", + "counter": "counter_5_right_group_1", + "distr_counter": "counter_5_right_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.85674047724732, + -3.595426012552676, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000100/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5080067cb91afd1e541b69a0d39f5bdb1cb2bde --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,613 @@ +{ + "layout_id": 20, + "style_id": 19, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.11580561294858574, + -0.01736108176103536, + -0.2134404911450089 + ], + "size": [ + 0.416421056919887, + 0.23176943873190756 + ], + "height": 0.44525427477527596, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "food" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.23310807345, + 0.23310807345, + 0.023453234437499998 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml" + }, + "reset_region": { + "size": [ + 1.27, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "microwave_main_group", + "min_size": [ + 0.05000000099999999, + 0.09999999899999998, + 0.14999999549999996 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cereal", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "cereal", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_1/model.xml" + }, + "reset_region": { + "size": [ + 1.312, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_backing_room": { + "cls": "Wall" + }, + "wall_front_2_room": { + "cls": "Wall" + }, + "wall_front_2_backing_room": { + "cls": "Wall" + }, + "wall_front_3_room": { + "cls": "Wall" + }, + "wall_front_3_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wall_accessory_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_2_room": { + "cls": "WallAccessory" + }, + "wall_accessory_3_room": { + "cls": "WallAccessory" + }, + "wall_accessory_4_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "counter_1_main_group": { + "cls": "Counter" + }, + "stove_main_group": { + "cls": "Stove" + }, + "counter_2_main_group": { + "cls": "Counter" + }, + "stack_1_main_group_base": { + "cls": "Box" + }, + "stack_1_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_1_main_group_2": { + "cls": "Drawer" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "box_main_group": { + "cls": "Box" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_main_group_2": { + "cls": "Drawer" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_2": { + "cls": "Drawer" + }, + "stack_5_main_group_base": { + "cls": "Box" + }, + "stack_5_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_6_main_group_base": { + "cls": "Box" + }, + "stack_6_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_main_group": { + "cls": "HingeCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "microwave_main_group": { + "cls": "Microwave" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "cab_5_main_group": { + "cls": "HingeCabinet" + }, + "cab_6_main_group": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "counter_corner_1_left_group": { + "cls": "Counter" + }, + "sink_1_left_group": { + "cls": "Sink" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "box_1_left_group": { + "cls": "Box" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group": { + "cls": "Dishwasher" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_2_left_group": { + "cls": "Box" + }, + "cab_1_left_group": { + "cls": "SingleCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "SingleCabinet" + }, + "cab_corner_left_group": { + "cls": "Box" + }, + "knife_block_left_group": { + "cls": "Accessory" + }, + "island_island_group_1": { + "cls": "Counter" + }, + "panel_stack_1_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_1_base": { + "cls": "Box" + }, + "stack_1_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_2_island_group_1_base": { + "cls": "Box" + }, + "stack_2_island_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_3_island_group_1_base": { + "cls": "Box" + }, + "stack_3_island_group_1_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_1_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1_1": { + "cls": "PanelCabinet" + }, + "plant_island_group_1": { + "cls": "Accessory" + }, + "counter_1_island_group_2": { + "cls": "Counter" + }, + "panel_stack_1_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_1_island_group_2_1": { + "cls": "PanelCabinet" + }, + "stack_1_island_group_2_base": { + "cls": "Box" + }, + "stack_1_island_group_2_1": { + "cls": "Drawer" + }, + "stack_1_island_group_2_2": { + "cls": "Drawer" + }, + "stack_2_island_group_2_base": { + "cls": "Box" + }, + "stack_2_island_group_2_1": { + "cls": "Drawer" + }, + "stack_2_island_group_2_2": { + "cls": "Drawer" + }, + "stack_3_island_group_2_base": { + "cls": "Box" + }, + "stack_3_island_group_2_1": { + "cls": "Drawer" + }, + "stack_3_island_group_2_2": { + "cls": "Drawer" + }, + "panel_stack_2_island_group_2_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_2_1": { + "cls": "PanelCabinet" + }, + "counter_1_front_group_1": { + "cls": "Counter" + }, + "fridge_1_front_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_front_group_1": { + "cls": "HousingCabinet" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "HingeCabinet" + }, + "box_front_group_1": { + "cls": "Box" + }, + "cab_1_front_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_1": { + "cls": "SingleCabinet" + }, + "cab_3_front_group_1": { + "cls": "SingleCabinet" + }, + "toaster_front_group_1": { + "cls": "Toaster" + }, + "counter_1_front_group_2": { + "cls": "Counter" + }, + "stack_1_front_group_2_base": { + "cls": "Box" + }, + "stack_1_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_2_front_group_2_base": { + "cls": "Box" + }, + "stack_2_front_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_3_front_group_2_base": { + "cls": "Box" + }, + "stack_3_front_group_2_1": { + "cls": "SingleCabinet" + }, + "cab_1_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_2_front_group_2": { + "cls": "HingeCabinet" + }, + "cab_3_front_group_2": { + "cls": "HingeCabinet" + }, + "toaster_oven_front_group_2": { + "cls": "ToasterOven" + } + }, + "gen_textures": {}, + "lang": "Pick the fish from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group", + "counter": "counter_1_main_group", + "distr_counter": "counter_2_main_group" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 2.4491304231756876, + -0.9059508742240591, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000107/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000107/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..037e149d9f5c9bc2b854758977df4aee4197337b --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000107/ep_meta.json @@ -0,0 +1,523 @@ +{ + "layout_id": 57, + "style_id": 40, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.07337464565538579, + 0.013808709413084805, + -0.191713013819385 + ], + "size": [ + 0.31884461129966335, + 0.37074938228475085 + ], + "height": 0.4079961979862752, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "food" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_4/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.245475224055, + 0.24547526901, + 0.01497314187 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.9298694043791433, + 0.65 + ], + "offset": [ + 0.9107072978104283, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.042266146000000004, + 0.042474887, + 0.162007027 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "turmeric", + "spice" + ], + "groups": [ + "all" + ], + "cat": "turmeric", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turmeric/Turmeric006/model.xml" + }, + "reset_region": { + "size": [ + 0.9298694043791433, + 0.65 + ], + "offset": [ + 0.9107072978104283, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "wallaccessory_3_room": { + "cls": "WallAccessory" + }, + "wallaccessory_4_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_3_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_4_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_01_main_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "SingleCabinet" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "cube_9_main_group_1": { + "cls": "Box" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_5_left_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_2_left_group_1": { + "cls": "SingleCabinet" + }, + "cube_4_left_group_1": { + "cls": "Box" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_04_left_group_1_base": { + "cls": "Box" + }, + "stack_04_left_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_05_left_group_1_base": { + "cls": "Box" + }, + "stack_05_left_group_1_1": { + "cls": "Drawer" + }, + "stack_05_left_group_1_2": { + "cls": "Drawer" + }, + "stack_05_left_group_1_3": { + "cls": "Drawer" + }, + "cube_10_left_group_1": { + "cls": "Box" + }, + "cube_11_left_group_1": { + "cls": "Box" + }, + "coffee_machine_left_group_1": { + "cls": "CoffeeMachine" + }, + "paper_towel_left_group_1": { + "cls": "Accessory" + }, + "island_1_island_group_1": { + "cls": "Counter" + }, + "island_2_island_group_1": { + "cls": "Counter" + }, + "island_3_island_group_1": { + "cls": "Counter" + }, + "stove_island_group_1": { + "cls": "Stove" + }, + "stove_hood_island_group_1": { + "cls": "Hood" + }, + "cube_1_island_group_1": { + "cls": "Box" + }, + "cube_2_island_group_1": { + "cls": "Box" + }, + "stack_07_island_group_1_base": { + "cls": "Box" + }, + "stack_07_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_07_island_group_1_2": { + "cls": "Drawer" + }, + "stack_06_island_group_1_base": { + "cls": "Box" + }, + "stack_06_island_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_06_island_group_1_2": { + "cls": "Drawer" + }, + "stack_09_island_group_2_base": { + "cls": "Box" + }, + "stack_09_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_09_island_group_2_2": { + "cls": "Drawer" + }, + "stack_08_island_group_2_base": { + "cls": "Box" + }, + "stack_08_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_08_island_group_2_2": { + "cls": "Drawer" + }, + "stack_10_island_group_2_base": { + "cls": "Box" + }, + "stack_10_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_10_island_group_2_2": { + "cls": "Drawer" + }, + "stack_11_island_group_2_base": { + "cls": "Box" + }, + "stack_11_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_11_island_group_2_2": { + "cls": "Drawer" + }, + "cube_5_island_group_2": { + "cls": "Box" + } + }, + "gen_textures": {}, + "lang": "Pick the cheese from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_1_main_group_1", + "distr_counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + -1.0590966888908444, + -4.7610482695327425, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000111/ep_meta.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000111/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f8fc25f52d2f2e51ea58322939b533af226cbc5e --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/extras/episode_000111/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 46, + "style_id": 35, + "object_cfgs": [ + { + "name": "obj_container", + "obj_groups": "container", + "placement": { + "fixture": "microwave_main_group_1", + "size": [ + 0.05, + 0.05 + ], + "ensure_object_boundary_in_range": false, + "try_to_place_in": "container" + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "offset": [ + -0.07763522066297633, + -0.0030152846172931402, + -0.16000867060571686 + ], + "size": [ + 0.4123646134194525, + 0.3359397698770551 + ], + "height": 0.30122056501164307, + "name": "tray" + } + }, + { + "name": "obj", + "obj_groups": "food", + "exclude_obj_groups": null, + "graspable": true, + "microwavable": true, + "placement": { + "size": [ + 0.01, + 0.01 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "obj_container", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "food" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + }, + { + "name": "container", + "obj_groups": "container", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.23270280075, + 0.23270367960000002, + 0.0122388154875 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "container" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml" + }, + "reset_region": { + "size": [ + 0.999707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "microwave_main_group_1", + "min_size": [ + 0.12597063, + 0.11664173, + 0.17123311000000002 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "flour_bag" + ], + "groups": [ + "all" + ], + "cat": "flour_bag", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/flour_bag/FlourBag006/model.xml" + }, + "reset_region": { + "size": [ + 0.999707, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_3_room": { + "cls": "Wall" + }, + "wall_right_3_backing_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_right_2_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "wallaccessory_06_room": { + "cls": "WallAccessory" + }, + "lightswitch_01_room": { + "cls": "WallAccessory" + }, + "wallaccessory_03_room": { + "cls": "WallAccessory" + }, + "wallaccessory_04_room": { + "cls": "WallAccessory" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "stool_3_room": { + "cls": "Stool" + }, + "stool_4_room": { + "cls": "Stool" + }, + "stool_5_room": { + "cls": "Stool" + }, + "stool_6_room": { + "cls": "Stool" + }, + "dining_dining_area_group": { + "cls": "Counter" + }, + "cube_1_dining_area_group": { + "cls": "Box" + }, + "cube_2_dining_area_group": { + "cls": "Box" + }, + "fridgefrenchdoor_main_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridgefrenchdoor_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "hingecabinet_02_main_group_1": { + "cls": "HingeCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_01_main_group_1": { + "cls": "HingeCabinet" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "stack_01_main_group_1_base": { + "cls": "Box" + }, + "stack_01_main_group_1_1": { + "cls": "Drawer" + }, + "stack_01_main_group_1_2": { + "cls": "Drawer" + }, + "stack_01_main_group_1_3": { + "cls": "Drawer" + }, + "stack_02_main_group_1_base": { + "cls": "Box" + }, + "stack_02_main_group_1_1": { + "cls": "Drawer" + }, + "stack_02_main_group_1_2": { + "cls": "Drawer" + }, + "stack_02_main_group_1_3": { + "cls": "Drawer" + }, + "stack_03_main_group_1_base": { + "cls": "Box" + }, + "stack_03_main_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_03_main_group_1_2": { + "cls": "Drawer" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "toaster_oven_main_group_1": { + "cls": "ToasterOven" + }, + "sink_front_group_1": { + "cls": "Sink" + }, + "counter_2_front_group_1": { + "cls": "Counter" + }, + "stack_05_front_group_1_base": { + "cls": "Box" + }, + "stack_05_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_05_front_group_1_2": { + "cls": "PanelCabinet" + }, + "stack_08_front_group_1_base": { + "cls": "Box" + }, + "stack_08_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_08_front_group_1_2": { + "cls": "Drawer" + }, + "stack_06_front_group_1_base": { + "cls": "Box" + }, + "stack_06_front_group_1_1": { + "cls": "SingleCabinet" + }, + "stack_04_front_group_1_base": { + "cls": "Box" + }, + "stack_04_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_04_front_group_1_2": { + "cls": "Drawer" + }, + "dishwasher_1_front_group_1": { + "cls": "Dishwasher" + }, + "stack_12_front_group_1_base": { + "cls": "Box" + }, + "stack_12_front_group_1_1": { + "cls": "HingeCabinet" + }, + "stack_12_front_group_1_2": { + "cls": "Drawer" + }, + "plant_front_group_1": { + "cls": "Accessory" + }, + "paper_towel_front_group_1": { + "cls": "Accessory" + }, + "cube_1_front_group_2": { + "cls": "Box" + }, + "stack_11_front_group_2_base": { + "cls": "Box" + }, + "stack_11_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_10_front_group_2_base": { + "cls": "Box" + }, + "stack_10_front_group_2_1": { + "cls": "HingeCabinet" + }, + "stack_09_front_group_2_base": { + "cls": "Box" + }, + "stack_09_front_group_2_1": { + "cls": "HingeCabinet" + }, + "cube_2_front_group_2": { + "cls": "Box" + }, + "stack_13_front_group_2_base": { + "cls": "Box" + }, + "stack_13_front_group_2_1": { + "cls": "SingleCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick the shrimp from the microwave and place it on plate located on the counter.", + "fixture_refs": { + "microwave": "microwave_main_group_1", + "counter": "counter_1_main_group_1", + "distr_counter": "counter_1_main_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 1.4834369211125666, + -1.1902780549944296, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/embodiment.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/embodiment.json @@ -0,0 +1,8 @@ +{ + "robot_name": "PandaOmron", + "robot_type": "PandaOmron", + "record_frequency": 20.0, + "body_controller_frequency": 20.0, + "hand_controller_frequency": 20.0, + "embodiment_tag": "robocasa_panda_omron" +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/episodes.jsonl b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58a1971772b610233d94b26fe3bfd1a4d9e9498d --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/episodes.jsonl @@ -0,0 +1,112 @@ +{"episode_index": 0, "tasks": ["Pick the potato from the microwave and place it on plate located on the counter."], "length": 358} +{"episode_index": 1, "tasks": ["Pick the onion from the microwave and place it on plate located on the counter."], "length": 414} +{"episode_index": 2, "tasks": ["Pick the eggplant from the microwave and place it on plate located on the counter."], "length": 301} +{"episode_index": 3, "tasks": ["Pick the mushroom from the microwave and place it on plate located on the counter."], "length": 466} +{"episode_index": 4, "tasks": ["Pick the hotdog bun from the microwave and place it on plate located on the counter."], "length": 215} +{"episode_index": 5, "tasks": ["Pick the chicken drumstick from the microwave and place it on plate located on the counter."], "length": 385} +{"episode_index": 6, "tasks": ["Pick the eggplant from the microwave and place it on plate located on the counter."], "length": 458} +{"episode_index": 7, "tasks": ["Pick the bell pepper from the microwave and place it on plate located on the counter."], "length": 249} +{"episode_index": 8, "tasks": ["Pick the egg from the microwave and place it on plate located on the counter."], "length": 248} +{"episode_index": 9, "tasks": ["Pick the marshmallow from the microwave and place it on plate located on the counter."], "length": 363} +{"episode_index": 10, "tasks": ["Pick the potato from the microwave and place it on plate located on the counter."], "length": 467} +{"episode_index": 11, "tasks": ["Pick the potato from the microwave and place it on plate located on the counter."], "length": 255} +{"episode_index": 12, "tasks": ["Pick the shrimp from the microwave and place it on plate located on the counter."], "length": 208} +{"episode_index": 13, "tasks": ["Pick the hot dog from the microwave and place it on plate located on the counter."], "length": 335} +{"episode_index": 14, "tasks": ["Pick the chicken drumstick from the microwave and place it on plate located on the counter."], "length": 451} +{"episode_index": 15, "tasks": ["Pick the cheese from the microwave and place it on plate located on the counter."], "length": 226} +{"episode_index": 16, "tasks": ["Pick the hotdog bun from the microwave and place it on plate located on the counter."], "length": 399} +{"episode_index": 17, "tasks": ["Pick the broccoli from the microwave and place it on plate located on the counter."], "length": 309} +{"episode_index": 18, "tasks": ["Pick the steak from the microwave and place it on plate located on the counter."], "length": 476} +{"episode_index": 19, "tasks": ["Pick the onion from the microwave and place it on plate located on the counter."], "length": 319} +{"episode_index": 20, "tasks": ["Pick the bell pepper from the microwave and place it on plate located on the counter."], "length": 443} +{"episode_index": 21, "tasks": ["Pick the cheese from the microwave and place it on plate located on the counter."], "length": 323} +{"episode_index": 22, "tasks": ["Pick the steak from the microwave and place it on plate located on the counter."], "length": 520} +{"episode_index": 23, "tasks": ["Pick the hotdog bun from the microwave and place it on plate located on the counter."], "length": 296} +{"episode_index": 24, "tasks": ["Pick the hotdog bun from the microwave and place it on plate located on the counter."], "length": 365} +{"episode_index": 25, "tasks": ["Pick the bell pepper from the microwave and place it on plate located on the counter."], "length": 391} +{"episode_index": 26, "tasks": ["Pick the mushroom from the microwave and place it on plate located on the counter."], "length": 454} +{"episode_index": 27, "tasks": ["Pick the fish from the microwave and place it on plate located on the counter."], "length": 259} +{"episode_index": 28, "tasks": ["Pick the marshmallow from the microwave and place it on plate located on the counter."], "length": 359} +{"episode_index": 29, "tasks": ["Pick the mushroom from the microwave and place it on plate located on the counter."], "length": 331} +{"episode_index": 30, "tasks": ["Pick the carrot from the microwave and place it on plate located on the counter."], "length": 446} +{"episode_index": 31, "tasks": ["Pick the squash from the microwave and place it on plate located on the counter."], "length": 327} +{"episode_index": 32, "tasks": ["Pick the potato from the microwave and place it on plate located on the counter."], "length": 337} +{"episode_index": 33, "tasks": ["Pick the garlic from the microwave and place it on plate located on the counter."], "length": 315} +{"episode_index": 34, "tasks": ["Pick the broccoli from the microwave and place it on plate located on the counter."], "length": 278} +{"episode_index": 35, "tasks": ["Pick the marshmallow from the microwave and place it on plate located on the counter."], "length": 371} +{"episode_index": 36, "tasks": ["Pick the garlic from the microwave and place it on plate located on the counter."], "length": 361} +{"episode_index": 37, "tasks": ["Pick the shrimp from the microwave and place it on plate located on the counter."], "length": 274} +{"episode_index": 38, "tasks": ["Pick the sweet potato from the microwave and place it on plate located on the counter."], "length": 182} +{"episode_index": 39, "tasks": ["Pick the chicken drumstick from the microwave and place it on plate located on the counter."], "length": 449} +{"episode_index": 40, "tasks": ["Pick the eggplant from the microwave and place it on plate located on the counter."], "length": 407} +{"episode_index": 41, "tasks": ["Pick the egg from the microwave and place it on plate located on the counter."], "length": 252} +{"episode_index": 42, "tasks": ["Pick the corn from the microwave and place it on plate located on the counter."], "length": 355} +{"episode_index": 43, "tasks": ["Pick the shrimp from the microwave and place it on plate located on the counter."], "length": 347} +{"episode_index": 44, "tasks": ["Pick the egg from the microwave and place it on plate located on the counter."], "length": 364} +{"episode_index": 45, "tasks": ["Pick the marshmallow from the microwave and place it on plate located on the counter."], "length": 347} +{"episode_index": 46, "tasks": ["Pick the bell pepper from the microwave and place it on plate located on the counter."], "length": 352} +{"episode_index": 47, "tasks": ["Pick the squash from the microwave and place it on plate located on the counter."], "length": 441} +{"episode_index": 48, "tasks": ["Pick the tomato from the microwave and place it on plate located on the counter."], "length": 289} +{"episode_index": 49, "tasks": ["Pick the onion from the microwave and place it on plate located on the counter."], "length": 359} +{"episode_index": 50, "tasks": ["Pick the potato from the microwave and place it on plate located on the counter."], "length": 414} +{"episode_index": 51, "tasks": ["Pick the cheese from the microwave and place it on plate located on the counter."], "length": 329} +{"episode_index": 52, "tasks": ["Pick the onion from the microwave and place it on plate located on the counter."], "length": 332} +{"episode_index": 53, "tasks": ["Pick the hot dog from the microwave and place it on plate located on the counter."], "length": 246} +{"episode_index": 54, "tasks": ["Pick the sweet potato from the microwave and place it on plate located on the counter."], "length": 306} +{"episode_index": 55, "tasks": ["Pick the chicken drumstick from the microwave and place it on plate located on the counter."], "length": 298} +{"episode_index": 56, "tasks": ["Pick the sweet potato from the microwave and place it on plate located on the counter."], "length": 288} +{"episode_index": 57, "tasks": ["Pick the steak from the microwave and place it on plate located on the counter."], "length": 360} +{"episode_index": 58, "tasks": ["Pick the shrimp from the microwave and place it on plate located on the counter."], "length": 258} +{"episode_index": 59, "tasks": ["Pick the broccoli from the microwave and place it on plate located on the counter."], "length": 265} +{"episode_index": 60, "tasks": ["Pick the fish from the microwave and place it on plate located on the counter."], "length": 308} +{"episode_index": 61, "tasks": ["Pick the kebab skewer from the microwave and place it on plate located on the counter."], "length": 492} +{"episode_index": 62, "tasks": ["Pick the sweet potato from the microwave and place it on plate located on the counter."], "length": 401} +{"episode_index": 63, "tasks": ["Pick the steak from the microwave and place it on plate located on the counter."], "length": 418} +{"episode_index": 64, "tasks": ["Pick the bell pepper from the microwave and place it on plate located on the counter."], "length": 273} +{"episode_index": 65, "tasks": ["Pick the kebab skewer from the microwave and place it on plate located on the counter."], "length": 407} +{"episode_index": 66, "tasks": ["Pick the carrot from the microwave and place it on plate located on the counter."], "length": 331} +{"episode_index": 67, "tasks": ["Pick the egg from the microwave and place it on plate located on the counter."], "length": 264} +{"episode_index": 68, "tasks": ["Pick the squash from the microwave and place it on plate located on the counter."], "length": 348} +{"episode_index": 69, "tasks": ["Pick the garlic from the microwave and place it on plate located on the counter."], "length": 242} +{"episode_index": 70, "tasks": ["Pick the potato from the microwave and place it on plate located on the counter."], "length": 362} +{"episode_index": 71, "tasks": ["Pick the corn from the microwave and place it on plate located on the counter."], "length": 375} +{"episode_index": 72, "tasks": ["Pick the squash from the microwave and place it on plate located on the counter."], "length": 283} +{"episode_index": 73, "tasks": ["Pick the egg from the microwave and place it on plate located on the counter."], "length": 375} +{"episode_index": 74, "tasks": ["Pick the tomato from the microwave and place it on plate located on the counter."], "length": 243} +{"episode_index": 75, "tasks": ["Pick the garlic from the microwave and place it on plate located on the counter."], "length": 265} +{"episode_index": 76, "tasks": ["Pick the egg from the microwave and place it on plate located on the counter."], "length": 427} +{"episode_index": 77, "tasks": ["Pick the chicken drumstick from the microwave and place it on plate located on the counter."], "length": 292} +{"episode_index": 78, "tasks": ["Pick the egg from the microwave and place it on plate located on the counter."], "length": 463} +{"episode_index": 79, "tasks": ["Pick the garlic from the microwave and place it on plate located on the counter."], "length": 355} +{"episode_index": 80, "tasks": ["Pick the corn from the microwave and place it on plate located on the counter."], "length": 251} +{"episode_index": 81, "tasks": ["Pick the garlic from the microwave and place it on plate located on the counter."], "length": 262} +{"episode_index": 82, "tasks": ["Pick the eggplant from the microwave and place it on plate located on the counter."], "length": 549} +{"episode_index": 83, "tasks": ["Pick the cheese from the microwave and place it on plate located on the counter."], "length": 327} +{"episode_index": 84, "tasks": ["Pick the hotdog bun from the microwave and place it on plate located on the counter."], "length": 259} +{"episode_index": 85, "tasks": ["Pick the marshmallow from the microwave and place it on plate located on the counter."], "length": 444} +{"episode_index": 86, "tasks": ["Pick the marshmallow from the microwave and place it on plate located on the counter."], "length": 286} +{"episode_index": 87, "tasks": ["Pick the corn from the microwave and place it on plate located on the counter."], "length": 305} +{"episode_index": 88, "tasks": ["Pick the steak from the microwave and place it on plate located on the counter."], "length": 344} +{"episode_index": 89, "tasks": ["Pick the garlic from the microwave and place it on plate located on the counter."], "length": 357} +{"episode_index": 90, "tasks": ["Pick the garlic from the microwave and place it on plate located on the counter."], "length": 497} +{"episode_index": 91, "tasks": ["Pick the bell pepper from the microwave and place it on plate located on the counter."], "length": 441} +{"episode_index": 92, "tasks": ["Pick the mushroom from the microwave and place it on plate located on the counter."], "length": 475} +{"episode_index": 93, "tasks": ["Pick the eggplant from the microwave and place it on plate located on the counter."], "length": 241} +{"episode_index": 94, "tasks": ["Pick the kebab skewer from the microwave and place it on plate located on the counter."], "length": 359} +{"episode_index": 95, "tasks": ["Pick the garlic from the microwave and place it on plate located on the counter."], "length": 392} +{"episode_index": 96, "tasks": ["Pick the shrimp from the microwave and place it on plate located on the counter."], "length": 385} +{"episode_index": 97, "tasks": ["Pick the carrot from the microwave and place it on plate located on the counter."], "length": 305} +{"episode_index": 98, "tasks": ["Pick the eggplant from the microwave and place it on plate located on the counter."], "length": 313} +{"episode_index": 99, "tasks": ["Pick the tomato from the microwave and place it on plate located on the counter."], "length": 505} +{"episode_index": 100, "tasks": ["Pick the fish from the microwave and place it on plate located on the counter."], "length": 325} +{"episode_index": 101, "tasks": ["Pick the egg from the microwave and place it on plate located on the counter."], "length": 350} +{"episode_index": 102, "tasks": ["Pick the kebab skewer from the microwave and place it on plate located on the counter."], "length": 377} +{"episode_index": 103, "tasks": ["Pick the garlic from the microwave and place it on plate located on the counter."], "length": 239} +{"episode_index": 104, "tasks": ["Pick the hot dog from the microwave and place it on plate located on the counter."], "length": 317} +{"episode_index": 105, "tasks": ["Pick the bell pepper from the microwave and place it on plate located on the counter."], "length": 345} +{"episode_index": 106, "tasks": ["Pick the corn from the microwave and place it on plate located on the counter."], "length": 348} +{"episode_index": 107, "tasks": ["Pick the cheese from the microwave and place it on plate located on the counter."], "length": 426} +{"episode_index": 108, "tasks": ["Pick the hotdog bun from the microwave and place it on plate located on the counter."], "length": 346} +{"episode_index": 109, "tasks": ["Pick the potato from the microwave and place it on plate located on the counter."], "length": 273} +{"episode_index": 110, "tasks": ["Pick the carrot from the microwave and place it on plate located on the counter."], "length": 253} +{"episode_index": 111, "tasks": ["Pick the shrimp from the microwave and place it on plate located on the counter."], "length": 317} diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/episodes_stats.jsonl b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad854447bed67d1e6f9164eb0ec00d4854190575 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,112 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5664144478592218]], [[0.548195779837814]], [[0.5306248875038296]]], "std": [[[0.25835171694377485]], [[0.25659634532522324]], [[0.2663156566575227]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3856446640912224]], [[0.36682861328125005]], [[0.35238312605315564]]], "std": [[[0.2679940014303582]], [[0.26039101812646676]], [[0.26207316606027903]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35341865629308367]], [[0.3293602462469363]], [[0.3135690582873774]]], "std": [[[0.24095218103789923]], [[0.2408640385560813]], [[0.24452309328626884]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [358]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [358]}, "observation.state": {"min": [2.973346892963621, -1.679162331561934, 0.6999972515412952, 0.0, 0.0, 0.647591233253479, 0.543942391872406, -0.013979611449797202, -0.01393058730309571, 0.27295933344586365, -0.9986383318901062, -0.1174275279045105, -0.3447738289833069, 0.0005113059305585921, 0.02055684089188831, -0.039923536200071566], "max": [4.074561542004884, -0.8055817367233894, 0.7005446602918781, 0.0, 0.0, 0.8391225337982178, 0.7619879245758057, 0.570543086384987, 0.10355031941953241, 0.7198347839458098, 0.9607210159301758, 0.05133369565010071, 0.35422641038894653, 0.08195170760154724, 0.03998060076385045, -0.020509719985378115], "mean": [3.5965004771135276, -1.0050947849579837, 0.700165079448716, 0.0, 0.0, 0.7052507114144011, 0.7062366411672624, 0.22397654425601363, 0.031131817502524063, 0.5999495848308872, -0.6376892662914105, -0.06268476114176505, -0.06646917302125034, 0.02988409659810307, 0.03611975517023991, -0.0294643137027433], "std": [0.5047455544392455, 0.25834874401046876, 0.00015270952169369706, 0.0, 0.0, 0.041098652299485484, 0.04649878326653784, 0.20252693949585523, 0.03492716118810032, 0.13618919109291908, 0.73300876090701, 0.03073782226137505, 0.21346226385138498, 0.017292255825505014, 0.0027780658330349927, 0.007056773104197055], "count": [358]}, "action": {"min": [-1.0, -0.3357142857142857, -0.6371428571428571, 0.0, -1.0, -1.0, -0.5285714285714286, -1.0, -0.15142857142857147, -0.37714285714285717, -0.2142857142857143, -1.0], "max": [1.0, 1.0, 0.5457142857142857, 0.0, 1.0, 0.9714285714285714, 0.75, 1.0, 0.18, 0.41428571428571437, 0.26285714285714284, 1.0], "mean": [0.0669193934557063, 0.1601755786113328, -0.00724660814046289, 0.0, -0.4301675977653631, -0.029768555466879468, 0.008379888268156431, 0.0016560255387070965, 0.0026256983240223464, 0.004828411811652034, 0.0005905826017557881, 0.2681564245810056], "std": [0.39644975059164395, 0.33914286144742695, 0.14662369207812878, 0.0, 0.9027490447697925, 0.4957466370035039, 0.16288013104590984, 0.4043000395417259, 0.03024720512391891, 0.09999140127195603, 0.05842549002086124, 0.9633753847571166], "count": [358]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.044692736119031906], "std": [0.20662839710712433], "count": [358]}, "next.done": {"min": [false], "max": [true], "mean": [0.002793296089385475], "std": [0.05277777549634409], "count": [358]}, "timestamp": {"min": [0.0], "max": [17.85], "mean": [8.924999999999999], "std": [5.167264750329713], "count": [358]}, "frame_index": {"min": [0], "max": [357], "mean": [178.5], "std": [103.34529500659427], "count": [358]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [358]}, "index": {"min": [0], "max": [357], "mean": [178.5], "std": [103.34529500659427], "count": [358]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [358]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44518936875287224]], [[0.41373312138576135]], [[0.4015111670400582]]], "std": [[[0.2757027251899295]], [[0.2718013529875066]], [[0.2760993373310561]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40226104377297794]], [[0.36609507721545653]], [[0.3496998027726716]]], "std": [[[0.20894707422022332]], [[0.215989439919137]], [[0.22372708787140788]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39781667193244485]], [[0.3590633814194623]], [[0.340757381663603]]], "std": [[[0.22660172396746647]], [[0.23301164672972655]], [[0.23973270235804145]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [414]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [414]}, "observation.state": {"min": [3.4271854045155954, -1.660837064318541, 0.6999863991432184, 0.0, 0.0, -0.9998321533203125, 0.0006041170563548803, -0.01295817352466555, -0.12953780360394607, 0.308614314103435, -0.9905341267585754, -0.0562555193901062, -0.5595260858535767, 2.7999905796605162e-05, 0.02054979570511367, -0.03988213330105966], "max": [4.372079266808481, -0.8198342704409419, 0.7001006537167597, 0.0, 0.0, 0.9999998807907104, 0.7269319891929626, 0.5586556339602201, 0.0072287062418938675, 0.6880644076468243, 0.9720187187194824, 0.03397512435913086, 0.4405227303504944, 0.07148731499910355, 0.03999192908159783, -0.020516764596694013], "mean": [3.8874924792544, -1.0142975068239122, 0.7000156082311292, 0.0, 0.0, 0.6074638984341553, 0.6194789099472165, 0.19847472386108916, -0.05411255627538143, 0.5825564943584067, -0.11184961222796048, -0.02011714684934432, -0.0004245778140814408, 0.019173630115898305, 0.035236595424039355, -0.03732862589412805], "std": [0.3159664211227853, 0.2338993208396439, 2.876771035653559e-05, 0.0, 0.0, 0.4539616792563393, 0.20286019801988447, 0.18937047522851091, 0.035763573821642525, 0.11827795146012111, 0.9198499847477735, 0.020469593810569293, 0.373932877583979, 0.018664469757075922, 0.002822768895540318, 0.001931910643203208], "count": [414]}, "action": {"min": [-0.7071428571428572, -1.0, -0.7085714285714285, 0.0, -1.0, -1.0, -0.3857142857142857, -0.7000000000000001, -0.14, -0.5, -0.08, -1.0], "max": [1.0, 0.5571428571428572, 1.0, 0.0, 1.0, 1.0, 0.8142857142857143, 1.0, 0.10571428571428572, 0.27714285714285714, 0.08, 1.0], "mean": [0.0894409937888199, -0.0015355417529330645, -0.00801932367149759, 0.0, -0.3961352657004831, -0.0360248447204969, -0.0006038647342995327, 0.03234989648033129, 0.0021808143547273973, -0.010510697032436156, -0.0009868875086266376, 0.3864734299516908], "std": [0.3134067844262145, 0.17862658470122184, 0.33454540180862946, 0.0, 0.9181921646738309, 0.4074583212054749, 0.16084479826928563, 0.36698937698711775, 0.02364448053505513, 0.11723929045503335, 0.02134564412990114, 0.9223005410067687], "count": [414]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03864734247326851], "std": [0.19275301694869995], "count": [414]}, "next.done": {"min": [false], "max": [true], "mean": [0.0024154589371980675], "std": [0.04908792616642892], "count": [414]}, "timestamp": {"min": [0.0], "max": [20.65], "mean": [10.325000000000001], "std": [5.975557854013855], "count": [414]}, "frame_index": {"min": [0], "max": [413], "mean": [206.5], "std": [119.5111570802771], "count": [414]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [414]}, "index": {"min": [358], "max": [771], "mean": [564.5], "std": [119.5111570802771], "count": [414]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [414]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5837006135828354]], [[0.56569888604856]], [[0.5541730753580729]]], "std": [[[0.24973077229098667]], [[0.26716953808257377]], [[0.2771567397101792]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4504824248669194]], [[0.4041613506242341]], [[0.37486074350394455]]], "std": [[[0.22549335963646405]], [[0.23012694635517036]], [[0.24537514178402506]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47057098747702203]], [[0.4192473006902957]], [[0.386807341930913]]], "std": [[[0.22660815615371716]], [[0.2396798179460839]], [[0.25934495838989985]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [301]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [301]}, "observation.state": {"min": [0.49679060082815135, -1.4760797560883445, 0.6999952998430339, 0.0, 0.0, 0.5327041149139404, 0.5717433094978333, 0.008728678151363578, -0.01720856581169028, 0.2962876606218511, -0.9885094165802002, -0.23677292466163635, -0.3295396566390991, 1.687402073002886e-05, 0.020574584226557027, -0.03983229095674257], "max": [2.1436226273447905, -0.835740823726919, 0.700490538299957, 0.0, 0.0, 0.8204325437545776, 0.8463014960289001, 0.54195425462426, 0.20976510039275087, 0.6279677827477813, 0.9651944637298584, 0.05912446975708008, 0.33256202936172485, 0.08923619240522385, 0.0403165735866323, -0.01703098970704204], "mean": [1.2148163779296697, -1.0606203967632772, 0.7002919638117064, 0.0, 0.0, 0.7259312186922345, 0.6771352075263115, 0.21384653892381786, 0.07931671115187812, 0.5393242755658801, -0.5041256665787428, -0.07195356126837556, -0.07929102143278946, 0.042003538196825375, 0.03613967294847831, -0.025832858555087056], "std": [0.7483897271388312, 0.18693141469131525, 0.0001569590845587493, 0.0, 0.0, 0.08455898023262373, 0.08579951876210834, 0.17508175698675962, 0.07395282752184097, 0.10189651398737519, 0.826446701387078, 0.055878354278357086, 0.2147195519587458, 0.01968761107344653, 0.0030890636597041762, 0.009241349613383142], "count": [301]}, "action": {"min": [-1.0, -1.0, -0.88, 0.0, -1.0, -1.0, -1.0, -0.9642857142857144, -0.04857142857142857, -0.3057142857142857, -0.20857142857142857, -1.0], "max": [1.0, 0.42142857142857143, 0.5885714285714285, 0.0, 1.0, 1.0, 0.9142857142857143, 1.0, 0.07142857142857142, 0.16285714285714287, 0.34, 1.0], "mean": [0.10875652586616043, -0.16497389653535832, 0.025135263407688648, 0.0, -0.43521594684385384, -0.038063597532036045, -0.011675367821547211, 0.009420977693402983, 0.0013194114855244422, -0.0006169909824394902, 0.0011580446131941194, 0.2823920265780731], "std": [0.35178049243948506, 0.34709994587820103, 0.1906818834070815, 0.0, 0.9003260962633503, 0.5672638990492177, 0.29472956488757146, 0.3920798242608426, 0.010527880945597347, 0.0726195841289029, 0.07920935346226889, 0.9592990896092496], "count": [301]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05315614491701126], "std": [0.22434476017951965], "count": [301]}, "next.done": {"min": [false], "max": [true], "mean": [0.0033222591362126247], "std": [0.05754321619830157], "count": [301]}, "timestamp": {"min": [0.0], "max": [15.0], "mean": [7.5], "std": [4.344536799245692], "count": [301]}, "frame_index": {"min": [0], "max": [300], "mean": [150.0], "std": [86.89073598491383], "count": [301]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [301]}, "index": {"min": [772], "max": [1072], "mean": [922.0], "std": [86.89073598491383], "count": [301]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [301]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5383229741115195]], [[0.49930694998946845]], [[0.45482870004691334]]], "std": [[[0.24542095792483568]], [[0.25478389240259125]], [[0.26749619349175335]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.501886666690602]], [[0.4696297691195619]], [[0.4438148241230086]]], "std": [[[0.23161514682644108]], [[0.22813582239745517]], [[0.2243985041455387]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5587690986184513]], [[0.5162784555472579]], [[0.4810958928126915]]], "std": [[[0.2175169689248383]], [[0.21461419734516193]], [[0.20877981745471433]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [466]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [466]}, "observation.state": {"min": [2.461645374697361, -4.423785297527681, 0.6999958540294492, 0.0, 0.0, -0.999998927116394, 0.0014726518420502543, 0.00553574645820909, -0.05669751992101846, 0.2798349855924738, -0.9884202480316162, -0.11807101964950562, -0.3569425046443939, 0.00045934462104924023, 0.020557515220528254, -0.04031666033661628], "max": [3.5132523659001267, -2.4837611429531123, 0.7002955938877616, 0.0, 0.0, 0.9997333884239197, 1.0, 0.47877876467696945, 0.10963861828247534, 0.682960419960086, 0.991025447845459, 0.20509472489356995, 0.19751153886318207, 0.14385223388671875, 0.040006604069313806, -0.020509043644956138], "mean": [3.1533428834076402, -3.5325187840911254, 0.7001541140385237, 0.0, 0.0, 0.04826472324574373, 0.8850066820077115, 0.17696773743948105, 0.01213228394623679, 0.581089008191794, -0.8739107109190568, -0.004078106403095016, -0.24583344976917357, 0.03721971675343142, 0.029342397022286693, -0.03612625647351723], "std": [0.3480182498657189, 0.7686511898428564, 8.290377654520795e-05, 0.0, 0.0, 0.4014764871099672, 0.23076035891249896, 0.17308850532556744, 0.045887364864110644, 0.11806318923160698, 0.3944733478575569, 0.08632607166508834, 0.09741190211372262, 0.04351502416807011, 0.006269414474909887, 0.002463779819757939], "count": [466]}, "action": {"min": [-1.0, -0.7000000000000001, -1.0, 0.0, -1.0, -1.0, -0.55, -1.0, -0.23714285714285716, -0.34285714285714286, -0.16, -1.0], "max": [1.0, 0.6571428571428571, 0.0, 0.0, 1.0, 1.0, 0.7285714285714285, 1.0, 0.10571428571428572, 0.2485714285714286, 0.28285714285714286, 1.0], "mean": [0.1562844880441447, 0.026732066217044773, -0.2192029429797672, 0.0, -0.2017167381974249, -0.01244635193133047, 0.000935009196811776, -0.004767014101778057, -0.003059472716125077, -0.001140404659717965, -0.0019742489270386265, 0.40772532188841204], "std": [0.3468607685313424, 0.16634643728702683, 0.34225830939961205, 0.0, 0.9794439021868439, 0.36797745538543647, 0.14338766261444652, 0.3160115516909065, 0.037101486909722585, 0.06662995451909093, 0.054449960015376914, 0.9131046281182593], "count": [466]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03433476388454437], "std": [0.18208758533000946], "count": [466]}, "next.done": {"min": [false], "max": [true], "mean": [0.002145922746781116], "std": [0.046274374791518934], "count": [466]}, "timestamp": {"min": [0.0], "max": [23.25], "mean": [11.625], "std": [6.726115149177867], "count": [466]}, "frame_index": {"min": [0], "max": [465], "mean": [232.5], "std": [134.52230298355735], "count": [466]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [466]}, "index": {"min": [1073], "max": [1538], "mean": [1305.5], "std": [134.52230298355735], "count": [466]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [466]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.027450980392156862]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5541593119303385]], [[0.5037851263308057]], [[0.45258298327876073]]], "std": [[[0.2287781917972658]], [[0.2339058435164784]], [[0.2389832217145964]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4288555573108149]], [[0.3318274242924709]], [[0.2806123184503293]]], "std": [[[0.20794611087606493]], [[0.21223883572719157]], [[0.2345827087581964]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5279490482105929]], [[0.41853418986002605]], [[0.3574855041503906]]], "std": [[[0.2183939099619183]], [[0.25537094317890746]], [[0.28134962633265503]]], "count": [100]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [215]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [215]}, "observation.state": {"min": [4.5852449167585725, -2.272176759344441, 0.6999938521648159, 0.0, 0.0, -0.7071243524551392, 0.7070891857147217, 0.08715429298555266, -0.6095215830086831, 0.3054834053286586, -0.9906158447265625, -0.07561591267585754, -0.2802310287952423, 0.00020860960648860782, 0.02051483690598992, -0.04036361177438181], "max": [4.585634411551721, -2.2720766549167473, 0.7000780603894043, 0.0, 0.0, -0.7066635489463806, 0.7075497508049011, 0.47073946888529594, 0.17369784268069033, 0.6077797693698614, 0.9957161545753479, 0.3360682725906372, 0.17822851240634918, 0.17015469074249268, 0.040038505280305066, -0.02055172338251969], "mean": [4.585518612798804, -2.272134169474741, 0.7000191120733783, 0.0, 0.0, -0.7068285512369733, 0.7073848774266798, 0.28226608449636975, -0.13531052042470154, 0.46950404866957157, -0.12041797693385635, 0.10954226785620978, -0.08412732062644737, 0.06467236941484031, 0.03825110611160385, -0.037463987426022], "std": [9.370649496065638e-05, 2.3400162291535574e-05, 2.605968208690239e-05, 0.0, 0.0, 9.761240190695177e-05, 9.75614166439913e-05, 0.11215021566082455, 0.2961287151097554, 0.0891771748692205, 0.949696164047188, 0.14022108341807193, 0.196480753050074, 0.0452840091580128, 0.002593338572917834, 0.002740580242389788], "count": [215]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7214285714285715, -0.19142857142857142, -0.2571428571428571, -0.4, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.5285714285714286, 0.18285714285714286, 0.16, 0.36, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.06511627906976744, -0.10551495016611301, -0.020863787375415298, -0.0035481727574750827, -0.0025514950166113026, -0.0006777408637873851, -0.16279069767441862], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5487540560273498, 0.6270666510428189, 0.22687056947783107, 0.05664682490602707, 0.06959385587740839, 0.12335122812461667, 0.9866606249114631], "count": [215]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07441860437393188], "std": [0.2624508738517761], "count": [215]}, "next.done": {"min": [false], "max": [true], "mean": [0.004651162790697674], "std": [0.06804064575966415], "count": [215]}, "timestamp": {"min": [0.0], "max": [10.7], "mean": [5.35], "std": [3.10322412983658], "count": [215]}, "frame_index": {"min": [0], "max": [214], "mean": [107.0], "std": [62.0644825967316], "count": [215]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [215]}, "index": {"min": [1539], "max": [1753], "mean": [1646.0], "std": [62.0644825967316], "count": [215]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [215]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.54074405744964]], [[0.5172270106895297]], [[0.5015854318656173]]], "std": [[[0.24758721298315442]], [[0.2626776974063347]], [[0.275483278764428]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4704854305491728]], [[0.44094709209367344]], [[0.4204622958314185]]], "std": [[[0.21574362391801946]], [[0.2151989011188471]], [[0.21392204047799832]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4749666951497396]], [[0.4443445404651118]], [[0.4214532518573836]]], "std": [[[0.20339083521316953]], [[0.20545574281471107]], [[0.20729920089750006]]], "count": [100]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [385]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [385]}, "observation.state": {"min": [2.8867544664894202, -1.6523667941095777, 0.6999946687951957, 0.0, 0.0, 0.69137042760849, 0.21531547605991364, -0.06813992881012454, -0.09096038852951249, 0.2608578516276979, -0.9737735390663147, -0.1034444272518158, -0.3969199061393738, 4.175215872237459e-05, 0.0205343724729402, -0.040355836940525615], "max": [4.182103132510638, -0.8324139439585124, 0.7003759993601147, 0.0, 0.0, 0.9765446186065674, 0.7225004434585571, 0.49663096239301363, 0.02171827053737907, 0.7436808634329365, 0.990512490272522, 0.05009916424751282, 0.3972164988517761, 0.05981496348977089, 0.040015410392032186, -0.018754661824410653], "mean": [3.5048604592842385, -1.0074972604566945, 0.7002202495331944, 0.0, 0.0, 0.7342139270398524, 0.6597757619696778, 0.1618819871353679, -0.030125527153743833, 0.5899290915820646, -0.282293507031032, -0.03031480285254392, -0.1348069319090286, 0.01644799207088117, 0.028046205852683324, -0.026405521585034793], "std": [0.5028007172960184, 0.2530485564975753, 0.00010898697138957903, 0.0, 0.0, 0.08201339336628435, 0.13747593896992885, 0.194948920509875, 0.03310210295933649, 0.13322188416133615, 0.907128489476412, 0.04142335390918344, 0.2758482597206096, 0.016052698518201073, 0.007833130358687062, 0.008932964034612353], "count": [385]}, "action": {"min": [-1.0, -0.8142857142857143, -0.8, 0.0, -1.0, -1.0, -0.45714285714285713, -1.0, -0.06571428571428571, -0.3514285714285714, -0.14285714285714285, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.7857142857142857, 1.0, 0.08285714285714285, 0.23142857142857146, 0.1, 1.0], "mean": [0.08063079777365491, 0.015250463821892395, 0.001922077922077891, 0.0, -0.42857142857142855, -0.028627087198515786, 0.005213358070500924, 0.013283858998144691, 0.0023525046382189244, -0.005565862708719851, -0.0018181818181818188, 0.3038961038961039], "std": [0.3566001437514219, 0.21536739257657936, 0.2737206131259904, 0.0, 0.9035079029052474, 0.47361680491582314, 0.1551739986296561, 0.4228374026966777, 0.016298299085978008, 0.06576266042968089, 0.03298879518362135, 0.9527051789702711], "count": [385]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.041558440774679184], "std": [0.19957789778709412], "count": [385]}, "next.done": {"min": [false], "max": [true], "mean": [0.0025974025974025974], "std": [0.05089848816172838], "count": [385]}, "timestamp": {"min": [0.0], "max": [19.2], "mean": [9.6], "std": [5.556977595779922], "count": [385]}, "frame_index": {"min": [0], "max": [384], "mean": [192.0], "std": [111.13955191559843], "count": [385]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [385]}, "index": {"min": [1754], "max": [2138], "mean": [1946.0], "std": [111.13955191559843], "count": [385]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [385]}}} +{"episode_index": 6, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41346517884497547]], [[0.3676577698950674]], [[0.33145149021522674]]], "std": [[[0.25108639325849497]], [[0.24165617433997627]], [[0.22600595501205525]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5020174871706495]], [[0.4073294767491958]], [[0.3809406289493336]]], "std": [[[0.27229238992017923]], [[0.29743577749154554]], [[0.28140692347991336]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5742379934273514]], [[0.4851854074515548]], [[0.44824174349915746]]], "std": [[[0.27212943955885505]], [[0.3110580252444707]], [[0.2956130697243663]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [458]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [458]}, "observation.state": {"min": [-1.8864429504437576, -5.038542159452361, 0.6999806741803268, 0.0, 0.0, -0.9999815225601196, 0.006093278992921114, -0.016303444847370674, -0.10280327108921083, 0.2788927745916594, -0.990738570690155, -0.25937896966934204, -0.4382648468017578, 3.0467401302303188e-05, 0.020531169490704812, -0.03990431498613849], "max": [-0.9201919773274436, -3.020920961797103, 0.7000299552769818, 0.0, 0.0, 0.9998027682304382, 1.0, 0.5380348064943439, 0.040103081141116714, 0.6603001771836616, 0.9613583087921143, 0.13982617855072021, 0.4544859826564789, 0.12295328825712204, 0.04000436794375898, -0.019557952176062637], "mean": [-1.2242255357402498, -4.113626265117737, 0.70000283084269, 0.0, 0.0, 0.03913962716222866, 0.8924177004660858, 0.1775018855396487, -0.005137253532576129, 0.5732060235553383, -0.6955268830711665, -0.0433776356507597, -0.2419598685927266, 0.04249810870725733, 0.0310895330107645, -0.026745818654642796], "std": [0.30422592235103335, 0.7952575248799255, 6.721450295635873e-06, 0.0, 0.0, 0.3891084358792897, 0.2250630593728112, 0.20012109201456582, 0.03578985740021704, 0.11425219645778273, 0.6316633081177673, 0.1009845917908168, 0.20910886663116943, 0.032971690878918776, 0.005132301916712463, 0.007792797741774941], "count": [458]}, "action": {"min": [-0.7857142857142857, -0.6428571428571428, -0.9971428571428572, 0.0, -1.0, -1.0, -0.4714285714285715, -0.8857142857142857, -0.05142857142857143, -0.7085714285714285, -0.4371428571428572, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 0.8214285714285715, 0.6642857142857144, 1.0, 0.1142857142857143, 0.31142857142857144, 0.26, 1.0], "mean": [0.14332501559575803, 0.03766375545851529, -0.2195757953836558, 0.0, -0.2096069868995633, -0.01699937616968187, 0.009778540237055523, 0.01637554585152837, 0.0020835932626325645, -0.004928259513412355, -0.0021834061135371195, 0.4104803493449782], "std": [0.32826208602064805, 0.1961216294859138, 0.36263583428827945, 0.0, 0.9777857183672107, 0.4242661554937067, 0.14125451638358388, 0.29851524773124044, 0.014230979327354907, 0.09874945149545906, 0.08453509242328335, 0.9118694439455826], "count": [458]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.034934498369693756], "std": [0.18361394107341766], "count": [458]}, "next.done": {"min": [false], "max": [true], "mean": [0.002183406113537118], "std": [0.04667589154242784], "count": [458]}, "timestamp": {"min": [0.0], "max": [22.85], "mean": [11.425], "std": [6.6106448248260925], "count": [458]}, "frame_index": {"min": [0], "max": [457], "mean": [228.5], "std": [132.21289649652186], "count": [458]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [458]}, "index": {"min": [2139], "max": [2596], "mean": [2367.5], "std": [132.21289649652186], "count": [458]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [458]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44458687277401193]], [[0.4153488350662531]], [[0.3872887076583563]]], "std": [[[0.26080453726091496]], [[0.2564326142815908]], [[0.2547024571579246]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32594670194738057]], [[0.31399659579407935]], [[0.29481873456169577]]], "std": [[[0.2626680381502367]], [[0.2566214263293395]], [[0.25680428263953553]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32646350097656246]], [[0.30701061054304535]], [[0.28426348517922795]]], "std": [[[0.25468758840777184]], [[0.24302644418573874]], [[0.24177817454298117]]], "count": [100]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [249]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [249]}, "observation.state": {"min": [3.812235685517138, -3.616443973514112, 0.6999611509983023, 0.0, 0.0, -0.0015923231840133667, 0.9999932050704956, 0.007484657549724272, -0.11281800104315387, 0.3107249984700825, -0.9896357655525208, -0.05341196060180664, -0.38811609148979187, 4.289658318157308e-05, 0.020543530787380623, -0.039733434490918894], "max": [4.347751576473179, -2.8672648879434446, 0.7001275194008356, 0.0, 0.0, 0.0036949319764971733, 1.0, 0.5766205200980812, 0.041889188456505355, 0.6397545723113006, 0.9768883585929871, 0.03023427724838257, 0.36068499088287354, 0.07632657885551453, 0.04006292986265144, -0.018109369065726775], "mean": [4.215471818484992, -3.2958337793282313, 0.7000296603175928, 0.0, 0.0, -0.0003410989920228596, 0.9999992574553892, 0.2525636044401323, -0.02026954560171592, 0.5374306638047142, -0.21923064323792973, -0.018581697201154317, -0.08899763453916373, 0.03568191463338998, 0.033790979310542237, -0.02833942296111864], "std": [0.1566284100720912, 0.33961991056759666, 3.716506735326174e-05, 0.0, 0.0, 0.0011872614402901771, 1.1993942900546607e-06, 0.19760963896759692, 0.05123536045755538, 0.10346576154346539, 0.9222862348845061, 0.02003371568269632, 0.3008209586462495, 0.02987248219593859, 0.004732225949804457, 0.00839243628853505], "count": [249]}, "action": {"min": [-1.0, -0.44285714285714284, -0.08285714285714285, 0.0, -1.0, -1.0, -0.8500000000000001, -1.0, -0.12, -0.6028571428571429, -0.09142857142857143, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.12, 0.2, 0.15714285714285714, 1.0], "mean": [0.00611015490533563, 0.08413654618473894, -0.001216293746414228, 0.0, -0.5502008032128514, -0.06262191623637407, -0.006253585771658068, 0.038697647733792306, -0.0004130808950086046, -0.009925415949512349, -0.005278255880665522, 0.18875502008032127], "std": [0.3191452639925514, 0.32439248364463164, 0.00820776737957416, 0.0, 0.8350323802966736, 0.6423901041342774, 0.23706135563951863, 0.45682239248145096, 0.026088810248571823, 0.12102695290014504, 0.020660514063010418, 0.9820242066234822], "count": [249]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06425702571868896], "std": [0.24521024525165558], "count": [249]}, "next.done": {"min": [false], "max": [true], "mean": [0.004016064257028112], "std": [0.06324504316475349], "count": [249]}, "timestamp": {"min": [0.0], "max": [12.4], "mean": [6.2], "std": [3.593976442141304], "count": [249]}, "frame_index": {"min": [0], "max": [248], "mean": [124.0], "std": [71.87952884282609], "count": [249]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [249]}, "index": {"min": [2597], "max": [2845], "mean": [2721.0], "std": [71.87952884282609], "count": [249]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [249]}}} +{"episode_index": 8, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.519221326641008]], [[0.5914174284093521]], [[0.6442328658758425]]], "std": [[[0.3097502620414533]], [[0.21280441111759404]], [[0.19601548919946915]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5227628604664523]], [[0.533800500607958]], [[0.5420425708247166]]], "std": [[[0.27945675611321125]], [[0.26137201972205365]], [[0.2510293399580821]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.03137254901960784]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5299335626340379]], [[0.5423857092763863]], [[0.5538196339326746]]], "std": [[[0.304052589627668]], [[0.2857151648991325]], [[0.270244240572235]]], "count": [100]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [248]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [248]}, "observation.state": {"min": [0.7884747336104115, -1.2409605339495482, 0.699993684905904, 0.0, 0.0, -1.0, 5.1774686653516255e-06, 0.013301320387760218, -0.01928879190211008, 0.277922421738126, -0.9904038906097412, -0.13380098342895508, -0.571638286113739, 0.00016997828788589686, 0.020544006958462317, -0.04032617124048845], "max": [0.788542640757149, -1.2406883222912442, 0.7001122787827734, 0.0, 0.0, 1.0, 0.00018832218484021723, 0.5281294363574659, 0.11495788706585164, 0.897849688841536, 0.9905946254730225, 0.019945070147514343, 0.13551989197731018, 0.12047130614519119, 0.039966131373398425, -0.02052255270628672], "mean": [0.788513144180527, -1.2408519662962068, 0.7000387825490398, 0.0, 0.0, -0.3548387096774194, 0.00012587789034011708, 0.27292683925795214, 0.0608333362548827, 0.6408196678274534, -0.902365978446699, -0.0996499253256667, -0.3248814451057584, 0.0735931050367658, 0.030877257238798375, -0.037474694485251], "std": [1.973067141085456e-05, 8.796558985143904e-05, 3.7631396832664344e-05, 0.0, 0.0, 0.9349275320122266, 2.7733320065179154e-05, 0.14622616767379668, 0.03540349621437511, 0.1994226635675325, 0.1804780096427174, 0.033045880831776175, 0.17362692390682694, 0.03210887926963802, 0.008209587709469392, 0.002590120615325309], "count": [248]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.5642857142857142, -1.0, -0.05142857142857143, -0.36857142857142855, -0.06, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9357142857142857, 0.5571428571428572, 1.0, 0.05142857142857143, 0.37142857142857144, 0.14857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.068721198156682, 0.008755760368663596, 0.024308755760368624, 0.0004608294930875572, -0.013283410138248842, 0.007949308755760371, -0.04838709677419355], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5233017398655325, 0.20369334757589266, 0.599690931036407, 0.009715418047140488, 0.12933089566696515, 0.030806710117517913, 0.9988286584123275], "count": [248]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06451612710952759], "std": [0.24567009508609772], "count": [248]}, "next.done": {"min": [false], "max": [true], "mean": [0.004032258064516129], "std": [0.063371909860894], "count": [248]}, "timestamp": {"min": [0.0], "max": [12.35], "mean": [6.175], "std": [3.579542568541405], "count": [248]}, "frame_index": {"min": [0], "max": [247], "mean": [123.5], "std": [71.5908513708281], "count": [248]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [248]}, "index": {"min": [2846], "max": [3093], "mean": [2969.5], "std": [71.5908513708281], "count": [248]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [248]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4680237731933594]], [[0.4463781863941866]], [[0.44097254255706186]]], "std": [[[0.26242765281050123]], [[0.2696172040261239]], [[0.27060004200020976]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4280408037971048]], [[0.39319080128389244]], [[0.370657834520527]]], "std": [[[0.20474056558908077]], [[0.20708871439048665]], [[0.2132716653151825]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.438805492924709]], [[0.40056685084922644]], [[0.37340290264054843]]], "std": [[[0.1844934665994494]], [[0.19186071579984124]], [[0.20226094251785373]]], "count": [100]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [363]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [363]}, "observation.state": {"min": [3.4292454672787214, -1.6494112621171568, 0.6999883541235182, 0.0, 0.0, 0.6440987586975098, 0.0581325963139534, 0.03902479924864899, -0.05906085098918945, 0.2435042008810816, -0.9956997036933899, -0.04954393208026886, -0.47804614901542664, 0.00011332931171637028, 0.020553802114310418, -0.039937888147406495], "max": [4.531612527217289, -0.8055924644420649, 0.7002796828888815, 0.0, 0.0, 0.9983088970184326, 0.7649423480033875, 0.622932375068189, 0.2202561528029765, 0.6185000444657525, 0.970768928527832, 0.051443278789520264, 0.4398989677429199, 0.03316810354590416, 0.04013460763429048, -0.01891783315868663], "mean": [4.0599617851839715, -1.0586359269153591, 0.7001040481104254, 0.0, 0.0, 0.7321264589456816, 0.6453836036553561, 0.27085265838001676, 0.07092651797927416, 0.5176312535036541, -0.6751390132365477, -0.009477048270794314, -0.19616340950500866, 0.015477155210574084, 0.03168438792321864, -0.02818412173438194], "std": [0.410298382762175, 0.2595041421487369, 8.236170971555463e-05, 0.0, 0.0, 0.10269784197597027, 0.19215615152490484, 0.19905007524447713, 0.10490440714452627, 0.11150033270830333, 0.6697135565075796, 0.0293183710079197, 0.23654760030559852, 0.006876237529817918, 0.006769724640378724, 0.009444011934451681], "count": [363]}, "action": {"min": [-1.0, -0.7714285714285714, -0.9028571428571428, 0.0, -1.0, -1.0, -0.6642857142857144, -1.0, -0.05428571428571429, -0.3742857142857143, -0.1457142857142857, -1.0], "max": [1.0, 0.5285714285714286, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.10285714285714286, 0.35428571428571426, 0.10857142857142858, 1.0], "mean": [0.08866587957497048, 0.014679260133805586, -0.01004329004329005, 0.0, -0.4765840220385675, -0.03028335301062575, 0.0019874065328610918, 0.029299488390397466, -0.0007083825265643448, -0.00036206218024400046, -7.87091696182378e-06, 0.11294765840220386], "std": [0.3869185539022586, 0.13736332084140995, 0.3279430593490614, 0.0, 0.8791289268005781, 0.51502910830098, 0.24559734332900454, 0.4173631490439348, 0.009810352074415494, 0.09872569427367654, 0.024780816762373557, 0.9936009392414302], "count": [363]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.041322313249111176], "std": [0.19903461635112762], "count": [363]}, "next.done": {"min": [false], "max": [true], "mean": [0.0027548209366391185], "std": [0.05241404294887175], "count": [363]}, "timestamp": {"min": [0.0], "max": [18.1], "mean": [9.049999999999999], "std": [5.2394338116505175], "count": [363]}, "frame_index": {"min": [0], "max": [362], "mean": [181.0], "std": [104.78867623301034], "count": [363]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [363]}, "index": {"min": [3094], "max": [3456], "mean": [3275.0], "std": [104.78867623301034], "count": [363]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [363]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4985698170381434]], [[0.5108027224073224]], [[0.5200800063189338]]], "std": [[[0.2719019760924331]], [[0.2356392916021288]], [[0.24842360121748294]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44091378066119025]], [[0.433678040747549]], [[0.4340826972512638]]], "std": [[[0.2638429906606066]], [[0.2586868857631838]], [[0.25264638516946136]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4582089676202512]], [[0.45180381924498314]], [[0.45211495612649355]]], "std": [[[0.23810221185923316]], [[0.23153304573903147]], [[0.22470882928764724]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [467]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [467]}, "observation.state": {"min": [3.361223929074313, -2.0014015121383806, 0.6999941389850771, 0.0, 0.0, -0.9999992847442627, 0.0012120387982577085, 0.0246616794927228, -0.006281881757664642, 0.2821598489467728, -0.9983101487159729, -0.2078293263912201, -0.39082232117652893, 3.070142702199519e-05, 0.019994423114280575, -0.04008885308815424], "max": [5.460523243561603, -0.9149181383238328, 0.7003476951154378, 0.0, 0.0, 0.9999135732650757, 0.8063473701477051, 0.5528334310307739, 0.1665944325071882, 0.6472446578222393, 0.9530658721923828, 0.06839969754219055, 0.30240902304649353, 0.10679513216018677, 0.04000282304834983, -0.020509134631835863], "mean": [4.548441738091067, -1.2007070442507712, 0.7001897767353802, 0.0, 0.0, 0.5804371381980193, 0.6428296418249312, 0.21813685476631228, 0.0632826545961928, 0.5573101501845938, -0.8983954110799051, -0.08664379491444829, -0.24763634680606808, 0.037371455275685334, 0.027394070365480357, -0.037406960179346534], "std": [0.7894265303665421, 0.2954706031469113, 0.0001089051298363931, 0.0, 0.0, 0.4465308207428293, 0.22466198162355916, 0.1880114452903833, 0.05550713337062455, 0.10476516797129884, 0.31414791441803963, 0.06651793747070665, 0.13516187776049962, 0.035719326080060704, 0.008318609546118804, 0.0020336194851607705], "count": [467]}, "action": {"min": [-1.0, -1.0, -0.7285714285714285, 0.0, -1.0, -1.0, -0.6928571428571428, -0.6785714285714286, -0.15142857142857147, -0.4, -0.1457142857142857, -1.0], "max": [1.0, 0.8785714285714286, 1.0, 0.0, 1.0, 0.807142857142857, 0.5928571428571429, 0.8500000000000001, 0.07428571428571429, 0.18, 0.24571428571428575, 1.0], "mean": [0.08306821657999383, -0.027714897522178022, -0.007390639339247483, 0.0, -0.3361884368308351, -0.02841847659834815, 0.010477210156011033, 0.018201284796573854, 0.0007708779443254807, -0.0008565310492505291, -0.0009177118384827164, 0.3147751605995717], "std": [0.381967016577349, 0.2550009542978309, 0.3173375352285175, 0.0, 0.9417947414066637, 0.45072954621690053, 0.15679911636334537, 0.300765906380753, 0.01814449343004354, 0.07194709681000938, 0.03881021677665021, 0.9491662648185046], "count": [467]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03426124155521393], "std": [0.18189944326877594], "count": [467]}, "next.done": {"min": [false], "max": [true], "mean": [0.0021413276231263384], "std": [0.04622491037456724], "count": [467]}, "timestamp": {"min": [0.0], "max": [23.3], "mean": [11.65], "std": [6.7405489390701705], "count": [467]}, "frame_index": {"min": [0], "max": [466], "mean": [233.0], "std": [134.8109787814034], "count": [467]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [467]}, "index": {"min": [3457], "max": [3923], "mean": [3690.0], "std": [134.8109787814034], "count": [467]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [467]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5435561966241576]], [[0.523813969630821]], [[0.5103301894244026]]], "std": [[[0.22276008267881894]], [[0.22771161275331517]], [[0.22456532387766498]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4543356059953278]], [[0.4506042133406097]], [[0.4427859413296569]]], "std": [[[0.2791939084530122]], [[0.27696537299092283]], [[0.27136531721322427]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.487380687638825]], [[0.4828500067018995]], [[0.47591205611883425]]], "std": [[[0.2699817226428479]], [[0.2682900697991664]], [[0.2645554409090739]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [255]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [255]}, "observation.state": {"min": [6.2022741555568, -0.8381788795652649, 0.6999973341707452, 0.0, 0.0, 0.7070415019989014, 0.706392765045166, 0.03463559386871473, -0.5648910328398795, 0.29524421890378094, -0.989011287689209, -0.23338285088539124, -0.4885116219520569, 0.0014527454040944576, 0.02055621244257853, -0.0403746119909419], "max": [6.202974769315967, -0.8378535439563862, 0.7005580443535004, 0.0, 0.0, 0.7078200578689575, 0.707172155380249, 0.551577876145674, 0.007497409400207822, 0.8315395437165918, 0.9852117300033569, 0.24112173914909363, 0.29763537645339966, 0.1381376087665558, 0.040410271965180315, -0.02051034815639055], "mean": [6.2026088340020085, -0.8380513869895315, 0.700338847416412, 0.0, 0.0, 0.7074290789809882, 0.7067842527931811, 0.33394778802387615, -0.2035584587812623, 0.6356549643706854, -0.36631296008240943, -0.0809189347075481, -0.2109704530414413, 0.059598376170969476, 0.039160962549537395, -0.03888501803306604], "std": [0.00022353033496593064, 0.00010103105918626607, 0.00021308534664206467, 0.0, 0.0, 0.00024412838788497133, 0.0002443022534797285, 0.1425131229379819, 0.22740761935204235, 0.1857318309662597, 0.859763087135804, 0.11499951329948391, 0.23919020279835404, 0.03971186825470137, 0.002266525470668925, 0.002288029462610968], "count": [255]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9142857142857143, -0.23142857142857146, -0.4228571428571429, -0.28285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.9785714285714284, 0.08285714285714285, 0.4942857142857143, 0.09714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04260504201680672, -0.08333333333333333, -0.009943977591036473, -0.005075630252100842, -0.0076078431372548945, -0.01824089635854342, -0.30980392156862746], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5348133754958189, 0.47053575304251866, 0.47507940077166066, 0.04755343114727357, 0.15290208466043634, 0.07136116421738266, 0.9508004681218349], "count": [255]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.062745101749897], "std": [0.24250391125679016], "count": [255]}, "next.done": {"min": [false], "max": [true], "mean": [0.00392156862745098], "std": [0.062499519413761674], "count": [255]}, "timestamp": {"min": [0.0], "max": [12.7], "mean": [6.35], "std": [3.68057966449127], "count": [255]}, "frame_index": {"min": [0], "max": [254], "mean": [127.0], "std": [73.6115932898254], "count": [255]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [255]}, "index": {"min": [3924], "max": [4178], "mean": [4051.0], "std": [73.6115932898254], "count": [255]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [255]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5635084659352022]], [[0.5498634200750613]], [[0.541396785362094]]], "std": [[[0.2397315693233681]], [[0.24379984447556297]], [[0.2479523613848797]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43568356323242186]], [[0.4278573069852941]], [[0.42565442133884807]]], "std": [[[0.23614493929158042]], [[0.23744732415663217]], [[0.2375515759691699]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46373476634306066]], [[0.4519905748554304]], [[0.44874010691923255]]], "std": [[[0.2371623871187555]], [[0.2386186869898945]], [[0.239367577280393]]], "count": [100]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [208]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [208]}, "observation.state": {"min": [3.8778326869744624, -2.03922298817923, 0.6999936294352529, 0.0, 0.0, 0.00011277102021267638, 1.0, 0.12422698132886545, -0.5444840306248411, 0.2565650999488859, -0.9887531399726868, -0.14674976468086243, -0.47205016016960144, 0.00022268657630775124, 0.005616477932116518, -0.04002317657172789], "max": [3.877864567093183, -2.039149413539416, 0.7003149284318968, 0.0, 0.0, 0.0002139737771358341, 1.0, 0.662500393402135, 0.06035330093756053, 0.833421157026512, 0.9751365184783936, 0.11885225772857666, 0.42406266927719116, 0.39640724658966064, 0.040068402003052055, -0.0069853467441392016], "mean": [3.8778495143882328, -2.039188002827682, 0.7001600896656657, 0.0, 0.0, 0.00015431494805922668, 1.0, 0.3627301399899856, -0.1711914396884093, 0.6095671823845545, 0.5690972269154512, -0.05991531844035937, 0.1148443203419447, 0.18480121553798548, 0.02442471148212189, -0.02464726815416106], "std": [4.966817575982137e-06, 9.127458620424765e-06, 0.00010254755924183892, 0.0, 0.0, 1.2708378379493547e-05, 0.0, 0.15942295579781546, 0.2431862456270783, 0.188137242865543, 0.7253361930093375, 0.06927899573037336, 0.2659596527092738, 0.15346361927511892, 0.015653410676240685, 0.015179178145427859], "count": [208]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9214285714285714, -0.18857142857142858, -0.4914285714285715, -0.24571428571428575, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.24, 0.38857142857142857, 0.17142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007177197802197781, -0.0944024725274726, -0.04203296703296704, -0.010906593406593407, -0.009931318681318687, -0.02390109890109891, -0.1346153846153846], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.568161806444842, 0.5651091294646088, 0.5181775322774338, 0.08296389903840187, 0.14792466470765886, 0.07409745554828176, 0.9908979252298659], "count": [208]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07692307978868484], "std": [0.2664693593978882], "count": [208]}, "next.done": {"min": [false], "max": [true], "mean": [0.004807692307692308], "std": [0.06917064697085654], "count": [208]}, "timestamp": {"min": [0.0], "max": [10.35], "mean": [5.175000000000001], "std": [3.002186703054958], "count": [208]}, "frame_index": {"min": [0], "max": [207], "mean": [103.5], "std": [60.043734061099165], "count": [208]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [208]}, "index": {"min": [4179], "max": [4386], "mean": [4282.5], "std": [60.043734061099165], "count": [208]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [208]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45682934330958946]], [[0.4484676005045573]], [[0.4440303990981158]]], "std": [[[0.2549726933060715]], [[0.1969229895468303]], [[0.20463977934931246]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4928963796578202]], [[0.4719438027774586]], [[0.4535590730554917]]], "std": [[[0.24822850276480854]], [[0.2484829808515103]], [[0.25604295442004726]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4588339353075215]], [[0.4311546948002834]], [[0.407970843745213]]], "std": [[[0.21494212567769552]], [[0.2170449925929873]], [[0.22496028674452104]]], "count": [100]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [335]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [335]}, "observation.state": {"min": [1.0862168088950437, -3.4316077782518777, 0.6999962046885191, 0.0, 0.0, -1.0, 1.3945623322797474e-06, -0.06093078107075556, -0.5771973690034717, 0.27022662659093943, -0.9890828132629395, -0.36201560497283936, -0.38776686787605286, 0.030718008056282997, 0.020566146542442564, -0.040315209350166595], "max": [1.0863883258193192, -3.4313400412019157, 0.7002278044976654, 0.0, 0.0, 1.0, 0.00036584975896403193, 0.5457320556288309, 0.12561520052883912, 0.6251129379440348, -0.8006306290626526, -0.035323306918144226, -0.13913512229919434, 0.3112668991088867, 0.040019980847351456, -0.020500412417289716], "mean": [1.0863270554848097, -3.4314261271906004, 0.700080380635007, 0.0, 0.0, 0.4925373134328358, 0.00013987059593064394, 0.33151109397816514, -0.1566830796792875, 0.4835325828352728, -0.9048276120157385, -0.21415236467745766, -0.311128803598347, 0.14141605344614877, 0.038341423446715664, -0.03634606006120051], "std": [4.530635041256222e-05, 5.4885483150074535e-05, 7.027368534568856e-05, 0.0, 0.0, 0.8702913275888515, 6.475718450958658e-05, 0.1804404529682088, 0.284185971528335, 0.11306281348606137, 0.03617005998672024, 0.09628808126851938, 0.04347392878140251, 0.0784631812772536, 0.0021811539009622704, 0.0036942858288507843], "count": [335]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6785714285714286, -0.2, -0.44, -0.3457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9642857142857144, 1.0, 0.9571428571428572, 0.1142857142857143, 0.14285714285714285, 0.19428571428571428, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.013475479744136466, -0.06296375266524512, -0.032452025586353954, -0.0019616204690831537, -0.01454157782515991, -0.0009296375266524628, -0.03283582089552239], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5400817970268769, 0.40211528068486746, 0.2466902823354209, 0.04276296391272482, 0.07222689288366206, 0.0989880610526756, 0.9994607590426519], "count": [335]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04776119440793991], "std": [0.21326051652431488], "count": [335]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029850746268656717], "std": [0.05455422949999124], "count": [335]}, "timestamp": {"min": [0.0], "max": [16.7], "mean": [8.35], "std": [4.835286961494633], "count": [335]}, "frame_index": {"min": [0], "max": [334], "mean": [167.0], "std": [96.70573922989266], "count": [335]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [335]}, "index": {"min": [4387], "max": [4721], "mean": [4554.0], "std": [96.70573922989266], "count": [335]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [335]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4708263148887485]], [[0.43299790266448374]], [[0.40974079326554835]]], "std": [[[0.2723335765793268]], [[0.2771671285047486]], [[0.28229964645370614]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4515419682521446]], [[0.4011544973336014]], [[0.3715611476524203]]], "std": [[[0.2634659614397545]], [[0.2530464381339345]], [[0.2520203129583799]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45348984961416205]], [[0.40363240619734225]], [[0.3734142162846584]]], "std": [[[0.2404713525439469]], [[0.22523430249603935]], [[0.22112047724822353]]], "count": [100]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [451]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [451]}, "observation.state": {"min": [2.8473267220646297, -5.706064661945119, 0.6999938889900267, 0.0, 0.0, -0.025761786848306656, 0.7133532166481018, 0.03992509162594349, -0.0356166828071629, 0.2639736317305791, -0.9976848363876343, -0.24568921327590942, -0.4510859549045563, 5.945426437392598e-06, 0.016848410034811863, -0.03997690717734707], "max": [3.636587182026128, -3.793473485628137, 0.7000416456209643, 0.0, 0.0, 0.7008046507835388, 1.0, 0.5496668462489693, 0.06926634646704866, 0.6422423550253483, 0.9420567750930786, 0.0386296808719635, 0.44565457105636597, 0.0964437946677208, 0.03999245498107637, -0.016809607663784042], "mean": [3.394806697441765, -4.757250412154588, 0.7000069135732409, 0.0, 0.0, 0.11318289176413907, 0.9592290035636885, 0.23909327164984637, 0.002947635249202117, 0.558115324646763, 0.06454696914309144, -0.039650517315531514, 0.06604645976140071, 0.020902885560010565, 0.024882202447970337, -0.025171254738327906], "std": [0.2540498863249574, 0.7449541667263374, 1.1038338937002713e-05, 0.0, 0.0, 0.2422705751600478, 0.09151131257945255, 0.1819383426860136, 0.030964491938080912, 0.1094516802841752, 0.9396987694936301, 0.08166221798746129, 0.31460468388849244, 0.02799737784174364, 0.010220270393312103, 0.009968378488400813], "count": [451]}, "action": {"min": [-1.0, -0.9571428571428572, -0.68, 0.0, -1.0, -1.0, -0.42142857142857143, -0.7928571428571428, -0.06285714285714286, -0.4314285714285714, -0.30285714285714294, -1.0], "max": [1.0, 0.6714285714285714, 0.9628571428571429, 0.0, 1.0, 1.0, 0.8, 1.0, 0.08, 0.5314285714285715, 0.2885714285714286, 1.0], "mean": [0.13059866962305988, -0.019638897687678184, -0.008127969591384222, 0.0, -0.34811529933481156, -0.018482736775419683, -0.000871080139372815, 0.010452961672473862, 0.0006461830852074751, 0.0019892302819132096, 0.0004941400063351328, 0.29933481152993346], "std": [0.40262803471810077, 0.1668912685698232, 0.27979471621360186, 0.0, 0.9374517258872775, 0.38243057390863505, 0.122419189000447, 0.3038220092226649, 0.010239832966067414, 0.09920863244022035, 0.06761053466053006, 0.9541481387113544], "count": [451]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.035476718097925186], "std": [0.18498140573501587], "count": [451]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022172949002217295], "std": [0.04703592779511403], "count": [451]}, "timestamp": {"min": [0.0], "max": [22.5], "mean": [11.25], "std": [6.509608283145768], "count": [451]}, "frame_index": {"min": [0], "max": [450], "mean": [225.0], "std": [130.19216566291536], "count": [451]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [451]}, "index": {"min": [4722], "max": [5172], "mean": [4947.0], "std": [130.19216566291536], "count": [451]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [451]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4533212381998698]], [[0.41417730413698683]], [[0.3390838162291284]]], "std": [[[0.3251694789155789]], [[0.27765828485278304]], [[0.2802618868312817]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3939668399586397]], [[0.38837842395258887]], [[0.3818450975605086]]], "std": [[[0.209031901015915]], [[0.20705346835431965]], [[0.20488293414664163]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39341570326861214]], [[0.38647670970243564]], [[0.3775899981330423]]], "std": [[[0.22370826273869335]], [[0.21951887459795105]], [[0.21507861202262968]]], "count": [100]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [226]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [226]}, "observation.state": {"min": [5.512853209266787, -4.224015648101069, 0.6999919719316718, 0.0, 0.0, -0.028524793684482574, 0.9995930790901184, 0.07519762185173295, -0.009885502152335413, 0.26379136512368295, -0.9888081550598145, -0.14559553563594818, -0.27987053990364075, 0.0008032298064790666, 0.020542500691282717, -0.03987064847922954], "max": [5.8186837534846365, -3.5533572507417177, 0.7000608917402812, 0.0, 0.0, 0.0001794962299754843, 1.0, 0.4803242440397666, 0.10857896634045439, 0.6064337611268122, 0.983622133731842, 0.10506108403205872, 0.15579836070537567, 0.04066798463463783, 0.04001555668771857, -0.020524058351935888], "mean": [5.717153376214525, -3.844826554736766, 0.7000142954129379, 0.0, 0.0, -0.010219802304238954, 0.9998855205763758, 0.32472582391572635, 0.05352356737266841, 0.47582996095784114, -0.9462904167913757, -0.03507719650468995, -0.1996177120744127, 0.020771499401251003, 0.03214962504400692, -0.03591880723237935], "std": [0.08658463431155267, 0.32154000056014925, 1.9065100505376802e-05, 0.0, 0.0, 0.011157726186881045, 0.0001308688527452795, 0.12249979716312152, 0.03515938924787328, 0.09998249892864298, 0.2239975236952707, 0.06446573707918549, 0.09270656457761839, 0.010006707978969612, 0.007175498124013281, 0.0038469117932619376], "count": [226]}, "action": {"min": [-1.0, -1.0, -0.15714285714285714, 0.0, -1.0, -1.0, -0.6642857142857144, -0.942857142857143, -0.045714285714285714, -0.1657142857142857, -0.12, -1.0], "max": [1.0, 0.15714285714285717, 0.13428571428571429, 0.0, 1.0, 1.0, 0.6, 1.0, 0.005714285714285714, 0.36857142857142855, 0.13428571428571429, 1.0], "mean": [0.024715549936788872, -0.0831542351453856, -0.005398230088495575, 0.0, -0.7522123893805309, -0.04766118836915298, 0.006036662452591684, 0.01630847029077122, -0.004462705436156765, 0.005259165613147913, 0.004551201011378005, 0.0], "std": [0.22864457465481364, 0.2559072580125129, 0.031051777946026378, 0.0, 0.658920724565887, 0.5579089213550997, 0.18159611531732314, 0.4057659297299253, 0.010474791058941228, 0.07222320705695416, 0.03944831248441012, 1.0], "count": [226]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07079645991325378], "std": [0.2564845383167267], "count": [226]}, "next.done": {"min": [false], "max": [true], "mean": [0.004424778761061947], "std": [0.06637168141592921], "count": [226]}, "timestamp": {"min": [0.0], "max": [11.25], "mean": [5.625], "std": [3.261997087674972], "count": [226]}, "frame_index": {"min": [0], "max": [225], "mean": [112.5], "std": [65.23994175349944], "count": [226]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [226]}, "index": {"min": [5173], "max": [5398], "mean": [5285.5], "std": [65.23994175349944], "count": [226]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [226]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47705417707854625]], [[0.4206816861021752]], [[0.3589264340868183]]], "std": [[[0.24568669769674026]], [[0.21305813504753884]], [[0.21374952349548915]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.502889923694087]], [[0.47090987441119025]], [[0.40405844176049327]]], "std": [[[0.22368306932924245]], [[0.21628818836877026]], [[0.21770646636727295]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5447415681726792]], [[0.5134695895325904]], [[0.4423590758080576]]], "std": [[[0.2107543455973177]], [[0.19275229938257551]], [[0.19028799319742004]]], "count": [100]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [399]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [399]}, "observation.state": {"min": [0.3364618116310812, -1.3726183067951183, 0.6999790130371967, 0.0, 0.0, 0.7070484161376953, 0.6630076766014099, 0.005634005732747971, -0.012090131015875194, 0.2651140991663168, -0.9863547682762146, -0.1542970836162567, -0.43051406741142273, 8.688681555213407e-05, 0.02054248622526992, -0.04033239815452017], "max": [1.1819564356241314, -0.9453138117832627, 0.7000637850495192, 0.0, 0.0, 0.7486125826835632, 0.7071651220321655, 0.49273761882201567, 0.0746705039844201, 0.6262452957384955, 0.9906182885169983, 0.09706974029541016, 0.3090588450431824, 0.06785005331039429, 0.03997648118779285, -0.020524074141152794], "mean": [0.7393693292372097, -1.0317585082746992, 0.7000111619321205, 0.0, 0.0, 0.7189957654864567, 0.6948017594509555, 0.22150557073986127, 0.01805226244816586, 0.4844259800363973, -0.6796798794191882, -0.04568950447223539, -0.22091805206653767, 0.027795377127454356, 0.03844280925458986, -0.03665814998797689], "std": [0.33020492474034324, 0.1459339151426763, 2.0211545100666153e-05, 0.0, 0.0, 0.011901296784663123, 0.012408318542525379, 0.17335049898337215, 0.02718641053754304, 0.1269622154414838, 0.6622648906015037, 0.06936533256638656, 0.20606573891723678, 0.022381587109635226, 0.002132379330965125, 0.002735634037760012], "count": [399]}, "action": {"min": [-0.9857142857142858, -0.7714285714285714, -0.1457142857142857, 0.0, -1.0, -1.0, -0.31428571428571433, -0.6714285714285714, -0.14857142857142858, -0.32571428571428573, -0.17142857142857143, -1.0], "max": [0.7714285714285714, 1.0, 0.37714285714285717, 0.0, 1.0, 0.7714285714285714, 0.5928571428571429, 1.0, 0.09714285714285714, 0.1657142857142857, 0.11142857142857143, 1.0], "mean": [-0.008592910848549946, 0.08972431077694237, -3.580379520229057e-05, 0.0, -0.518796992481203, -0.01734693877551022, 0.0034013605442176804, 0.037755102040816335, 0.0012173290368779081, 0.0015968492660222058, 0.0002434658073755814, 0.3383458646616541], "std": [0.2534344310512708, 0.27551530008475505, 0.04759274691015943, 0.0, 0.8548974678828221, 0.4033276933960199, 0.08488041982383222, 0.38811123337000347, 0.023762747717091814, 0.05992312021964663, 0.02911305551939658, 0.9410218253932067], "count": [399]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04260651767253876], "std": [0.20196831226348877], "count": [399]}, "next.done": {"min": [false], "max": [true], "mean": [0.002506265664160401], "std": [0.049999842965563916], "count": [399]}, "timestamp": {"min": [0.0], "max": [19.9], "mean": [9.950000000000001], "std": [5.759050847723665], "count": [399]}, "frame_index": {"min": [0], "max": [398], "mean": [199.0], "std": [115.18101695447331], "count": [399]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [399]}, "index": {"min": [5399], "max": [5797], "mean": [5598.0], "std": [115.18101695447331], "count": [399]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [399]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.550051316205193]], [[0.5414360489190794]], [[0.5078103153004366]]], "std": [[[0.2498856924707849]], [[0.24589978013861805]], [[0.2514346917146848]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4558160107182521]], [[0.4179950657264859]], [[0.3908302247290518]]], "std": [[[0.2514575483723651]], [[0.2592503770728105]], [[0.26897022974239543]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42858992453182443]], [[0.39464744059244794]], [[0.3760197071748621]]], "std": [[[0.23131543648604005]], [[0.23350490415316885]], [[0.23985407117311858]]], "count": [100]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [309]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [309]}, "observation.state": {"min": [3.351846758665152, -0.9668391663319356, 0.6999959913896162, 0.0, 0.0, 0.7057900428771973, 0.7071332335472107, 0.07654316181693255, -0.004156459839668614, 0.2401041233364528, -0.9909721612930298, -0.5998942255973816, -0.49170780181884766, 0.021445725113153458, 0.01601804009172781, -0.0400180371457858], "max": [3.3529875071148565, -0.966746408156403, 0.70031334715381, 0.0, 0.0, 0.7070802450180054, 0.7084210515022278, 0.5585766400371293, 0.5255793524385592, 0.8140668331343565, -0.7546643614768982, 0.046445250511169434, -0.07700145244598389, 0.2694443166255951, 0.040007738271643604, -0.015705900463427257], "mean": [3.3522650909256733, -0.9668019934340942, 0.7001231762849482, 0.0, 0.0, 0.706560985170136, 0.7076517974288719, 0.313819240815959, 0.1965486368656895, 0.5802542648683457, -0.8702636498077788, -0.22477455687947256, -0.32136920101723626, 0.11686652003030946, 0.02901424597475619, -0.02869813638482154], "std": [0.0003988769336002407, 2.0837665174019063e-05, 9.868656081250369e-05, 0.0, 0.0, 0.0004940813011550914, 0.0004932717798754236, 0.13995626222319404, 0.19693088025149214, 0.20701077260570513, 0.0578455688830499, 0.22161778638555535, 0.11915956684734437, 0.09231511590452682, 0.011269298454867004, 0.011382548838674568], "count": [309]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.16, -0.19428571428571428, -0.3057142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7928571428571428, 1.0, 1.0, 0.12857142857142856, 0.2914285714285714, 0.7342857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04234858992140546, 0.06484049930651875, 0.05718908922792414, -0.012066574202496533, 0.001784558483587605, 0.004780397595931599, -0.11974110032362459], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4127161176419802, 0.35145121124728296, 0.5098867296676574, 0.04470853653497711, 0.08661423882632738, 0.16155917431955502, 0.9928051515243532], "count": [309]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.051779936999082565], "std": [0.22158242762088776], "count": [309]}, "next.done": {"min": [false], "max": [true], "mean": [0.003236245954692557], "std": [0.05679588600253801], "count": [309]}, "timestamp": {"min": [0.0], "max": [15.4], "mean": [7.7], "std": [4.460007473835293], "count": [309]}, "frame_index": {"min": [0], "max": [308], "mean": [154.0], "std": [89.20014947670585], "count": [309]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [309]}, "index": {"min": [5798], "max": [6106], "mean": [5952.0], "std": [89.20014947670585], "count": [309]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [309]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4365818291028896]], [[0.35137244261391903]], [[0.33070937497156194]]], "std": [[[0.258313100755141]], [[0.22544822976816545]], [[0.21832402136783788]]], "count": [101]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45487337047626525]], [[0.3593874908192508]], [[0.33655374001540206]]], "std": [[[0.24312419430773882]], [[0.24442859024731667]], [[0.2560869251447933]]], "count": [101]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5308467319187111]], [[0.42479830197375207]], [[0.3928598008834374]]], "std": [[[0.25147867588770495]], [[0.27668617915613397]], [[0.2907718193835431]]], "count": [101]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [476]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [476]}, "observation.state": {"min": [5.494675440658478, -3.498536648094469, 0.6999947085188413, 0.0, 0.0, -0.9999979734420776, 0.002037243451923132, 0.012577291974529725, -0.009201275891239202, 0.2855661404579348, -0.9943234920501709, -0.20025500655174255, -0.34159374237060547, 0.00017048383597284555, 0.020553574749510233, -0.0399401783235822], "max": [6.359350589375907, -1.9855533660509865, 0.7000768255244091, 0.0, 0.0, 0.9999779462814331, 1.0, 0.5065922823111997, 0.11747211446814187, 0.6505000380010117, 0.9572787284851074, 0.11379164457321167, 0.3504496216773987, 0.054070763289928436, 0.04008864807869366, -0.020512984099061635], "mean": [5.977057955328715, -2.7574809458370146, 0.700013731394381, 0.0, 0.0, 0.3594705755362463, 0.6255776756061554, 0.21250537137529904, 0.05070549896455192, 0.5413493158193523, -0.46191523856475575, -0.0845293781461836, -0.08328346250688329, 0.030477860135096225, 0.028869722977914083, -0.02990389109392443], "std": [0.3862335877438196, 0.5593074616711987, 2.234976552597161e-05, 0.0, 0.0, 0.5357420283742251, 0.4386501776759551, 0.17809525035952545, 0.04462983124495302, 0.10994000215161194, 0.8421964038500157, 0.08325558896818748, 0.2351205635662455, 0.010775243472039934, 0.007740840596131603, 0.0068694734890149284], "count": [476]}, "action": {"min": [-1.0, -0.95, -0.35714285714285715, 0.0, -1.0, -1.0, -0.5642857142857142, -0.7285714285714285, -0.1, -0.34, -0.23142857142857146, -1.0], "max": [1.0, 0.0, 1.0, 0.0, 1.0, 1.0, 0.5142857142857143, 1.0, 0.08, 0.23142857142857146, 0.23428571428571432, 1.0], "mean": [0.06961284513805521, -0.08455882352941176, 0.098421368547419, 0.0, -0.4117647058823529, -0.020333133253301324, 0.011659663865546229, 0.01835234093637454, -0.00022809123649459776, -0.0030672268907563013, 0.0006002400960384181, 0.2773109243697479], "std": [0.31386667224060016, 0.1856342010694052, 0.2961639408601251, 0.0, 0.9112901991076249, 0.3692442298823805, 0.12396400637349841, 0.3053000905304799, 0.011128231225588514, 0.06241226755748174, 0.055557694120937216, 0.9607802304508557], "count": [476]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03361344709992409], "std": [0.18023201823234558], "count": [476]}, "next.done": {"min": [false], "max": [true], "mean": [0.0021008403361344537], "std": [0.04578675360862052], "count": [476]}, "timestamp": {"min": [0.0], "max": [23.75], "mean": [11.875], "std": [6.870453041830648], "count": [476]}, "frame_index": {"min": [0], "max": [475], "mean": [237.5], "std": [137.40906083661295], "count": [476]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [476]}, "index": {"min": [6107], "max": [6582], "mean": [6344.5], "std": [137.40906083661295], "count": [476]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [476]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5395546342438343]], [[0.5091900461234298]], [[0.49380098290536917]]], "std": [[[0.23978396236862146]], [[0.23592230891738508]], [[0.2418163570671326]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4799329439051011]], [[0.4651029615215227]], [[0.45131832048004744]]], "std": [[[0.29129470732678464]], [[0.2755152506756067]], [[0.26636348649595043]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5502761709175857]], [[0.5299720722273285]], [[0.5128638718548943]]], "std": [[[0.2803889154593652]], [[0.2654664157381983]], [[0.25752495969225403]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [319]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [319]}, "observation.state": {"min": [5.428006923074418, -0.940081799620646, 0.6999966933186985, 0.0, 0.0, 0.70692378282547, 0.7071239948272705, 0.019913454155662036, -0.537831473262016, 0.2848051441633146, -0.9872985482215881, -0.06129629909992218, -0.564361572265625, 0.00023193137894850224, 0.020529942912628142, -0.03993969105953815], "max": [5.428158725394002, -0.9399529033162266, 0.7001236970286592, 0.0, 0.0, 0.7070895433425903, 0.7072897553443909, 0.5871413731447837, 0.0684506387880921, 0.8394044631918045, 0.9991028904914856, 0.03774634003639221, 0.472124844789505, 0.0660221129655838, 0.04000124853022792, -0.020536617343849782], "mean": [5.428076139543602, -0.9400079114136982, 0.700017454403631, 0.0, 0.0, 0.7070362508110118, 0.7071773034278128, 0.29701963449361024, -0.18622063193237412, 0.6034995942536594, -0.17556646195324985, -0.007516217794631342, -0.20204786936749577, 0.022721748582084172, 0.03357044969702268, -0.03432107485505398], "std": [3.352003265718049e-05, 3.3105749814961235e-05, 3.388805773956228e-05, 0.0, 0.0, 3.512589455957171e-05, 3.5141557274039226e-05, 0.14994993677744628, 0.23370659044429662, 0.19562097566785352, 0.921482849801954, 0.021798226138498487, 0.27936755097412025, 0.011325762377914403, 0.005214565983452582, 0.004573155276807567], "count": [319]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.7928571428571428, -0.6428571428571428, -0.09142857142857143, -0.32285714285714284, -0.07714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7857142857142857, 1.0, 0.9642857142857144, 0.10857142857142858, 0.2742857142857143, 0.04857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.021249440214957418, -0.04169278996865203, -0.004769368562471997, -0.0011553963278101208, -0.0031706224809673026, -0.0017286162113748322, 0.07836990595611286], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4679757594107946, 0.3974785225873254, 0.3438118279883025, 0.02036254717638975, 0.1116534252123196, 0.012229264469818132, 0.9969243491060039], "count": [319]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.043887145817279816], "std": [0.20484401285648346], "count": [319]}, "next.done": {"min": [false], "max": [true], "mean": [0.003134796238244514], "std": [0.05590142476528842], "count": [319]}, "timestamp": {"min": [0.0], "max": [15.9], "mean": [7.95], "std": [4.604345773288535], "count": [319]}, "frame_index": {"min": [0], "max": [318], "mean": [159.0], "std": [92.0869154657707], "count": [319]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [319]}, "index": {"min": [6583], "max": [6901], "mean": [6742.0], "std": [92.0869154657707], "count": [319]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [319]}}} +{"episode_index": 20, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5935387202244179]], [[0.5730141876819087]], [[0.5727736894196155]]], "std": [[[0.22040906211298655]], [[0.23731453322054707]], [[0.23996030678735245]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4375686328364353]], [[0.40712428493125763]], [[0.39583016848096664]]], "std": [[[0.2659808413062064]], [[0.2611190739823962]], [[0.26421132266601705]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.058823529411764705]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4926514479693244]], [[0.439351775524663]], [[0.42043382711971505]]], "std": [[[0.23521106066872544]], [[0.23585278156052372]], [[0.24382193669408328]]], "count": [100]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [443]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [443]}, "observation.state": {"min": [3.4317583127301208, -1.0151250483908076, 0.6999933176551835, 0.0, 0.0, 0.7067118287086487, 0.7071579694747925, 0.09881425239975716, -0.01256289231332719, 0.2643092800441533, -0.9884611964225769, -0.3549239933490753, -0.590907096862793, 4.965138214174658e-05, 0.020549637839043327, -0.03988457889317275], "max": [3.432076606527004, -1.0149852049936747, 0.7000746743111521, 0.0, 0.0, 0.7070555090904236, 0.7075014114379883, 0.6264304937279326, 0.6975807695717227, 0.8516487444962666, 0.9410075545310974, 0.0395943820476532, 0.5627767443656921, 0.24764491617679596, 0.04000925627248121, -0.020516922583574137], "mean": [3.431879565921717, -1.0150659008654113, 0.7000242270331652, 0.0, 0.0, 0.7069271736973833, 0.7072863321810221, 0.392878689144706, 0.3040282169143031, 0.5838654558460091, -0.8154494516198307, -0.14486115905151412, -0.2795751590290134, 0.11026370903327218, 0.03565202092295918, -0.034239857510056246], "std": [0.00011514650763164086, 2.8749878089433e-05, 2.6424494593426317e-05, 0.0, 0.0, 0.00011924880900567134, 0.00011916063303616101, 0.14895859712066745, 0.24091173893443307, 0.22563263175706064, 0.3788574085321818, 0.1599549305413196, 0.2202183849564765, 0.07824598755931884, 0.004234944391835288, 0.005426076003602268], "count": [443]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9, -0.7928571428571428, -0.12, -0.4257142857142857, -0.29714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6571428571428571, 0.9071428571428573, 0.9857142857142858, 0.11142857142857143, 0.2257142857142857, 0.25142857142857145, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.005369235730409509, 0.05886810706223798, -0.009448564979039007, -0.0006514027732989349, -0.0041083521444695344, 0.0010448242502418426, -0.06997742663656885], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3795154254449026, 0.3333688499721871, 0.32048157457588766, 0.02703715834370546, 0.10113695062793326, 0.06534531222884601, 0.9975485751387406], "count": [443]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03837471827864647], "std": [0.1920991986989975], "count": [443]}, "next.done": {"min": [false], "max": [true], "mean": [0.002257336343115124], "std": [0.04745777887500821], "count": [443]}, "timestamp": {"min": [0.0], "max": [22.1], "mean": [11.05], "std": [6.394137940332535], "count": [443]}, "frame_index": {"min": [0], "max": [442], "mean": [221.0], "std": [127.88275880665071], "count": [443]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [443]}, "index": {"min": [6902], "max": [7344], "mean": [7123.0], "std": [127.88275880665071], "count": [443]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [443]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5741496348661536]], [[0.545371098537071]], [[0.47087900737687655]]], "std": [[[0.24374904042433246]], [[0.2307862631259903]], [[0.27018275532835756]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42228853652056525]], [[0.41535188323376226]], [[0.41261385270661]]], "std": [[[0.24964764752784638]], [[0.2514540228150057]], [[0.252375773826116]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36156661448759186]], [[0.35638813512465534]], [[0.3523518993901272]]], "std": [[[0.23684205513040169]], [[0.23595680402879116]], [[0.2354401180213656]]], "count": [100]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [323]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [323]}, "observation.state": {"min": [0.798945467229387, -1.031629726033237, 0.6999949193896092, 0.0, 0.0, -1.0, 2.098169261444127e-06, 0.03189317404143788, -0.06648042614016636, 0.26956191038319144, -0.9919387102127075, -0.03855550289154053, -0.3863886892795563, 0.01754017360508442, 0.02055511159356694, -0.039889431428623105], "max": [1.6214093904182758, -0.28597130744761895, 0.7003732796614083, 0.0, 0.0, 1.0, 0.002206851728260517, 0.5153927737727517, 0.12956505270330926, 0.6201590038675179, -0.9203072190284729, 0.033155739307403564, -0.11893600970506668, 0.05991510674357414, 0.04004451826919391, -0.018840217048814216], "mean": [0.9717532467634381, -0.6100855184519048, 0.7000662632781594, 0.0, 0.0, 0.0773996587139165, 0.0005270277467541003, 0.2733661092280077, 0.042743956162108035, 0.5054856127430668, -0.9605998311987602, -0.01520101407733126, -0.25757568834735883, 0.043879677988473476, 0.03603906126033799, -0.03125748449617607], "std": [0.21259738269306783, 0.3308556117172288, 0.0001293850079887406, 0.0, 0.0, 0.9969998681110602, 0.0005694676359174038, 0.17568212018755777, 0.06726318517169422, 0.10389885320402627, 0.02366684151782886, 0.022848720843393, 0.08716839606305837, 0.0081065182640106, 0.0040544312245735185, 0.007669636202204582], "count": [323]}, "action": {"min": [-1.0, -0.40714285714285714, 0.0, 0.0, -1.0, -1.0, -0.35714285714285715, -0.942857142857143, -0.022857142857142857, -0.3914285714285714, -0.05714285714285715, -1.0], "max": [1.0, 1.0, 0.05142857142857143, 0.0, 1.0, 1.0, 0.7428571428571429, 1.0, 0.06857142857142857, 0.3, 0.02, 1.0], "mean": [0.012494471472799643, 0.052874834144184, 0.0004068996019460416, 0.0, -0.6099071207430341, -0.0351614329942503, -0.00015479876160990903, 0.022114108801415292, 0.0006988058381247234, 0.0014595311808934116, -0.0018664307828394516, 0.14551083591331268], "std": [0.3467630710235454, 0.25191115018733273, 0.0038465837956937255, 0.0, 0.7924729043108945, 0.49704043936686043, 0.15875039622374607, 0.37009252290668654, 0.008369549519556974, 0.08352363702633296, 0.009832313769041328, 0.9893566579509162], "count": [323]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0495356023311615], "std": [0.21698346734046936], "count": [323]}, "next.done": {"min": [false], "max": [true], "mean": [0.0030959752321981426], "std": [0.05555528930317759], "count": [323]}, "timestamp": {"min": [0.0], "max": [16.1], "mean": [8.049999999999999], "std": [4.662081080376017], "count": [323]}, "frame_index": {"min": [0], "max": [322], "mean": [161.0], "std": [93.24162160752032], "count": [323]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [323]}, "index": {"min": [7345], "max": [7667], "mean": [7506.0], "std": [93.24162160752032], "count": [323]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [323]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6748571053742497]], [[0.6148652763061967]], [[0.5279203565898112]]], "std": [[[0.2191618882922257]], [[0.24504466041046402]], [[0.2832934578569531]]], "count": [108]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5453912988467414]], [[0.451746582275036]], [[0.40155603135939344]]], "std": [[[0.212486645800481]], [[0.2651790102980145]], [[0.2924004720017813]]], "count": [108]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5371164558759702]], [[0.4778066608814026]], [[0.43726860051927313]]], "std": [[[0.22763865576877018]], [[0.2721082590787517]], [[0.2937212591241608]]], "count": [108]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [520]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [520]}, "observation.state": {"min": [3.606589250997826, -3.6440787871983655, 0.699996771258774, 0.0, 0.0, -0.006455396302044392, 0.6499413251876831, 0.07997365499222653, -0.18500217382444806, 0.25022207616416026, -0.9937359690666199, -0.5232124924659729, -0.1492997407913208, 0.0006806288729421794, 0.02052297701554873, -0.04002412399161575], "max": [4.330704370809774, -2.513950147323542, 0.7001915778394295, 0.0, 0.0, 0.7599844336509705, 1.0, 0.5114418297224566, 0.022175410237182724, 0.6044069776314448, 0.9941257238388062, 0.6414288878440857, 0.24606606364250183, 0.13755260407924652, 0.04035741010331065, -0.020543582378811192], "mean": [4.207305332368417, -3.3257627415736124, 0.7000782616635389, 0.0, 0.0, 0.0834585106958317, 0.9690799568708126, 0.3404757036736048, -0.0416571154401677, 0.4760672519951878, 0.24413341902769528, 0.057984861702873154, 0.03759390319196077, 0.03492299471007965, 0.035456215989311944, -0.033796468200437274], "std": [0.1871250006901747, 0.37262643080570274, 6.253613315383217e-05, 0.0, 0.0, 0.214384852382009, 0.08920704756187879, 0.13391829138494626, 0.05417092498217652, 0.08217366140262691, 0.8958462893770127, 0.345679902657571, 0.10740656551759724, 0.028850902396120755, 0.003740511785405069, 0.004973527877613218], "count": [520]}, "action": {"min": [-1.0, -0.8928571428571429, -0.9057142857142857, 0.0, -1.0, -1.0, -0.6571428571428571, -0.7642857142857143, -0.17714285714285713, -0.21142857142857144, -0.37142857142857144, -1.0], "max": [1.0, 0.6714285714285714, 1.0, 0.0, 1.0, 1.0, 1.0, 0.8214285714285715, 0.16285714285714287, 0.13428571428571429, 0.3914285714285714, 1.0], "mean": [0.05791208791208791, -0.03646978021978022, -0.0028736263736263666, 0.0, -0.573076923076923, -0.020590659340659276, -0.005398351648351655, -0.0007280219780219716, 0.0006483516483516517, -0.003846153846153847, -0.0019670329670329477, 0.11153846153846154], "std": [0.280613809373075, 0.15897013985714353, 0.29181930772743125, 0.0, 0.8195015803747302, 0.31807959931172797, 0.19543705366155043, 0.23569796773289883, 0.037560045715821715, 0.03200218112359018, 0.11545796674240022, 0.9937601177334655], "count": [520]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03076923079788685], "std": [0.17269188165664673], "count": [520]}, "next.done": {"min": [false], "max": [true], "mean": [0.0019230769230769232], "std": [0.04381071442267122], "count": [520]}, "timestamp": {"min": [0.0], "max": [25.95], "mean": [12.975], "std": [7.5055396208400635], "count": [520]}, "frame_index": {"min": [0], "max": [519], "mean": [259.5], "std": [150.11079241680127], "count": [520]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [520]}, "index": {"min": [7668], "max": [8187], "mean": [7927.5], "std": [150.11079241680127], "count": [520]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [520]}}} +{"episode_index": 23, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5137490605373009]], [[0.4682125046673943]], [[0.4288140611835555]]], "std": [[[0.21184288221499]], [[0.20596578192200818]], [[0.20690609208440386]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5651103748994715]], [[0.5368993829465379]], [[0.5020112855200675]]], "std": [[[0.2077307125910991]], [[0.21047590520267914]], [[0.21798579773711926]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5722653317918964]], [[0.5238478088378906]], [[0.47188531194948685]]], "std": [[[0.1944733511828644]], [[0.1959967528671355]], [[0.2004197565870431]]], "count": [100]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [296]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [296]}, "observation.state": {"min": [5.610564533872016, -3.6295867521495215, 0.6999969198429209, 0.0, 0.0, -0.0005457611987367272, 0.9999996423721313, 0.18662605163341084, -0.5819057927549971, 0.30869878276856266, -0.9887142777442932, -0.6787262558937073, -0.3794289231300354, 0.00012162449274910614, 0.02053793076615396, -0.040500375077214976], "max": [5.610820040626722, -3.628808199458209, 0.700481717243904, 0.0, 0.0, 0.0008706936496309936, 1.0, 0.6015147006905153, 0.1418652385452397, 0.6255622635355942, 0.9684007167816162, 0.035801634192466736, 0.2504952549934387, 0.3425576090812683, 0.0399922046444306, -0.020528628520271083], "mean": [5.610674038147098, -3.6291822044850113, 0.7002274121117152, 0.0, 0.0, 0.00020572060252315832, 0.999999911801235, 0.4034582077509129, -0.1532306314901727, 0.49029208913754285, -0.8495248475590268, -0.2868922633697858, -0.28545527079620875, 0.11982499623462826, 0.03615529375011874, -0.038365439585444645], "std": [7.87580044705937e-05, 0.0002569371410692141, 0.00017658983880272885, 0.0, 0.0, 0.0004249212562627976, 9.524895286319515e-08, 0.1311400261730227, 0.28143080094231243, 0.09232908726972487, 0.23051073631581978, 0.18591661910190127, 0.08291671295869742, 0.07471444366008717, 0.003963213208051257, 0.0022119037120061818], "count": [296]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6285714285714287, -0.13428571428571429, -0.35428571428571426, -0.5685714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.6857142857142858, 0.17142857142857143, 0.18, 0.34, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.024782818532818548, -0.0620173745173745, -0.07039092664092661, -0.0061196911196911225, -0.02798262548262549, -5.791505791506574e-05, -0.10135135135135136], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5414174744865784, 0.49530896298178917, 0.2041298112217389, 0.04065312093991065, 0.07560172828545501, 0.18121471285756627, 0.9948506941140752], "count": [296]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.054054055362939835], "std": [0.2261243313550949], "count": [296]}, "next.done": {"min": [false], "max": [true], "mean": [0.0033783783783783786], "std": [0.05802555418012725], "count": [296]}, "timestamp": {"min": [0.0], "max": [14.75], "mean": [7.375], "std": [4.272367610587834], "count": [296]}, "frame_index": {"min": [0], "max": [295], "mean": [147.5], "std": [85.44735221175668], "count": [296]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [296]}, "index": {"min": [8188], "max": [8483], "mean": [8335.5], "std": [85.44735221175668], "count": [296]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [296]}}} +{"episode_index": 24, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4564039683622473]], [[0.39136756986730237]], [[0.34557208371629905]]], "std": [[[0.244002916290525]], [[0.22393847371755435]], [[0.2284969578460368]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38704163674747244]], [[0.32590426396388633]], [[0.2899079188926547]]], "std": [[[0.2671722792555923]], [[0.23996060019276927]], [[0.23011874346508246]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4265806795008042]], [[0.38029049443263635]], [[0.34813989437327664]]], "std": [[[0.2893675937228104]], [[0.27155457520475795]], [[0.2615011658830663]]], "count": [100]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [365]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [365]}, "observation.state": {"min": [0.8131013281901514, -2.5382619258249766, 0.6999960280305154, 0.0, 0.0, -1.0, 8.893238145901705e-08, -0.04369518924497939, -0.6230966813600765, 0.27806526337642434, -0.9883583188056946, -0.3124508559703827, -0.5373234748840332, 0.0006141996127553284, 0.02057239321373472, -0.04019096063200491], "max": [0.8133016028892432, -2.5376426151420115, 0.7003676595189502, 0.0, 0.0, 1.0, 0.000547849980648607, 0.5333921517514746, -0.0016805541897815246, 0.8381813135056488, 0.9527749419212341, 0.13250413537025452, 0.3147779405117035, 0.18378251791000366, 0.04001119063745126, -0.020494165940053505], "mean": [0.813193830471716, -2.5378093888545346, 0.7000984113241312, 0.0, 0.0, -0.3041095792430721, 0.00013357871348645162, 0.25328692564335287, -0.20907224142117575, 0.6041637121903433, -0.25169421091471633, -0.05690944092730953, -0.1810465793087058, 0.07534409502077823, 0.03475211609898261, -0.03618835796000637], "std": [5.9716674751475e-05, 0.00021977105843271888, 0.00013976011989513576, 0.0, 0.0, 0.9526370474722006, 0.00016128658599253026, 0.17813420797648244, 0.2495770274991692, 0.2082583417183301, 0.8701838619373676, 0.15959606081774017, 0.3317432814587869, 0.04703492947151937, 0.0052673999932571795, 0.0036480042976234747], "count": [365]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5571428571428572, -0.1457142857142857, -0.23714285714285716, -0.1742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.15714285714285714, 0.2, 0.2714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.018454011741682933, -0.06772994129158515, -0.003111545988258345, 0.0015185909980430534, -0.002207436399217223, -0.007514677103718194, 0.15616438356164383], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.48384420432392405, 0.4103427885513517, 0.3359774829098035, 0.03825868358841618, 0.07288643377705424, 0.06967267509479584, 0.9877310794476457], "count": [365]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04383561760187149], "std": [0.20472921431064606], "count": [365]}, "next.done": {"min": [false], "max": [true], "mean": [0.0027397260273972603], "std": [0.052270641173531265], "count": [365]}, "timestamp": {"min": [0.0], "max": [18.2], "mean": [9.1], "std": [5.268301434048739], "count": [365]}, "frame_index": {"min": [0], "max": [364], "mean": [182.0], "std": [105.36602868097478], "count": [365]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [365]}, "index": {"min": [8484], "max": [8848], "mean": [8666.0], "std": [105.36602868097478], "count": [365]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [365]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.28838903150371475]], [[0.31347144631778495]], [[0.3462397299373851]]], "std": [[[0.21681297222013218]], [[0.20122271326255747]], [[0.23954500773065146]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40995406685623464]], [[0.3808213064156326]], [[0.3751917664770987]]], "std": [[[0.21806204123901227]], [[0.2219729434353095]], [[0.22877794513592042]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38211572265625]], [[0.3445456548952589]], [[0.34050630876129745]]], "std": [[[0.26987259592906493]], [[0.2698439423292387]], [[0.28040633588750064]]], "count": [100]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [391]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [391]}, "observation.state": {"min": [2.9884980027006547, -1.0251202702413076, 0.6999922023077988, 0.0, 0.0, 0.4840575158596039, 0.7068771719932556, 0.028327824888834563, -0.2810389845777337, 0.29302116740001893, -0.987954318523407, -0.2811197340488434, -0.5969524383544922, 0.0004999429220333695, 0.020559768477663998, -0.04007470237722533], "max": [3.273151098511124, -0.8349554158996715, 0.7001782812419056, 0.0, 0.0, 0.7073363661766052, 0.8750361204147339, 0.5972557173670243, 0.005526646402135071, 0.8474510889183791, 0.9598188996315002, 0.1838538944721222, 0.39790216088294983, 0.08183984458446503, 0.04000788773356005, -0.020506792206287695], "mean": [3.0892094185071177, -0.9020266155255277, 0.7000734895686237, 0.0, 0.0, 0.6311586557904167, 0.7648307673461602, 0.31174426657559035, -0.09621839127414966, 0.6556083453123794, -0.059957985530423995, -0.07264085578948945, -0.14269294122459075, 0.03956298933357305, 0.03284425739097471, -0.032122395191279914], "std": [0.12841588357112413, 0.08285211403566813, 6.060132124761955e-05, 0.0, 0.0, 0.10296776102564308, 0.07791199204756756, 0.19329406213197212, 0.08799787638737419, 0.17990993673239897, 0.9176578634732141, 0.1278397993633975, 0.33164715643679205, 0.027803540662554173, 0.005924423650620667, 0.006520650445655391], "count": [391]}, "action": {"min": [-0.7785714285714286, -0.6500000000000001, -0.6657142857142857, 0.0, -1.0, -1.0, -0.7000000000000001, -0.6428571428571428, -0.1, -0.3914285714285714, -0.21714285714285717, -1.0], "max": [0.4357142857142858, 0.0, 0.0, 0.0, 1.0, 0.8214285714285715, 1.0, 1.0, 0.1142857142857143, 0.30857142857142855, 0.17714285714285713, 1.0], "mean": [-0.013061746437705517, -0.020021921812203143, -0.02626963829009865, 0.0, -0.8209718670076727, -0.016423090975520614, -0.00515162586773839, 0.011691633175009193, 0.005984654731457797, -0.0050493240774570755, -0.0066569236390208245, 0.0741687979539642], "std": [0.1053438785093354, 0.10031257344256335, 0.1155136108083683, 0.0, 0.5709686450077076, 0.4262977058787733, 0.250024429572805, 0.3620287693010003, 0.02649033899067466, 0.11064249876964863, 0.05076880413611194, 0.9972457016252666], "count": [391]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.040920715779066086], "std": [0.1981065720319748], "count": [391]}, "next.done": {"min": [false], "max": [true], "mean": [0.0025575447570332483], "std": [0.05050746204125703], "count": [391]}, "timestamp": {"min": [0.0], "max": [19.5], "mean": [9.75], "std": [5.643580423808985], "count": [391]}, "frame_index": {"min": [0], "max": [390], "mean": [195.0], "std": [112.8716084761797], "count": [391]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [391]}, "index": {"min": [8849], "max": [9239], "mean": [9044.0], "std": [112.8716084761797], "count": [391]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [391]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4084703680300245]], [[0.4122665046243107]], [[0.4229340437346814]]], "std": [[[0.26000013219307194]], [[0.25291720613189467]], [[0.25402816702414616]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42408634559780944]], [[0.4256114340389476]], [[0.4236489580939798]]], "std": [[[0.23556544243149888]], [[0.2289162900581038]], [[0.22754676226773146]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4309769616220512]], [[0.4314934740253524]], [[0.43026605882831653]]], "std": [[[0.2312804952972293]], [[0.22679752461522276]], [[0.22659503647633114]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [454]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [454]}, "observation.state": {"min": [2.9294588511742408, -2.157300136513072, 0.6999933158705949, 0.0, 0.0, -0.0685151070356369, 0.814345121383667, -0.0034395669582454325, -0.1307234338229284, 0.2704605514024221, -0.996684730052948, -0.06459525227546692, -0.3747517168521881, 0.000155579749844037, 0.00572728029743223, -0.0399877156871407], "max": [3.93185048966772, -0.924884320870285, 0.7002099107286645, 0.0, 0.0, 0.5803810358047485, 1.0, 0.5895861927108146, 0.12438631418057389, 0.6114342243949025, 0.9860756993293762, 0.06694255769252777, 0.2921612858772278, 0.07188726961612701, 0.040000697385374324, -0.005610075582555501], "mean": [3.591526665359655, -1.6718219246702328, 0.7000616619026844, 0.0, 0.0, 0.038575383393699474, 0.9862892791825769, 0.2553359005405224, 0.02673500428413551, 0.4583376110995605, -0.35470703913776885, -0.023455775617765434, -0.1107810706573042, 0.02743410802082059, 0.02247160043019616, -0.022498896906468627], "std": [0.25011185354788207, 0.3901492146149948, 6.249741383762292e-05, 0.0, 0.0, 0.1552551449024179, 0.04051221273476816, 0.20859553726873378, 0.07663831985892312, 0.10622189173442692, 0.9027373174970967, 0.04467077368525419, 0.20847345696233582, 0.014708797545950924, 0.01444891355916454, 0.014361948843636833], "count": [454]}, "action": {"min": [-1.0, -0.942857142857143, -0.6771428571428572, 0.0, -1.0, -1.0, -0.7214285714285715, -0.7714285714285714, -0.13714285714285715, -0.34, -0.14285714285714285, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.9357142857142857, 0.8142857142857143, 0.13714285714285715, 0.15428571428571428, 0.15142857142857147, 1.0], "mean": [0.09746696035242287, 0.005821271239773445, -0.009043423536815613, 0.0, -0.5506607929515418, -0.02177470106985526, 0.0036186280679672846, 0.005774071743234704, -0.0001384518565135302, 0.0028508495909376976, -0.0007929515418502204, 0.14537444933920704], "std": [0.3405259378906849, 0.21786461163671392, 0.25479265165300374, 0.0, 0.8347291124107153, 0.3972972574754645, 0.19725410944584124, 0.3042907533246257, 0.025530049007633903, 0.07763970686179315, 0.026664841464592092, 0.9893767075686234], "count": [454]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.035242289304733276], "std": [0.18439163267612457], "count": [454]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022026431718061676], "std": [0.04688060936958758], "count": [454]}, "timestamp": {"min": [0.0], "max": [22.65], "mean": [11.325000000000001], "std": [6.55290965907512], "count": [454]}, "frame_index": {"min": [0], "max": [453], "mean": [226.5], "std": [131.0581931815024], "count": [454]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [454]}, "index": {"min": [9240], "max": [9693], "mean": [9466.5], "std": [131.0581931815024], "count": [454]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [454]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37454393753350945]], [[0.35674105236577053]], [[0.32288388600068935]]], "std": [[[0.24101836670323223]], [[0.22738917982313803]], [[0.20516096272172338]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3896037190755208]], [[0.3634606275371477]], [[0.3580599466959635]]], "std": [[[0.22249031016839313]], [[0.22640534645528315]], [[0.23180380523396585]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4061305494121477]], [[0.36163788679534314]], [[0.3434541703766468]]], "std": [[[0.2822135793487919]], [[0.2858258203827101]], [[0.2894320824566805]]], "count": [100]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [259]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [259]}, "observation.state": {"min": [3.130703177541677, -0.874200358240798, 0.6999962173924936, 0.0, 0.0, 0.7069611549377441, 0.7065898180007935, -0.005454614478294539, -0.584672499413581, 0.2534773384805329, -0.9873652458190918, -0.3828275203704834, -0.5817955732345581, 0.002095028292387724, 0.011517881428864398, -0.03990882205538212], "max": [3.1317005461307543, -0.8739915354062704, 0.70064416399066, 0.0, 0.0, 0.7076234221458435, 0.7072523832321167, 0.6729696751889627, 0.11719544001545135, 0.859408735308092, 0.970291793346405, 0.0004259347915649414, 0.531608521938324, 0.1700247973203659, 0.03998555773542346, -0.018498109345186926], "mean": [3.1313668458617694, -0.8740875527681432, 0.7001759996727746, 0.0, 0.0, 0.7072163792650672, 0.7069971062041618, 0.27349430090824894, -0.15801471459403862, 0.6003704832912575, -0.02722558528760225, -0.14289098005727452, -0.16761882946121734, 0.05669755591115551, 0.02864684918855394, -0.029792612193533023], "std": [0.0003375863319407295, 5.695748547453153e-05, 0.00025815456316578855, 0.0, 0.0, 0.0001907458698100995, 0.00019082643788694573, 0.21314851049187353, 0.2592131235383796, 0.21883195089597113, 0.906876462274472, 0.12700717158417021, 0.32684302009895194, 0.046348107200027806, 0.010654972964840428, 0.009484103247272082], "count": [259]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9071428571428573, -0.12571428571428572, -0.4828571428571429, -0.3342857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.942857142857143, 1.0, 1.0, 0.16, 0.28285714285714286, 0.21142857142857144, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.06144511858797576, -0.036238279095421926, -0.03852730281301716, 0.013359073359073357, -0.005107556536127969, -0.019062327633756187, -0.05019305019305019], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5161019361102874, 0.5334407734854925, 0.46437286086872026, 0.03972196997833948, 0.15475417842220707, 0.08611546202355592, 0.9987395344694825], "count": [259]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0617760606110096], "std": [0.24074837565422058], "count": [259]}, "next.done": {"min": [false], "max": [true], "mean": [0.003861003861003861], "std": [0.06201690503555602], "count": [259]}, "timestamp": {"min": [0.0], "max": [12.9], "mean": [6.449999999999999], "std": [3.7383151285037486], "count": [259]}, "frame_index": {"min": [0], "max": [258], "mean": [129.0], "std": [74.76630257007497], "count": [259]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [259]}, "index": {"min": [9694], "max": [9952], "mean": [9823.0], "std": [74.76630257007497], "count": [259]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [259]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46959220975988053]], [[0.43669681504193475]], [[0.41981339338714]]], "std": [[[0.2811602356428028]], [[0.2824939360522366]], [[0.28283879269264445]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40237734147614124]], [[0.3662586101457185]], [[0.34836908018822765]]], "std": [[[0.21308722599214946]], [[0.22289368078255573]], [[0.23014631582761605]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4114816511565563]], [[0.3754437626857383]], [[0.3570616730334712]]], "std": [[[0.20957851943074735]], [[0.21572873053219133]], [[0.22255704530591017]]], "count": [100]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [359]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [359]}, "observation.state": {"min": [2.6775689934494586, -5.4411456796669535, 0.6999968620786219, 0.0, 0.0, -0.13928520679473877, 0.8341298699378967, 0.029974957766704335, -0.02588741588767718, 0.24367613739755833, -0.992927610874176, -0.11996391415596008, -0.36372917890548706, 0.0002612958487588912, 0.010591989168506784, -0.03983560174565068], "max": [3.685192149678367, -3.516899086767127, 0.7003582569498206, 0.0, 0.0, 0.5515681505203247, 1.0, 0.5601454767620893, 0.14139530919549959, 0.6111894545795347, 0.9711750745773315, 0.13185197114944458, 0.35456839203834534, 0.07898750901222229, 0.04015730847372962, -0.010409117867986366], "mean": [3.4085317831923825, -4.690826550752222, 0.7001847005128224, 0.0, 0.0, 0.03367122052412285, 0.9794640046308299, 0.2486104722685928, 0.04577168394236999, 0.5257877723352468, -0.1952994002605215, 0.00764173572275964, -0.015002187932932277, 0.024569334512304718, 0.02171923693247259, -0.021485800150037815], "std": [0.2981851954878799, 0.769954573710602, 0.00011292694095523957, 0.0, 0.0, 0.1939036446409399, 0.04379378080751582, 0.19011115616713622, 0.05396241005506229, 0.10693808322287393, 0.9312398218760439, 0.0806240674459653, 0.295128621571561, 0.012738871415179208, 0.013105588619731379, 0.013099097377812762], "count": [359]}, "action": {"min": [-1.0, -0.7000000000000001, -0.6342857142857142, 0.0, -1.0, -1.0, -0.8357142857142857, -0.8714285714285716, -0.18, -0.25142857142857145, -0.2885714285714286, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.06571428571428571, 0.4971428571428572, 0.36, 1.0], "mean": [0.15095503382411457, 0.07703939514524472, -0.020604854755272572, 0.0, -0.415041782729805, -0.031476323119777175, 0.0022483087942697837, 0.0158774373259053, -0.0026104257859132507, -0.00208515718265022, 0.0006366892160764027, 0.2479108635097493], "std": [0.44332824482605715, 0.2971039809445545, 0.2771804697489838, 0.0, 0.909802351386533, 0.48635094155783376, 0.27184436071818113, 0.38619742712448996, 0.02520128648352503, 0.07932217981565202, 0.07276008027020468, 0.9687828465419139], "count": [359]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.044568244367837906], "std": [0.20635384321212769], "count": [359]}, "next.done": {"min": [false], "max": [true], "mean": [0.002785515320334262], "std": [0.05270442319895404], "count": [359]}, "timestamp": {"min": [0.0], "max": [17.9], "mean": [8.950000000000001], "std": [5.181698563212646], "count": [359]}, "frame_index": {"min": [0], "max": [358], "mean": [179.0], "std": [103.63397126425292], "count": [359]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [359]}, "index": {"min": [9953], "max": [10311], "mean": [10132.0], "std": [103.63397126425292], "count": [359]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [359]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5422893503226486]], [[0.5371843124090456]], [[0.5368650165632659]]], "std": [[[0.22568816675882977]], [[0.23245572042021612]], [[0.23254127141149564]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4353786375756357]], [[0.4017833317775352]], [[0.3809907651415058]]], "std": [[[0.27509159375143044]], [[0.27660694226708493]], [[0.2861806943094608]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47579747936772365]], [[0.4347495494169347]], [[0.4089298646216299]]], "std": [[[0.24875463582093227]], [[0.2542154848635189]], [[0.26897438959597353]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [331]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [331]}, "observation.state": {"min": [4.878311686416822, -3.5814160289929937, 0.6999957788157358, 0.0, 0.0, -0.0008231052197515965, 0.9999996423721313, 0.15294680278424, -0.014983010079722359, 0.26139425480044576, -0.9922598600387573, -0.5034745931625366, -0.6306481957435608, 0.030871668830513954, 0.020545437004759044, -0.03983229001714846], "max": [4.87845656253616, -3.5808772288686104, 0.7002293224632924, 0.0, 0.0, 9.631853026803583e-05, 1.0, 0.6649330657840578, 0.6172273296023176, 0.8474684955977871, -0.7537317276000977, 0.033659547567367554, -0.11962158977985382, 0.2512376308441162, 0.040066058976297905, -0.020521122557786202], "mean": [4.878385936191858, -3.581065734867908, 0.700105128201932, 0.0, 0.0, -0.0002564691212724317, 0.999999926889771, 0.3864282413910777, 0.23574807986037, 0.6300978072362743, -0.8521211885613618, -0.16233376220003715, -0.3966285985897315, 0.13539832955918463, 0.037384768093099964, -0.03641606262097066], "std": [3.99564032179782e-05, 0.0001692028882419137, 8.429838196209375e-05, 0.0, 0.0, 0.0003239751224072044, 1.0816345715428232e-07, 0.1667561441108648, 0.1820735324974451, 0.20592290445391412, 0.0678262063837966, 0.22190551065762643, 0.11139289800309893, 0.07509630732557356, 0.0029257923073234336, 0.0036320373349790318], "count": [331]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.1742857142857143, -0.35714285714285715, -0.32285714285714284, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7928571428571428, 1.0, 0.9714285714285714, 0.08571428571428572, 0.23428571428571432, 0.5028571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.05755287009063438, 0.041950798446266875, 0.011458782908933958, -0.011290461804056968, -0.0032714717306862257, 0.00074233923176521, -0.18429003021148035], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4333324081806566, 0.44817946175200724, 0.43902956205659033, 0.04217621236524015, 0.1067559452488772, 0.13010533284460127, 0.9828719065904018], "count": [331]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04833836853504181], "std": [0.2144802361726761], "count": [331]}, "next.done": {"min": [false], "max": [true], "mean": [0.0030211480362537764], "std": [0.05488187953046813], "count": [331]}, "timestamp": {"min": [0.0], "max": [16.5], "mean": [8.25], "std": [4.777551674236501], "count": [331]}, "frame_index": {"min": [0], "max": [330], "mean": [165.0], "std": [95.55103348473003], "count": [331]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [331]}, "index": {"min": [10312], "max": [10642], "mean": [10477.0], "std": [95.55103348473003], "count": [331]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [331]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5317755372290517]], [[0.497411429012523]], [[0.46340131452971817]]], "std": [[[0.2425351560831137]], [[0.23733738883177863]], [[0.2597635637147014]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44808089491900277]], [[0.43808725873161763]], [[0.4313068727979473]]], "std": [[[0.21528295626780872]], [[0.214755202106946]], [[0.21871355244636373]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43719221167470895]], [[0.42987104946959254]], [[0.4251406914206112]]], "std": [[[0.20013153520974444]], [[0.20020024476511583]], [[0.2036033153626194]]], "count": [100]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [446]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [446]}, "observation.state": {"min": [3.965674122928451, -3.6935760571776277, 0.699996509116685, 0.0, 0.0, -0.06958407908678055, 0.7116389870643616, -0.011622143290822784, -0.08563245600953673, 0.236296935690686, -0.9995076656341553, -0.3916310667991638, -0.2987639904022217, 0.00024192837008740753, 0.012531085936261836, -0.03985151742503841], "max": [4.862099444520702, -2.6281902028939372, 0.7004536437192936, 0.0, 0.0, 0.7025454044342041, 1.0, 0.5382712896333128, 0.03845645002129272, 0.6009870141633229, 0.9991693496704102, 0.15639647841453552, 0.28291401267051697, 0.07464709132909775, 0.040775004579500146, -0.011720158939413429], "mean": [4.5857944048712485, -3.2061042297929587, 0.7002545185179576, 0.0, 0.0, 0.09051681764670073, 0.9637853864062528, 0.21235817661038617, -0.0345711276617621, 0.4675782183996458, 0.3316611245341365, -0.08339522099080642, 0.12004571286214917, 0.03139357886669584, 0.022479457325701044, -0.022015198621197638], "std": [0.2308218966284023, 0.33623062777067525, 0.00014156541532196263, 0.0, 0.0, 0.23659611753246157, 0.08334714226850147, 0.17964724848439115, 0.026192880458075104, 0.12455014406780524, 0.8993217369806374, 0.1332160505103726, 0.20207365655561246, 0.017021835505158216, 0.011816506710983837, 0.011598297108903961], "count": [446]}, "action": {"min": [-1.0, -1.0, -0.7771428571428571, 0.0, -1.0, -1.0, -0.4285714285714286, -0.8214285714285715, -0.10571428571428572, -0.1657142857142857, -0.2257142857142857, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 0.8928571428571429, 0.37142857142857144, 1.0, 0.06857142857142857, 0.47714285714285715, 0.4, 1.0], "mean": [0.06889814221652789, -0.03986226777706596, 0.011383728379244057, 0.0, -0.37668161434977576, -0.036194746957078805, 0.008936579115951318, 0.01526265214606024, -0.0002626521460602179, 0.0026777706598334434, -0.0031005765534913555, 0.34080717488789236], "std": [0.3479844347105117, 0.2635441997627874, 0.3042961020003186, 0.0, 0.926342788286734, 0.4165391317976063, 0.09576692742356897, 0.3685600836998217, 0.019246932768801236, 0.08240374326475947, 0.08990469744722746, 0.9401332190412897], "count": [446]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.035874441266059875], "std": [0.185977041721344], "count": [446]}, "next.done": {"min": [false], "max": [true], "mean": [0.002242152466367713], "std": [0.04729825809356275], "count": [446]}, "timestamp": {"min": [0.0], "max": [22.25], "mean": [11.125], "std": [6.4374393201023645], "count": [446]}, "frame_index": {"min": [0], "max": [445], "mean": [222.5], "std": [128.7487864020473], "count": [446]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [446]}, "index": {"min": [10643], "max": [11088], "mean": [10865.5], "std": [128.7487864020473], "count": [446]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [446]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.054901960784313725]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5321154037176393]], [[0.5483058675130208]], [[0.5527984080595129]]], "std": [[[0.24841414466153008]], [[0.20300494807658656]], [[0.21232798625076033]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43720390828450517]], [[0.4062919371361826]], [[0.39093866505342373]]], "std": [[[0.2430761567178373]], [[0.26163679931424016]], [[0.27291436036435457]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45566768750957415]], [[0.4559168066884957]], [[0.4553810706045114]]], "std": [[[0.19933952937994198]], [[0.2050572629956153]], [[0.20589672228322367]]], "count": [100]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [327]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [327]}, "observation.state": {"min": [2.882492744378919, -3.5507595422820195, 0.6999957532573787, 0.0, 0.0, -0.0009227162227034569, 0.9999996423721313, 0.10628096311501745, -0.0010034575263051515, 0.28516563575600373, -0.989001989364624, -0.5909119248390198, -0.6094207167625427, 0.009577533230185509, 0.020527837528537974, -0.03991562295748331], "max": [2.882596484476986, -3.550175679965354, 0.7000659921686899, 0.0, 0.0, 0.00015089893713593483, 1.0, 0.6559745721020218, 0.5964842893381803, 0.8617129214811805, -0.7231729030609131, -0.009177684783935547, -0.14344093203544617, 0.2786312997341156, 0.04026502114112462, -0.020538721784047368], "mean": [2.882537617178227, -3.5504851383089173, 0.700008208948258, 0.0, 0.0, -0.0004125283060238315, 0.9999998417833894, 0.3458067400104787, 0.28575687384742743, 0.5726540680048571, -0.8207979993353561, -0.2786331374984269, -0.3901403559092717, 0.14136865721098418, 0.03789568371382475, -0.036424984291950374], "std": [2.401808621236207e-05, 0.0002284394244224179, 1.524743532909623e-05, 0.0, 0.0, 0.00043174636786156304, 1.603956514689088e-07, 0.14912349910341358, 0.19579336784826382, 0.2041412345520195, 0.06793364656830013, 0.23497828795344772, 0.1004254307940315, 0.08089864200688202, 0.002311162919641806, 0.003279270001277654], "count": [327]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.7785714285714286, -1.0, -0.26, -0.48571428571428577, -0.14, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.942857142857143, 0.9071428571428573, 1.0, 0.1457142857142857, 0.26285714285714284, 0.4, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.09325032765399739, 0.06181738750546084, 0.0669506334643949, -0.004674530362603758, -0.0010135430318916467, 0.019895150720838767, -0.05198776758409786], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.47387647835767455, 0.3590929614417265, 0.476778440504633, 0.04999499299391044, 0.1356810885937399, 0.10293181596396864, 0.9986477216824828], "count": [327]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.048929665237665176], "std": [0.2157209813594818], "count": [327]}, "next.done": {"min": [false], "max": [true], "mean": [0.0030581039755351682], "std": [0.055215504847913724], "count": [327]}, "timestamp": {"min": [0.0], "max": [16.3], "mean": [8.15], "std": [4.7198163806091715], "count": [327]}, "frame_index": {"min": [0], "max": [326], "mean": [163.0], "std": [94.39632761218344], "count": [327]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [327]}, "index": {"min": [11089], "max": [11415], "mean": [11252.0], "std": [94.39632761218344], "count": [327]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [327]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6312740370806526]], [[0.5861314080930223]], [[0.5387024117264093]]], "std": [[[0.23515418243226444]], [[0.25162539023140085]], [[0.2891583000576976]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5872630417767692]], [[0.5250910070082722]], [[0.4750222042308134]]], "std": [[[0.24626871515135992]], [[0.24033634514437435]], [[0.2500789738524493]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5486385150984222]], [[0.5124073917164522]], [[0.4811643778483073]]], "std": [[[0.2614818822744262]], [[0.2540244013435003]], [[0.25722528377119647]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [337]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [337]}, "observation.state": {"min": [1.0996893671545878, -2.8145144578563372, 0.6999971720425792, 0.0, 0.0, -1.0, 0.0, 0.10899635463417212, -0.0128769668120019, 0.2876172257147065, -0.9987813234329224, -0.09457281231880188, -0.33235761523246765, 0.0003781456034630537, 0.020557153527901356, -0.04036744947442799], "max": [2.146821863600053, -2.227943547746185, 0.700677947850217, 0.0, 0.0, 1.0, 0.9999433755874634, 0.5181892093337208, 0.08235245315108353, 0.6152604649423066, 0.9570255279541016, 0.009413450956344604, 0.3185328543186188, 0.045719437301158905, 0.040387004289654, -0.020509405431178872], "mean": [1.5264216563353985, -2.606336966203142, 0.7003685337563547, 0.0, 0.0, 0.11805626835939351, 0.4804055996643894, 0.27191736218577583, 0.024254603492709373, 0.5274599827394882, -0.5815756748974854, -0.05155030607027541, -0.10605111087255113, 0.023434392832225127, 0.036968451282127626, -0.039109399753436344], "std": [0.46477753964667007, 0.20084842535528497, 0.00020577939683889094, 0.0, 0.0, 0.7264009705248228, 0.4770899496829597, 0.1358913526026356, 0.0323502361014828, 0.09921628226616487, 0.7716284254617654, 0.022453208331546994, 0.22645605095699803, 0.01092618997132191, 0.003723948169033465, 0.002170578541209992], "count": [337]}, "action": {"min": [-0.5357142857142857, -0.9142857142857143, -0.9685714285714285, 0.0, -1.0, -1.0, -0.37142857142857144, -0.7857142857142857, -0.04, -0.40857142857142864, -0.18, -1.0], "max": [0.7928571428571428, 0.0642857142857143, 0.20285714285714287, 0.0, 1.0, 0.9285714285714287, 0.5714285714285715, 0.8214285714285715, 0.06571428571428571, 0.2542857142857143, 0.24, 1.0], "mean": [0.040674014412886816, -0.056570580754557044, -0.14573124205171684, 0.0, -0.4599406528189911, -0.0031157270029673577, -0.00434506146672318, -0.003984739296311999, 0.0015684612123781263, -0.000678253497244591, -0.001687155574395928, 0.16913946587537093], "std": [0.20074028775312655, 0.16892908867460235, 0.3311847339466092, 0.0, 0.8879496584178861, 0.36363011898298636, 0.10806393457139844, 0.32617570339359025, 0.010421321394097254, 0.0813560670049688, 0.0500298438432216, 0.985592127141545], "count": [337]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04747774451971054], "std": [0.21265843510627747], "count": [337]}, "next.done": {"min": [false], "max": [true], "mean": [0.002967359050445104], "std": [0.05439258985110789], "count": [337]}, "timestamp": {"min": [0.0], "max": [16.8], "mean": [8.4], "std": [4.864154602806124], "count": [337]}, "frame_index": {"min": [0], "max": [336], "mean": [168.0], "std": [97.28309205612247], "count": [337]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [337]}, "index": {"min": [11416], "max": [11752], "mean": [11584.0], "std": [97.28309205612247], "count": [337]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [337]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.023529411764705882]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46881378113989736]], [[0.5146778827742035]], [[0.5508174019607843]]], "std": [[[0.2427237603107013]], [[0.17690276537965713]], [[0.17666483084087237]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.050980392156862744]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4954464524213006]], [[0.5026321602615655]], [[0.49846540922277116]]], "std": [[[0.3001505344283458]], [[0.28363883242186017]], [[0.2687562104123568]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.047058823529411764]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5397733686858532]], [[0.5402214217840456]], [[0.5296273091634114]]], "std": [[[0.2911812878082352]], [[0.27864253104967124]], [[0.26035823242554174]]], "count": [100]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [315]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [315]}, "observation.state": {"min": [1.8256398995355922, -0.8752471842820035, 0.6999960496747001, 0.0, 0.0, 0.7066507935523987, 0.7070639133453369, 0.2013972524690748, -0.002091683504054531, 0.27923085638517897, -0.9880774021148682, -0.4499729871749878, -0.6105796098709106, 0.020666075870394707, 0.002318615367068195, -0.03999344681038101], "max": [1.8261251263339875, -0.8751440760171274, 0.7001148405507701, 0.0, 0.0, 0.7071495652198792, 0.7075624465942383, 0.6718973898211221, 0.5467825700517477, 0.8687630807492509, -0.7845484614372253, 0.0414462685585022, -0.14975449442863464, 0.21999549865722656, 0.039967952451502524, -0.0017975403058387823], "mean": [1.8257909222966677, -0.8752056217009174, 0.7000211099578628, 0.0, 0.0, 0.7069868468102954, 0.7072266364854479, 0.4091096399414498, 0.22278402553744966, 0.6186714650640346, -0.8753284272693452, -0.17740026579962836, -0.3638379022715584, 0.10264286917471696, 0.031487783006295754, -0.03090101365273075], "std": [0.00014620553358062941, 2.3240483069351472e-05, 3.7121752517234994e-05, 0.0, 0.0, 0.0001644644240877117, 0.00016440587977114543, 0.1426290969912156, 0.17728387846294855, 0.2264091720985159, 0.04203271661484789, 0.17197369872852983, 0.15145968817646488, 0.07165178738827499, 0.009207576264427659, 0.009620261927074329], "count": [315]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9, -0.13428571428571429, -0.45999999999999996, -0.3057142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.8, 1.0, 0.13428571428571429, 0.2542857142857143, 0.31142857142857144, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.024421768707483048, 0.034195011337868494, -0.036417233560090606, -0.006503401360544216, -0.009886621315192768, -0.002077097505668929, -0.022222222222222223], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4054541271123844, 0.3849224990687532, 0.39955391979616645, 0.04461227601744081, 0.11519370078342611, 0.10877609550785408, 0.9997530559290662], "count": [315]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05079365149140358], "std": [0.21957609057426453], "count": [315]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031746031746031746], "std": [0.0562541115767281], "count": [315]}, "timestamp": {"min": [0.0], "max": [15.7], "mean": [7.85], "std": [4.546610459085611], "count": [315]}, "frame_index": {"min": [0], "max": [314], "mean": [157.0], "std": [90.93220918171221], "count": [315]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [315]}, "index": {"min": [11753], "max": [12067], "mean": [11910.0], "std": [90.93220918171221], "count": [315]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [315]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5062201980890013]], [[0.49935491344975486]], [[0.4605132506127451]]], "std": [[[0.20307068853846666]], [[0.20330782395109276]], [[0.21944025266026101]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4287207934809666]], [[0.41357356770833337]], [[0.39884769334980086]]], "std": [[[0.27017105763307636]], [[0.27293550888377427]], [[0.27553810499316117]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4472772857067632]], [[0.43804297533222275]], [[0.42783367022346047]]], "std": [[[0.2648054127999265]], [[0.2663701934635484]], [[0.26774479200219425]]], "count": [100]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [278]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [278]}, "observation.state": {"min": [1.6776874043450771, -0.8786814787997674, 0.6999938134770232, 0.0, 0.0, 0.7067652940750122, 0.707084596157074, 0.2167600853587106, -0.053393904170259576, 0.2545956063803172, -0.9855574369430542, -0.3368762731552124, -0.5091954469680786, 0.0022546316031366587, 0.014967914075198036, -0.03997968259742416], "max": [1.6779812558538991, -0.8785746047016352, 0.7000176106335202, 0.0, 0.0, 0.7071288824081421, 0.7074480056762695, 0.6536028557059129, 0.4411590485690864, 0.8610568393043927, -0.8590458035469055, 0.04864704608917236, -0.16679038107395172, 0.21880896389484406, 0.03997204210126907, -0.014615780492748328], "mean": [1.677788294614741, -0.8786373795372877, 0.7000011457978247, 0.0, 0.0, 0.7070044504223968, 0.7072090440088039, 0.37800565149503235, 0.11947962744199589, 0.6070943915047176, -0.9090309411072902, -0.12872824303323416, -0.341127495435502, 0.09128726461379648, 0.02772635054692048, -0.027537105651403816], "std": [9.875752813794903e-05, 2.6905778697178046e-05, 4.145274567030623e-06, 0.0, 0.0, 0.00013304330923845367, 0.0001330113213124958, 0.13481283599108115, 0.1834401592933389, 0.2265650463081772, 0.02395885139507679, 0.1369216208619125, 0.0776401588646438, 0.08391014325007827, 0.011777041810843658, 0.011846722370857586], "count": [278]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.10857142857142858, -0.46857142857142864, -0.3142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.10285714285714286, 0.3628571428571429, 0.48571428571428577, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.02435765673175747, 0.026772867420349428, -0.050411099691675246, 0.0003905447070914694, -0.01803699897225077, -0.001952723535457347, -0.07194244604316546], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4317888929006053, 0.4102392073617243, 0.44283332975144885, 0.022874354873126234, 0.1297463472315024, 0.10157331476789398, 0.9974087850311536], "count": [278]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.057553958147764206], "std": [0.2328980416059494], "count": [278]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035971223021582736], "std": [0.05986804668019151], "count": [278]}, "timestamp": {"min": [0.0], "max": [13.85], "mean": [6.925000000000001], "std": [4.012558410789804], "count": [278]}, "frame_index": {"min": [0], "max": [277], "mean": [138.5], "std": [80.25116821579608], "count": [278]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [278]}, "index": {"min": [12068], "max": [12345], "mean": [12206.5], "std": [80.25116821579608], "count": [278]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [278]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.043137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4689521089441636]], [[0.4746605224609375]], [[0.486202828799977]]], "std": [[[0.28664239534772096]], [[0.25620499854005563]], [[0.27039351140859197]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46553945324467677]], [[0.4352809412339154]], [[0.40908790199429385]]], "std": [[[0.24374836596548083]], [[0.23241471736781916]], [[0.22802476477110503]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5043233116000306]], [[0.47021693988874846]], [[0.4395826583563113]]], "std": [[[0.24112786976281497]], [[0.2329178232486809]], [[0.23103460452210492]]], "count": [100]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [371]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [371]}, "observation.state": {"min": [3.1833904313360217, -0.9001351070271189, 0.6999976626490261, 0.0, 0.0, 0.7069269418716431, 0.7069474458694458, 0.17596245612349393, -0.5002723442939239, 0.25285973210136015, -0.9882824420928955, -0.2359546720981598, -0.4308948814868927, 0.001072716317139566, 0.01713100557146378, -0.039875014605685745], "max": [3.183681892264722, -0.9000425148061904, 0.7002427377702184, 0.0, 0.0, 0.707266092300415, 0.7072865962982178, 0.6205050755889618, 0.12066745287949843, 0.8360762965508871, 0.9258657693862915, 0.11356016993522644, 0.5311622619628906, 0.06058171018958092, 0.040070001224910674, -0.017618597628918167], "mean": [3.1835089700526953, -0.900098001402373, 0.7001189242193652, 0.0, 0.0, 0.7071050929252028, 0.7071084576154334, 0.3661551900173235, -0.140562028014453, 0.598310305301859, -0.18395367337044358, -0.049878377798753926, 0.0747319676805378, 0.03147163049027956, 0.029344594526010376, -0.029213113537677242], "std": [6.574514402502121e-05, 2.194280353757665e-05, 8.899520182940673e-05, 0.0, 0.0, 9.546128664794526e-05, 9.546413903431708e-05, 0.14841308179242627, 0.25215229106371817, 0.212942438581957, 0.9074850363814748, 0.13500267752884865, 0.3393264918989896, 0.01416267460960667, 0.010344168232572273, 0.0103348443363768], "count": [371]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9214285714285714, -0.5785714285714286, -0.04857142857142857, -0.36, -0.26285714285714284, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8214285714285715, 1.0, 0.7571428571428572, 0.04, 0.17142857142857143, 0.23714285714285716, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005872160184828644, -0.027647285329225942, -0.02552945706584527, 0.0011320754716981128, -0.0037504813246053317, -0.0019329996149403189, -0.0673854447439353], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.38199087386848807, 0.41153164717627844, 0.30960180894510547, 0.010165855703777472, 0.08303682805163563, 0.06155746450648278, 0.9977270176940518], "count": [371]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04312668368220329], "std": [0.20314224064350128], "count": [371]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026954177897574125], "std": [0.05184739639264513], "count": [371]}, "timestamp": {"min": [0.0], "max": [18.5], "mean": [9.25], "std": [5.354904294196116], "count": [371]}, "frame_index": {"min": [0], "max": [370], "mean": [185.0], "std": [107.09808588392231], "count": [371]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [371]}, "index": {"min": [12346], "max": [12716], "mean": [12531.0], "std": [107.09808588392231], "count": [371]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [371]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5434200493307675]], [[0.5202424543792126]], [[0.4927046071968827]]], "std": [[[0.19683105877575588]], [[0.2015944662978494]], [[0.2095600753163571]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5474340156106388]], [[0.4915387591193704]], [[0.43414531573127296]]], "std": [[[0.20125282137038755]], [[0.2046655205867153]], [[0.22059439008468387]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.564526304955576]], [[0.5114625812605316]], [[0.45729394650926775]]], "std": [[[0.22645136939951652]], [[0.22295931890823806]], [[0.2314039213684349]]], "count": [100]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [361]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [361]}, "observation.state": {"min": [2.8588027871848665, -5.606620416526376, 0.6999935401975466, 0.0, 0.0, -0.22036543488502502, 0.770408034324646, -0.05518631314212108, -0.03932962047255617, 0.2326689291619225, -0.9967523813247681, -0.041185230016708374, -0.41702261567115784, 0.0005469305324368179, 0.01875725385145502, -0.039795893094298485], "max": [3.712060801051185, -3.615909403858346, 0.7002335468839164, 0.0, 0.0, 0.6375510692596436, 1.0, 0.5091519788548933, 0.15623460831628577, 0.6529231477170506, 0.9495373368263245, 0.05066987872123718, 0.3733009099960327, 0.056357573717832565, 0.040002186396106705, -0.020530134447312096], "mean": [3.4582100878563873, -4.54305703388014, 0.7001051750903474, 0.0, 0.0, 0.032534270914579805, 0.9583186834142479, 0.17123178779177614, 0.031279891320370595, 0.5430813556325061, -0.21990625069081948, 0.0032446968712304767, -0.009572398485074083, 0.025405808697471402, 0.02554973967100378, -0.028023606327944112], "std": [0.26000351742984357, 0.8255920219722395, 6.313168747774796e-05, 0.0, 0.0, 0.2748834909254547, 0.07075249197225705, 0.20129126320719404, 0.0660671418967839, 0.12659554264740341, 0.9306026433716336, 0.026883827970537177, 0.2897178856829575, 0.014599418296384939, 0.008985400184106575, 0.007140776381251943], "count": [361]}, "action": {"min": [-1.0, -1.0, -0.7428571428571429, 0.0, -1.0, -1.0, -0.6642857142857144, -0.8714285714285716, -0.16, -0.4657142857142857, -0.045714285714285714, -1.0], "max": [1.0, 0.8357142857142857, 1.0, 0.0, 1.0, 0.9928571428571428, 1.0, 1.0, 0.10571428571428572, 0.20285714285714287, -0.0, 1.0], "mean": [0.16780767708745556, 0.0435298773248912, -0.02254056193114365, 0.0, -0.31301939058171746, -0.02073605065294814, 0.007202216066481997, 0.013058963197467365, -0.00044321329639889244, 0.0036248516026909394, -0.0015908191531460233, 0.3573407202216066], "std": [0.4119755727712554, 0.25952345191949105, 0.32228127032985887, 0.0, 0.9497467352509589, 0.513167893076216, 0.23395633482521314, 0.37940831402200215, 0.025909784481249223, 0.08109195083068735, 0.006990598618879793, 0.933974094753975], "count": [361]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04432132840156555], "std": [0.20580804347991943], "count": [361]}, "next.done": {"min": [false], "max": [true], "mean": [0.002770083102493075], "std": [0.05255863147094259], "count": [361]}, "timestamp": {"min": [0.0], "max": [18.0], "mean": [9.0], "std": [5.210566188045211], "count": [361]}, "frame_index": {"min": [0], "max": [360], "mean": [180.0], "std": [104.21132376090422], "count": [361]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [361]}, "index": {"min": [12717], "max": [13077], "mean": [12897.0], "std": [104.21132376090422], "count": [361]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [361]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9921568627450981]], [[1.0]]], "mean": [[[0.5294332885742187]], [[0.52209505926394]], [[0.5184588539273132]]], "std": [[[0.2592002029258861]], [[0.23273086227534154]], [[0.22332738005282438]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38740645524567247]], [[0.40074943093692555]], [[0.3914094477634804]]], "std": [[[0.26108920706902655]], [[0.2501803221989607]], [[0.23851818903298422]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40253944606407016]], [[0.4219918865129059]], [[0.42445574173272826]]], "std": [[[0.2550386762545351]], [[0.24255445945312834]], [[0.23728545701026596]]], "count": [100]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [274]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [274]}, "observation.state": {"min": [0.8280021767603338, -2.5707207653032245, 0.6999963556453475, 0.0, 0.0, -1.0, 7.732937490345648e-08, 0.1791660221671274, -0.6703621384141716, 0.24628117984655973, -0.9862930774688721, -0.21845778822898865, -0.3893989026546478, 0.0001275425311177969, 0.01037632470519262, -0.03994985049594707], "max": [0.8282066435276927, -2.57038129081879, 0.7005046015249162, 0.0, 0.0, 1.0, 0.00021630371338687837, 0.6196561039797898, 0.0031456611231148734, 0.8326734930950862, 0.9808304905891418, 0.19670888781547546, 0.5456411242485046, 0.08507838100194931, 0.040010635630961154, -0.01041928835288211], "mean": [0.8280923065646728, -2.5705847892807614, 0.7002880309782327, 0.0, 0.0, -0.0948905109489051, 9.840052856239388e-05, 0.38048976414539365, -0.2813552749383494, 0.5857588308861607, 0.2634187580025109, -0.01846787485763104, 0.15890629380180019, 0.03340815963051715, 0.02541017443991575, -0.025285986541794078], "std": [6.263550018579248e-05, 9.349724209475698e-05, 0.00020677899898454091, 0.0, 0.0, 0.9954877151084585, 6.674202546291451e-05, 0.1391772738086519, 0.2505407576447737, 0.20845439444708497, 0.9067046439814959, 0.1423743108664963, 0.2470705540943405, 0.021784512639614912, 0.013646575095383648, 0.013627606799527818], "count": [274]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7928571428571428, -0.24571428571428575, -0.5142857142857142, -0.3485714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.20857142857142857, 0.4542857142857143, 0.09428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00938477580813349, -0.06905630865484882, -0.03738269030239835, -0.0010427528675703874, -0.0005526590198123107, -0.017872784150156407, -0.021897810218978103], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4182073671340968, 0.4966877436480613, 0.4236832484180971, 0.05901457620004366, 0.15470713967604013, 0.058128649318063316, 0.9997602142051941], "count": [274]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.058394160121679306], "std": [0.23448728024959564], "count": [274]}, "next.done": {"min": [false], "max": [true], "mean": [0.0036496350364963502], "std": [0.060301867306052206], "count": [274]}, "timestamp": {"min": [0.0], "max": [13.65], "mean": [6.825], "std": [3.9548230048890938], "count": [274]}, "frame_index": {"min": [0], "max": [273], "mean": [136.5], "std": [79.09646009778187], "count": [274]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [274]}, "index": {"min": [13078], "max": [13351], "mean": [13214.5], "std": [79.09646009778187], "count": [274]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [274]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.023529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49524593039119946]], [[0.45608536604339006]], [[0.4351464718089384]]], "std": [[[0.29311811586670333]], [[0.2864476659188136]], [[0.2768164028431152]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.023529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3744373785280714]], [[0.3761368186801088]], [[0.36122190587660846]]], "std": [[[0.28246529099883916]], [[0.26812855640430394]], [[0.257371230458399]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5601135331696155]], [[0.5502111654842601]], [[0.5272244514016544]]], "std": [[[0.27576351442448677]], [[0.26694415368219565]], [[0.2562245148665436]]], "count": [100]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [182]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [182]}, "observation.state": {"min": [4.715702608604612, -2.2877260114361917, 0.6999974598312263, 0.0, 0.0, -0.7071779370307922, 0.7070356011390686, 0.0727733260880461, -0.7354133388350612, 0.2865174719725583, -0.9897083044052124, -0.5017997622489929, -0.33867207169532776, 0.0004748855426441878, 0.020527212165043104, -0.04012531425106468], "max": [4.716322579281288, -2.2866244617723015, 0.7003425410909255, 0.0, 0.0, -0.7070445418357849, 0.7071689963340759, 0.5475816257074415, 0.01777130157831408, 0.6015389415628828, 0.9515811800956726, 0.5804910659790039, 0.3210141360759735, 0.17980867624282837, 0.03987023208506819, -0.020539348782797118], "mean": [4.7157541415542905, -2.2876939226484785, 0.7001209157394963, 0.0, 0.0, -0.707109911428703, 0.7071036025063022, 0.3053837961988838, -0.27943056721165427, 0.47308223730531024, -0.43583243725064036, 0.08524678966828755, -0.12072530978328579, 0.036964823934345525, 0.03388899547160337, -0.03406403201077102], "std": [5.844832409827139e-05, 0.0001160189469181614, 8.9706799763291e-05, 0.0, 0.0, 1.621916529404733e-05, 1.6222873808250974e-05, 0.13186044364930244, 0.29568960899718455, 0.095461328190042, 0.7741300348722974, 0.3584336516685303, 0.24145900402605455, 0.028064951114441853, 0.004908417312955844, 0.00466196524451857], "count": [182]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6428571428571428, -0.32857142857142857, -0.29428571428571426, -0.40571428571428575, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.942857142857143, 1.0, 0.7000000000000001, 0.32857142857142857, 0.17714285714285713, 0.2257142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.07138932496075355, -0.1656985871271585, -0.05094191522762951, 0.003076923076923082, -0.012810047095761388, -0.03014128728414441, -0.01098901098901099], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.6681810039448242, 0.6543780310440911, 0.28445997986121463, 0.12371300644991441, 0.06782873917624839, 0.1385066049392549, 0.9999396189958083], "count": [182]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08791209012269974], "std": [0.2831670045852661], "count": [182]}, "next.done": {"min": [false], "max": [true], "mean": [0.005494505494505495], "std": [0.07392101124765775], "count": [182]}, "timestamp": {"min": [0.0], "max": [9.05], "mean": [4.5249999999999995], "std": [2.6269040713356855], "count": [182]}, "frame_index": {"min": [0], "max": [181], "mean": [90.5], "std": [52.53808142671371], "count": [182]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [182]}, "index": {"min": [13352], "max": [13533], "mean": [13442.5], "std": [52.53808142671371], "count": [182]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [182]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5770331935508578]], [[0.5456242322734758]], [[0.5012818029067095]]], "std": [[[0.24955051272940534]], [[0.24062481591677481]], [[0.24923909838321437]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4433064479453891]], [[0.44067091459386487]], [[0.44508462464575677]]], "std": [[[0.29244076235634836]], [[0.2792090765008727]], [[0.25685354219700146]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4922137068206189]], [[0.48226296099494487]], [[0.4731220816817938]]], "std": [[[0.2721254856387814]], [[0.25708137735723136]], [[0.23662500033494285]]], "count": [100]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [449]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [449]}, "observation.state": {"min": [4.287487486607916, -3.7005722145000526, 0.6999947641069105, 0.0, 0.0, -0.10752256214618683, 0.7618722319602966, 0.013530525499117818, -0.010835396502935968, 0.26640112964540563, -0.9871290922164917, -0.1781805455684662, -0.3608596622943878, 0.005830725189298391, 0.020573619243611483, -0.039986181286847465], "max": [5.1691550051684825, -1.393069130681538, 0.7000706593579804, 0.0, 0.0, 0.6477273106575012, 1.0, 0.582859190322166, 0.1296023495893004, 0.6259125195232152, -0.9111407399177551, 0.04084572196006775, -0.14457911252975464, 0.11260025203227997, 0.04000393443705908, -0.020492939593808737], "mean": [4.8612871706163565, -2.5986251984897497, 0.7000083970866187, 0.0, 0.0, 0.08366289146699205, 0.9616034632270745, 0.24686435547813232, 0.04325335686317106, 0.5266272842237436, -0.9450683681364845, -0.06710421813357381, -0.3025281598546723, 0.041125890539589864, 0.036240416585282105, -0.03487362082450284], "std": [0.2813676084547205, 0.9253900749497731, 1.9190204265501595e-05, 0.0, 0.0, 0.24911520273380336, 0.07912591099851672, 0.20697016840577345, 0.0446521742199309, 0.11388324711626838, 0.02175727496100313, 0.06147536511416697, 0.05606882265767946, 0.04161569078835275, 0.00255061398984012, 0.0033586746269694116], "count": [449]}, "action": {"min": [-0.8285714285714285, -0.6428571428571428, -0.7628571428571429, 0.0, -1.0, -1.0, -0.3357142857142857, -1.0, -0.05142857142857143, -0.40857142857142864, -0.31142857142857144, -1.0], "max": [1.0, 1.0, 0.982857142857143, 0.0, 1.0, 1.0, 1.0, 0.9642857142857144, -0.0, 0.2285714285714286, 0.26857142857142857, 1.0], "mean": [0.15488386891504938, 0.04942729875914732, -0.009723194400254518, 0.0, -0.35412026726057905, -0.013410754056633795, 0.004247534202990774, 0.021221762647152413, -0.001527203308940503, 0.000814508431434933, 7.636016544702423e-05, 0.3184855233853007], "std": [0.41664537651206174, 0.19858114319225276, 0.2772816691585589, 0.0, 0.9351998911009874, 0.4117529663474465, 0.14768420813334393, 0.3219706998165929, 0.0065748928079895925, 0.06283016660341117, 0.061079732161867954, 0.947927724773356], "count": [449]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03563474491238594], "std": [0.18537774682044983], "count": [449]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022271714922048997], "std": [0.04714033516373436], "count": [449]}, "timestamp": {"min": [0.0], "max": [22.4], "mean": [11.200000000000001], "std": [6.48074069840786], "count": [449]}, "frame_index": {"min": [0], "max": [448], "mean": [224.0], "std": [129.6148139681572], "count": [449]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [449]}, "index": {"min": [13534], "max": [13982], "mean": [13758.0], "std": [129.6148139681572], "count": [449]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [449]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.481082389681947]], [[0.4196768092735141]], [[0.38043312641218596]]], "std": [[[0.23153823738537915]], [[0.22755404304363588]], [[0.2384526072126888]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.56041870655733]], [[0.5111130598479626]], [[0.470972235586129]]], "std": [[[0.20564526353540563]], [[0.22068195759434636]], [[0.2353821816436072]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5917680837593826]], [[0.5407955800972732]], [[0.49768633434819237]]], "std": [[[0.20169923878157262]], [[0.21708935731420398]], [[0.23195605145780912]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [407]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [407]}, "observation.state": {"min": [-1.9869385623508034, -5.097565453811415, 0.6999947816218502, 0.0, 0.0, -0.9998923540115356, 0.014458432793617249, 0.08283433648381902, -0.1320993155795489, 0.2549610826257255, -0.9975817799568176, -0.23827150464057922, -0.24687670171260834, 0.0010274884989485145, 0.019208481855710946, -0.03981865123301314], "max": [-0.8868196305910214, -2.993804315617511, 0.7000862174348219, 0.0, 0.0, 0.999895453453064, 1.0, 0.5113664889407218, 0.03575536605836982, 0.6076834366017934, 0.9611011743545532, 0.13229933381080627, 0.2575153410434723, 0.07310227304697037, 0.040075529957651866, -0.020523039225755435], "mean": [-1.2584367041703939, -4.092191164710436, 0.7000223131653369, 0.0, 0.0, 0.02848935567505636, 0.8830666673696927, 0.22328019761536932, -0.015757110268770223, 0.5160107263241934, -0.6593058778554274, -0.06830178074886524, -0.10529356415976178, 0.02934786748182239, 0.026478468512718154, -0.02782836656869138], "std": [0.34786598901946464, 0.8006793556729902, 2.635220606085989e-05, 0.0, 0.0, 0.4091753064376551, 0.22794121490303118, 0.15007836529482732, 0.04249042483410968, 0.09356108416249331, 0.7174148626996575, 0.07565641718603373, 0.16744277705155605, 0.016048092727110205, 0.007638887453149713, 0.006480825043899981], "count": [407]}, "action": {"min": [-1.0, -0.8500000000000001, -0.9742857142857143, 0.0, -1.0, -1.0, -0.5857142857142857, -0.7214285714285715, -0.08285714285714285, -0.13428571428571429, -0.3142857142857143, -1.0], "max": [1.0, 1.0, 0.13428571428571429, 0.0, 1.0, 1.0, 0.8357142857142857, 0.942857142857143, 0.07714285714285714, 0.1657142857142857, 0.30285714285714294, 1.0], "mean": [0.16233766233766234, 0.04324324324324323, -0.24991224991224983, 0.0, -0.07125307125307126, -0.02546507546507545, 0.006177606177606174, 0.00610740610740615, -0.00035100035100035125, 0.004226044226044227, -0.0003299403299403214, 0.44963144963144963], "std": [0.358321104386218, 0.2668145288977336, 0.37516182447888274, 0.0, 0.9974582697220997, 0.42344068511494354, 0.1695734298706093, 0.30394258011840225, 0.013078403077756894, 0.038906368506144456, 0.08159144788567331, 0.8932141733662364], "count": [407]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03931203857064247], "std": [0.19433629512786865], "count": [407]}, "next.done": {"min": [false], "max": [true], "mean": [0.002457002457002457], "std": [0.049507227714029205], "count": [407]}, "timestamp": {"min": [0.0], "max": [20.3], "mean": [10.15], "std": [5.874521257089806], "count": [407]}, "frame_index": {"min": [0], "max": [406], "mean": [203.0], "std": [117.49042514179612], "count": [407]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [407]}, "index": {"min": [13983], "max": [14389], "mean": [14186.0], "std": [117.49042514179612], "count": [407]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [407]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5291010359221813]], [[0.5389343327540977]], [[0.5423424688601026]]], "std": [[[0.224479386820413]], [[0.19427379804987355]], [[0.2051566159103367]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4222921806784237]], [[0.374274455949372]], [[0.3460159612917432]]], "std": [[[0.26640355033315233]], [[0.27027403118841703]], [[0.27275361495208555]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.06666666666666667]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47493501012465533]], [[0.45138123516007966]], [[0.43120148901845895]]], "std": [[[0.2520751569081656]], [[0.2596932738280192]], [[0.26369522239029863]]], "count": [100]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [252]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [252]}, "observation.state": {"min": [2.2842662531043336, -0.8690337916206702, 0.6999968587333695, 0.0, 0.0, 0.7059980630874634, 0.7069954872131348, 0.21523615264057405, -0.08032598435304861, 0.2736336862536384, -0.990571916103363, -0.6884698867797852, -0.6173899173736572, 0.007869252003729343, 0.0009272194293193332, -0.03994769233394454], "max": [2.2852137449012337, -0.8688854081663251, 0.700440395375016, 0.0, 0.0, 0.7072181105613708, 0.7082136869430542, 0.6545081260224968, 0.5978205989188239, 0.8346914486100896, -0.47050485014915466, -0.021326899528503418, -0.13091132044792175, 0.5038634538650513, 0.03996356238173482, -0.0008577375836603733], "mean": [2.284628827096958, -0.8689732705863668, 0.7001225412107079, 0.0, 0.0, 0.7067254649268256, 0.7074876122531437, 0.40046641854822534, 0.16342968952386652, 0.6059400604286693, -0.7398807978819287, -0.30896715116169715, -0.3742738895354763, 0.24181171639689378, 0.029214816161354296, -0.02879073738260527], "std": [0.0002945325083561924, 3.862958338729378e-05, 0.00014475079836474437, 0.0, 0.0, 0.0004282664224813106, 0.0004277251885649575, 0.12899639241187114, 0.22596593510698415, 0.2028795743286446, 0.17782383324070303, 0.27605761447351246, 0.10837398793389119, 0.19745336456021934, 0.010980673167052996, 0.010654469351424467], "count": [252]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.21142857142857144, -0.4028571428571428, -0.39714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6857142857142858, 1.0, 0.9785714285714284, 0.19142857142857142, 0.24, 0.4885714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.026530612244897955, 0.03024376417233558, -0.03871882086167802, -0.0015986394557823162, -0.014875283446711995, 0.02482993197278909, -0.007936507936507936], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.46852707496275936, 0.511577807805822, 0.44246137788748885, 0.06086039698933362, 0.12860131547837556, 0.1950350576198363, 0.9999685054249311], "count": [252]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0634920671582222], "std": [0.24384590983390808], "count": [252]}, "next.done": {"min": [false], "max": [true], "mean": [0.003968253968253968], "std": [0.06286896634029707], "count": [252]}, "timestamp": {"min": [0.0], "max": [12.55], "mean": [6.2749999999999995], "std": [3.6372780573756893], "count": [252]}, "frame_index": {"min": [0], "max": [251], "mean": [125.5], "std": [72.74556114751378], "count": [252]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [252]}, "index": {"min": [14390], "max": [14641], "mean": [14515.5], "std": [72.74556114751378], "count": [252]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [252]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4604715719784007]], [[0.475112767238243]], [[0.41461767578125]]], "std": [[[0.22854095987419212]], [[0.2543330883479161]], [[0.2102644632350485]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46336787384631584]], [[0.4414825511259191]], [[0.41183742687748925]]], "std": [[[0.23294382053508658]], [[0.21882584619720521]], [[0.21070516220814275]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5053167586981082]], [[0.47689811257755055]], [[0.4358558870203355]]], "std": [[[0.2457553282278738]], [[0.23101301933940963]], [[0.22140457957082818]]], "count": [100]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [355]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [355]}, "observation.state": {"min": [2.5664031705869377, -4.23546490015225, 0.6999909326319921, 0.0, 0.0, -0.20784562826156616, 0.7505503296852112, 0.029693601474030995, -0.0908056925531655, 0.311796258457131, -0.9861778020858765, -0.304553747177124, -0.4005917012691498, 0.00023460689408238977, 0.020529350536075575, -0.040039408817044694], "max": [3.542727857884676, -2.2805866953999394, 0.7002610404724453, 0.0, 0.0, 0.6608133316040039, 1.0, 0.595854032927833, 0.028112172940188307, 0.6437158199888342, 0.9869179725646973, 0.08088244497776031, 0.40571334958076477, 0.1298249214887619, 0.040239466679117986, -0.020537208799545084], "mean": [3.1990571797759104, -3.338675248225588, 0.7000899607819151, 0.0, 0.0, 0.05145909848240567, 0.9645711059301671, 0.24364440408064317, -0.04466106889026908, 0.5549785075630423, 0.13036386009672998, -0.08829266265244551, 0.04269522235427104, 0.05769818090685335, 0.03021811902362207, -0.03595891144456634], "std": [0.28626364570229595, 0.7225347419640463, 8.310215498831406e-05, 0.0, 0.0, 0.2488572279743592, 0.07088469741366414, 0.20083011496940692, 0.028240809386127424, 0.08384666576441706, 0.9317260932933403, 0.10647576154444921, 0.2992039441412852, 0.03292573801655269, 0.00650301245542399, 0.002812044492234583], "count": [355]}, "action": {"min": [-1.0, -1.0, -0.7085714285714285, 0.0, -1.0, -1.0, -0.46428571428571436, -0.8571428571428572, -0.08571428571428572, -0.34285714285714286, -0.5028571428571429, -1.0], "max": [1.0, 0.6571428571428571, 1.0, 0.0, 1.0, 1.0, 0.9142857142857143, 1.0, 0.09714285714285714, 0.2285714285714286, 0.21714285714285717, 1.0], "mean": [0.15313883299798792, 0.007847082494969827, -0.02140845070422535, 0.0, -0.3352112676056338, -0.024728370221327962, 0.008309859154929593, 0.01595573440643862, 0.0032595573440643887, 0.0007484909456740465, -0.0036136820925553336, 0.3295774647887324], "std": [0.43151195242857426, 0.2653506602206421, 0.33224622419217054, 0.0, 0.9421429860006486, 0.4949829111157227, 0.17601123423393714, 0.341759559889443, 0.017354135829465985, 0.07437552791028575, 0.11063994880750636, 0.9441285371724744], "count": [355]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04507042095065117], "std": [0.20745861530303955], "count": [355]}, "next.done": {"min": [false], "max": [true], "mean": [0.0028169014084507044], "std": [0.052999683724582476], "count": [355]}, "timestamp": {"min": [0.0], "max": [17.7], "mean": [8.85], "std": [5.12396330978277], "count": [355]}, "frame_index": {"min": [0], "max": [354], "mean": [177.0], "std": [102.4792661956554], "count": [355]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [355]}, "index": {"min": [14642], "max": [14996], "mean": [14819.0], "std": [102.4792661956554], "count": [355]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [355]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36524119238759956]], [[0.3342572063371247]], [[0.31995100073720895]]], "std": [[[0.27569288547198606]], [[0.2655272738546764]], [[0.2635628771260736]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4042876814299939]], [[0.3507810920266544]], [[0.31853484509037994]]], "std": [[[0.22112379606093147]], [[0.23484501902062696]], [[0.254442511079096]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4184945804371553]], [[0.3592759345559513]], [[0.32293119004193477]]], "std": [[[0.2160526256779269]], [[0.23372893514575516]], [[0.25507597602160254]]], "count": [100]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [347]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [347]}, "observation.state": {"min": [0.7724078512822332, -1.4974675632538914, 0.6999914318402771, 0.0, 0.0, 0.44891127943992615, 0.6996847987174988, 0.007201149446718569, 0.0007244339751388829, 0.27870083632123677, -0.9894782900810242, -0.219773530960083, -0.36954396963119507, 0.0001229332119692117, 0.006351828778030414, -0.03985496031537385], "max": [2.2520978104435083, -0.8959845942385282, 0.7007089714726276, 0.0, 0.0, 0.7144515514373779, 0.8935763835906982, 0.5325231457205493, 0.17908553620848622, 0.6181312008589628, 0.936607837677002, 0.09465831518173218, 0.4189186096191406, 0.14727406203746796, 0.040247390549843845, -0.006101322743643744], "mean": [1.3891456091075687, -1.1519457893875438, 0.7004688645830093, 0.0, 0.0, 0.6776781459191347, 0.729190531312904, 0.2432523728463131, 0.08244839807205975, 0.5232061065765908, -0.8002996999523482, -0.04716750189275494, -0.18713269026289756, 0.05610058256144829, 0.026243912454230186, -0.026444801380664285], "std": [0.6790228919130677, 0.18609209073172805, 0.00026375743614001233, 0.0, 0.0, 0.07599217429332009, 0.057084801877586064, 0.17916282168198616, 0.06356808814506562, 0.10351928267231765, 0.5202536617575692, 0.0989018772512486, 0.1915513104923119, 0.04463558149091455, 0.01306296193381324, 0.012466306966489923], "count": [347]}, "action": {"min": [-0.9357142857142857, -1.0, -0.8, 0.0, -1.0, -1.0, -0.8, -0.8214285714285715, -0.07714285714285714, -0.4285714285714286, -0.20285714285714287, -1.0], "max": [1.0, 0.22857142857142856, 0.47714285714285715, 0.0, 1.0, 1.0, 1.0, 1.0, 0.13142857142857142, 0.2542857142857143, 0.2485714285714286, 1.0], "mean": [0.10076163030053523, -0.10312885961300942, 0.007254013997529848, 0.0, -0.5677233429394812, -0.02251955537258131, 0.007533964594483333, -0.01704405104981478, 0.00048579662412515356, 0.008604363935776039, 0.0007904487443392322, 0.1585014409221902], "std": [0.3285649521340365, 0.26920155757708536, 0.18229071806834896, 0.0, 0.8232194153939861, 0.45569464036864615, 0.2504222041102617, 0.34637328645170734, 0.017713149075548294, 0.0815479762575386, 0.06630135690169249, 0.9873587459609555], "count": [347]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.046109508723020554], "std": [0.20972226560115814], "count": [347]}, "next.done": {"min": [false], "max": [true], "mean": [0.002881844380403458], "std": [0.05360540414333796], "count": [347]}, "timestamp": {"min": [0.0], "max": [17.3], "mean": [8.65], "std": [5.008492787256461], "count": [347]}, "frame_index": {"min": [0], "max": [346], "mean": [173.0], "std": [100.16985574512923], "count": [347]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [347]}, "index": {"min": [14997], "max": [15343], "mean": [15170.0], "std": [100.16985574512923], "count": [347]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [347]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4824622802734375]], [[0.46829673318301934]], [[0.459600378298292]]], "std": [[[0.26074038562241214]], [[0.24803775323361563]], [[0.23975705513112142]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42104121009976253]], [[0.4213061804677926]], [[0.41647900390625]]], "std": [[[0.2930180406314099]], [[0.27592471552979136]], [[0.262019697505588]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4418028163535922]], [[0.43652476292030484]], [[0.42632915062997856]]], "std": [[[0.29516363315391975]], [[0.27823772127396823]], [[0.26373265496535964]]], "count": [100]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [364]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [364]}, "observation.state": {"min": [2.085516236316638, -0.8630702707544566, 0.6999965506565755, 0.0, 0.0, 0.7065550088882446, 0.7071066498756409, 0.21021740869021244, -0.03248355195926189, 0.27303206562886684, -0.9904778599739075, -0.5617271065711975, -0.545764684677124, 7.057607581373304e-05, 0.012128849352390655, -0.0400014098722395], "max": [2.0861003170802537, -0.8629282210662573, 0.7002668609457959, 0.0, 0.0, 0.7071068286895752, 0.7076581716537476, 0.6185612465943837, 0.41925908863950334, 0.8269018391142892, 0.8414813280105591, 0.0496823787689209, 0.5390281677246094, 0.400135338306427, 0.03996238391163497, -0.020007161019219205], "mean": [2.0857008306726885, -0.8629930327811983, 0.7000510526874258, 0.0, 0.0, 0.7068992804039965, 0.7073141514927477, 0.3862692550510119, 0.13414677881518375, 0.5726297556724501, -0.7480447549413849, -0.2778337215902386, -0.4061913960664482, 0.17903397954209, 0.030266678210978348, -0.030171323902677422], "std": [0.00018839446485530294, 3.469321857849716e-05, 9.577653875073352e-05, 0.0, 0.0, 0.00019170648258981532, 0.00019160169001293547, 0.11551732363218754, 0.17987520143200628, 0.21167946513331565, 0.24633999978058338, 0.23049960424521646, 0.1553318297015898, 0.16808156607914518, 0.008723515935886545, 0.008742692882684195], "count": [364]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8857142857142857, -1.0, -0.045714285714285714, -0.37714285714285717, -0.19714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.807142857142857, 0.6714285714285714, 0.6928571428571428, 0.08857142857142856, 0.1142857142857143, 0.2542857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.02352825745682891, 0.013481161695447474, -0.019387755102040775, 0.004835164835164834, -0.013100470957613816, 0.021240188383045505, 0.016483516483516484], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3340462474308629, 0.29094514598091314, 0.3191530050469626, 0.01600735594358166, 0.07890543533702653, 0.07734484538981556, 0.9998641376128726], "count": [364]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04395604506134987], "std": [0.20499734580516815], "count": [364]}, "next.done": {"min": [false], "max": [true], "mean": [0.0027472527472527475], "std": [0.052342194734224315], "count": [364]}, "timestamp": {"min": [0.0], "max": [18.15], "mean": [9.075], "std": [5.2538676229992705], "count": [364]}, "frame_index": {"min": [0], "max": [363], "mean": [181.5], "std": [105.0773524599854], "count": [364]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [364]}, "index": {"min": [15344], "max": [15707], "mean": [15525.5], "std": [105.0773524599854], "count": [364]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [364]}}} +{"episode_index": 45, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.503823351691751]], [[0.4614747894885493]], [[0.4384645325903799]]], "std": [[[0.24628955242541262]], [[0.25291998495929047]], [[0.2533672318365532]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5504274998085171]], [[0.5264221496582031]], [[0.5023202795888863]]], "std": [[[0.2121711668834342]], [[0.21484456056756546]], [[0.22101992800607048]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5328398790546492]], [[0.49033519370883116]], [[0.4494590513939951]]], "std": [[[0.20996454461796513]], [[0.21269231900683486]], [[0.22073052446322358]]], "count": [100]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [347]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [347]}, "observation.state": {"min": [0.3291185119263135, -1.508061489647666, 0.6999939987546421, 0.0, 0.0, 0.29933372139930725, 0.5747929215431213, -0.006008446383642729, -0.08026014551811622, 0.24116852933017863, -0.9978380799293518, -0.08881701529026031, -0.3059260845184326, 0.00012410340423230082, 0.018434125176407648, -0.03988226618941459], "max": [2.1283105766901262, -0.8385490819262637, 0.7001164761166648, 0.0, 0.0, 0.8182989358901978, 0.9541484713554382, 0.5133149950283743, -0.006122901745029885, 0.6357019600456685, 0.997597873210907, 0.08000458776950836, 0.3126069903373718, 0.10176148265600204, 0.03994769177516749, -0.02049926011580789], "mean": [1.1469679162127737, -1.0742953444178125, 0.7000291929024747, 0.0, 0.0, 0.6979251629337454, 0.6915154975841643, 0.22414320575050237, -0.039628390347447834, 0.5271346744007613, 0.4344441878692561, -0.03402186822822527, 0.16319801379321497, 0.017236307805904953, 0.027079605963011337, -0.030086847631799946], "std": [0.7784629294395653, 0.21201446790077166, 3.149815964384212e-05, 0.0, 0.0, 0.14679312137101266, 0.11471068365789205, 0.17045285448072656, 0.011673357532836513, 0.12176645917973501, 0.8627188579730282, 0.02988746470850749, 0.19375521842774315, 0.021257963501613734, 0.008339119304891665, 0.006258117576859237], "count": [347]}, "action": {"min": [-1.0, -0.7214285714285715, -0.9685714285714285, 0.0, -1.0, -1.0, -0.3428571428571429, -0.7642857142857143, -0.14857142857142858, -0.43428571428571433, -0.12, -1.0], "max": [1.0, 0.6428571428571428, 0.6628571428571428, 0.0, 1.0, 0.9071428571428573, 0.2571428571428572, 0.9857142857142858, 0.15142857142857147, 0.24285714285714288, 0.07714285714285714, 1.0], "mean": [0.15061753808151498, -0.08538493207081105, 0.01902840675174971, 0.0, -0.40634005763688763, -0.055166735282009105, -0.01914368052696584, 0.023322354878550857, -0.000609304240428159, 0.0009304240428159717, -0.00475916014820914, 0.31988472622478387], "std": [0.380697017494209, 0.22395150378275305, 0.2625828608719732, 0.0, 0.9137219257299538, 0.4548670064409144, 0.07515935431697156, 0.39401539800990043, 0.02970030826056805, 0.07989792372219377, 0.03622653534700864, 0.9474564696745105], "count": [347]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.046109508723020554], "std": [0.20972226560115814], "count": [347]}, "next.done": {"min": [false], "max": [true], "mean": [0.002881844380403458], "std": [0.05360540414333796], "count": [347]}, "timestamp": {"min": [0.0], "max": [17.3], "mean": [8.65], "std": [5.008492787256461], "count": [347]}, "frame_index": {"min": [0], "max": [346], "mean": [173.0], "std": [100.16985574512923], "count": [347]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [347]}, "index": {"min": [15708], "max": [16054], "mean": [15881.0], "std": [100.16985574512923], "count": [347]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [347]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.409946746227788]], [[0.3507581984576057]], [[0.33255219283758425]]], "std": [[[0.23937869353791377]], [[0.2555310647484842]], [[0.25840868625680896]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4471737072514553]], [[0.36995798866421564]], [[0.34017053342333026]]], "std": [[[0.2001667188828616]], [[0.23160576263705948]], [[0.2521739482173888]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4399875254911535]], [[0.3539363810221354]], [[0.3223883379767923]]], "std": [[[0.21070750571241706]], [[0.25135487716779176]], [[0.2738694935816831]]], "count": [100]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [352]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [352]}, "observation.state": {"min": [1.3466546813728228, -1.6003650223271826, 0.6999935854748185, 0.0, 0.0, 0.45930051803588867, 0.5894620418548584, 0.029909173764870456, -0.04575275482257224, 0.25970008022723956, -0.9975615739822388, -0.1576162725687027, -0.3539004921913147, 0.0001388390373904258, 0.020554421613290602, -0.03988228962031309], "max": [3.2071261705495715, -0.9878332542321618, 0.7002417724976626, 0.0, 0.0, 0.807796061038971, 0.8882809281349182, 0.5479887160761681, 0.0027882927926825563, 0.6039043365513516, 0.9911877512931824, 0.14945130050182343, 0.28897804021835327, 0.03375273197889328, 0.03997966274460792, -0.02051213893983626], "mean": [2.1776576061814255, -1.2051756557721605, 0.7001388607397183, 0.0, 0.0, 0.7220643383704803, 0.6797960254956376, 0.24106733252070855, -0.018605461010939545, 0.5140246955200267, -0.03570880402218212, -0.036025512434372846, -0.011910794043201762, 0.012309673123292503, 0.03393532250782611, -0.029195181056387732], "std": [0.8066779740340954, 0.196912390569038, 7.32761421101087e-05, 0.0, 0.0, 0.09450941200278684, 0.08699658523286996, 0.17844377810516585, 0.012249473885801117, 0.10533270494140291, 0.9761076149415052, 0.07598807601332018, 0.19618273954599802, 0.009258559151547012, 0.003937527049079694, 0.0070211540038775284], "count": [352]}, "action": {"min": [-1.0, -1.0, -0.7628571428571429, 0.0, -1.0, -1.0, -0.42142857142857143, -1.0, -0.11714285714285716, -0.4228571428571429, -0.18857142857142858, -1.0], "max": [1.0, 0.8714285714285716, 0.7542857142857143, 0.0, 1.0, 1.0, 0.35000000000000003, 0.95, 0.06285714285714286, 0.24, 0.2142857142857143, 1.0], "mean": [0.11846590909090914, -0.14644886363636359, 0.014001623376623362, 0.0, -0.4318181818181818, -0.026907467532467512, -0.007751623376623377, 0.0065543831168831165, 0.0018831168831168824, 0.00034090909090908785, 0.004642857142857141, 0.2840909090909091], "std": [0.34591009266160017, 0.3547836030153607, 0.20538368094399934, 0.0, 0.901960674226568, 0.4883280658320813, 0.07525220734167917, 0.33230485218194417, 0.012720313496244499, 0.08707483355214958, 0.04767714259253069, 0.9587973484380825], "count": [352]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04545454680919647], "std": [0.20829889178276062], "count": [352]}, "next.done": {"min": [false], "max": [true], "mean": [0.002840909090909091], "std": [0.05322441475907726], "count": [352]}, "timestamp": {"min": [0.0], "max": [17.55], "mean": [8.775], "std": [5.080661866331984], "count": [352]}, "frame_index": {"min": [0], "max": [351], "mean": [175.5], "std": [101.61323732663968], "count": [352]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [352]}, "index": {"min": [16055], "max": [16406], "mean": [16230.5], "std": [101.61323732663968], "count": [352]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [352]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5935553199917663]], [[0.5708131917317708]], [[0.5273211921243106]]], "std": [[[0.2534602187562545]], [[0.246111697878645]], [[0.2522903862924269]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49289323993757655]], [[0.49049086866191793]], [[0.48870449709424785]]], "std": [[[0.29327687125474555]], [[0.27933025218020247]], [[0.2607002307390708]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5190749511718751]], [[0.5097588632621017]], [[0.49795623480104934]]], "std": [[[0.2912376294636446]], [[0.2746428131259078]], [[0.25349750878158483]]], "count": [100]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [441]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [441]}, "observation.state": {"min": [-2.094265334952599, -4.797366671816323, 0.6999942864686367, 0.0, 0.0, -0.03874284774065018, 0.173475444316864, -0.0044684155712819695, -0.14282994272183025, 0.2784030292295313, -0.998960018157959, -0.0735020637512207, -0.36878150701522827, 0.0022880062460899353, 0.02053446216139855, -0.04042930514329868], "max": [-0.9515814263737465, -2.8886787906362574, 0.7001411579995769, 0.0, 0.0, 0.9848382472991943, 1.0, 0.4655625370641666, 0.16421875140937203, 0.6382686916690997, -0.9266478419303894, 0.11673629283905029, 0.07495112717151642, 0.050510525703430176, 0.03995244408227499, -0.020532096907911964], "mean": [-1.2686355426034674, -3.960117586915445, 0.7000191057238834, 0.0, 0.0, 0.22675999798719085, 0.8508626222610474, 0.1821058237890393, 0.0208221187365336, 0.5469582950149418, -0.9775448217143278, -0.0039244671426122155, -0.15280892531933418, 0.016325913431954966, 0.033909380895194456, -0.038045796767110916], "std": [0.3906453448865094, 0.8297596262997626, 3.877740957624637e-05, 0.0, 0.0, 0.383581787422074, 0.2783481728694241, 0.1915092153638219, 0.08703819714503401, 0.10574587780180744, 0.023546371466148203, 0.058321202770656895, 0.12899123604352916, 0.013382308329900177, 0.005026561463075966, 0.0023209257302935337], "count": [441]}, "action": {"min": [-1.0, -1.0, -0.9314285714285714, 0.0, -1.0, -1.0, -0.9785714285714284, -0.8214285714285715, -0.10571428571428572, -0.40571428571428575, -0.16, -1.0], "max": [1.0, 0.12142857142857143, 1.0, 0.0, 1.0, 1.0, 0.942857142857143, 1.0, 0.1, 0.26571428571428574, 0.1142857142857143, 1.0], "mean": [0.08545513443472627, -0.13062844185293163, -0.007787495950761272, 0.0, -0.1564625850340136, -0.01857790735341754, 0.0034337544541626413, 0.014285714285714287, -0.0005506964690638159, 0.005461613216715265, -0.005066407515387102, 0.3968253968253968], "std": [0.29626756695156176, 0.3007430649611067, 0.39946486023841093, 0.0, 0.9876838864153208, 0.4569689294522677, 0.24044662187904345, 0.3121945033658986, 0.018530700540234035, 0.07971739047893729, 0.026228993415150392, 0.9178941139556127], "count": [441]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03628117963671684], "std": [0.1869889199733734], "count": [441]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022675736961451248], "std": [0.04756502712789803], "count": [441]}, "timestamp": {"min": [0.0], "max": [22.0], "mean": [11.0], "std": [6.365270352991039], "count": [441]}, "frame_index": {"min": [0], "max": [440], "mean": [220.0], "std": [127.30540705982078], "count": [441]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [441]}, "index": {"min": [16407], "max": [16847], "mean": [16627.0], "std": [127.30540705982078], "count": [441]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [441]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6201056512570849]], [[0.5760823442047717]], [[0.5532179068771064]]], "std": [[[0.20958247734694474]], [[0.254807147738835]], [[0.27512885572995477]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.439387690525429]], [[0.359682887058632]], [[0.3174700999540441]]], "std": [[[0.1779515562010221]], [[0.21627370162996518]], [[0.24371551813124429]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.518496581432866]], [[0.42180043299057907]], [[0.37572138947131584]]], "std": [[[0.20995853265694028]], [[0.2601114707779754]], [[0.2835724339685643]]], "count": [100]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [289]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [289]}, "observation.state": {"min": [4.664546606398822, -2.234240491291912, 0.6999944255428059, 0.0, 0.0, -0.707133948802948, 0.7070795297622681, 0.13734974465385053, -0.7024851034949999, 0.25623302839387596, -0.9895409345626831, -0.1953522264957428, -0.3887731730937958, 0.003497681114822626, 0.020539322812926072, -0.039834493921296184], "max": [4.664802069682153, -2.234150466817054, 0.7000398809579853, 0.0, 0.0, -0.7068685293197632, 0.7073450088500977, 0.5985055318137493, 0.10546381653616255, 0.6348819663409009, 0.9641696810722351, 0.19470623135566711, 0.19125425815582275, 0.15491972863674164, 0.040011868280345704, -0.020527237873821325], "mean": [4.6646425531654705, -2.2341911840676016, 0.700005024400026, 0.0, 0.0, -0.707066782618064, 0.707146749570708, 0.3721573092460054, -0.22481949165953033, 0.4725297056547266, -0.9202328610997712, 0.00024700948523815117, -0.2887375401687457, 0.06815421958147809, 0.033343979136424985, -0.03404758567687952], "std": [6.752398753760999e-05, 2.53637372281507e-05, 9.086308705230435e-06, 0.0, 0.0, 5.336473283074666e-05, 5.337971522499845e-05, 0.14202235662264553, 0.3271545829000285, 0.11459586600617645, 0.22419333583189216, 0.06970052324426804, 0.09547424555488611, 0.030346509097150472, 0.0058078190512510595, 0.0049558847703213465], "count": [289]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.8642857142857142, -0.3742857142857143, -0.48571428571428577, -0.08857142857142856, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9714285714285714, 1.0, 0.7214285714285715, 0.06571428571428571, 0.13714285714285715, 0.08571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03512110726643595, -0.0738260009886308, -0.04565002471576863, -0.02191794364804746, -0.01817103311913, -0.0018783984181908052, -0.010380622837370242], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.46863904673645496, 0.5353413503208518, 0.25959206555698267, 0.08245470845095855, 0.10208566811840009, 0.019123573930429814, 0.9999461198832211], "count": [289]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05536332353949547], "std": [0.2286880612373352], "count": [289]}, "next.done": {"min": [false], "max": [true], "mean": [0.0034602076124567475], "std": [0.058721670409955504], "count": [289]}, "timestamp": {"min": [0.0], "max": [14.4], "mean": [7.200000000000001], "std": [4.171330722922843], "count": [289]}, "frame_index": {"min": [0], "max": [288], "mean": [144.0], "std": [83.42661445845684], "count": [289]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [289]}, "index": {"min": [16848], "max": [17136], "mean": [16992.0], "std": [83.42661445845684], "count": [289]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [289]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6044163303749235]], [[0.556516892377068]], [[0.5413649561264936]]], "std": [[[0.23719839367677434]], [[0.2493926823544964]], [[0.2526908095213983]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4647063981598499]], [[0.42336899222579655]], [[0.39722849049287684]]], "std": [[[0.2604872200503553]], [[0.25436884975045637]], [[0.2544620059754539]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4297486189299939]], [[0.4036207036037071]], [[0.3845161940630744]]], "std": [[[0.2801979699908885]], [[0.27571900270669414]], [[0.27716289176313014]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [359]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [359]}, "observation.state": {"min": [1.977687456323354, -2.058886438185593, 0.6999945114093195, 0.0, 0.0, -0.9999179840087891, 0.01280958205461502, -0.007567215293045937, -0.07788561054273035, 0.29603041658038387, -0.988686203956604, -0.05032375454902649, -0.379535049200058, 0.00784942228347063, 0.020566866036877966, -0.039901277233666224], "max": [2.8132071758623693, -1.1333335893311245, 0.7001632276959406, 0.0, 0.0, 0.9997923970222473, 0.7467470765113831, 0.5147724144235171, 0.10854641677838361, 0.688783072951905, -0.9249752163887024, 0.04266490042209625, -0.14174588024616241, 0.030232617631554604, 0.03995430761656106, -0.01983296224821455], "mean": [2.33932590849045, -1.549203342620015, 0.7000207763605727, 0.0, 0.0, 0.06873101361282688, 0.6634038998836179, 0.20997849499055263, 0.016563619363782228, 0.5745552127480205, -0.9490571852181947, -0.011543733246811252, -0.30603039181664127, 0.020203162028783708, 0.03350758007846011, -0.031537361603313316], "std": [0.37045897937598404, 0.4125497408095802, 4.531004014477925e-05, 0.0, 0.0, 0.7322958202106834, 0.1375285871018968, 0.1891810500575548, 0.0464686619556985, 0.11845591250827973, 0.01835970843697236, 0.025469444056455882, 0.06383490359174751, 0.005810218285040147, 0.004526013177235998, 0.006230000416626713], "count": [359]}, "action": {"min": [-0.8357142857142857, -0.7785714285714286, -0.27714285714285714, 0.0, -1.0, -1.0, -0.6714285714285714, -0.9785714285714284, -0.06, -0.4257142857142857, -0.06285714285714286, -1.0], "max": [0.6571428571428571, 0.8714285714285716, 1.0, 0.0, 1.0, 1.0, 0.6, 1.0, 0.022857142857142857, 0.2571428571428571, 0.017142857142857144, 1.0], "mean": [-0.0402705929168325, -0.017409470752089158, 0.13582172701949852, 0.0, -0.415041782729805, -0.02240350179068842, -0.009848786311181858, 0.023099880620771986, -0.00020692399522483087, -0.0022602467170712284, -0.0034858734580183056, 0.3370473537604457], "std": [0.22206496382753504, 0.18483766437830035, 0.32211360851617404, 0.0, 0.9098023513865332, 0.43225047611646555, 0.1758767956548563, 0.37034499136120214, 0.005078245121342882, 0.0682335706882351, 0.012362934473690662, 0.941487695789528], "count": [359]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.044568244367837906], "std": [0.20635384321212769], "count": [359]}, "next.done": {"min": [false], "max": [true], "mean": [0.002785515320334262], "std": [0.05270442319895404], "count": [359]}, "timestamp": {"min": [0.0], "max": [17.9], "mean": [8.950000000000001], "std": [5.181698563212646], "count": [359]}, "frame_index": {"min": [0], "max": [358], "mean": [179.0], "std": [103.63397126425292], "count": [359]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [359]}, "index": {"min": [17137], "max": [17495], "mean": [17316.0], "std": [103.63397126425292], "count": [359]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [359]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5479197836483226]], [[0.5011007911831725]], [[0.46226590564204195]]], "std": [[[0.2332877451265289]], [[0.24251118790742077]], [[0.2578926202949016]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35220658485562195]], [[0.325572639614928]], [[0.3079831896015242]]], "std": [[[0.26895525125958514]], [[0.25264452636525137]], [[0.24930900413430762]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3704498494466146]], [[0.3405119856292126]], [[0.32232634181602327]]], "std": [[[0.27812999936157184]], [[0.2622183811010865]], [[0.2601978610198297]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [414]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [414]}, "observation.state": {"min": [3.800499389779849, -3.4774802398909985, 0.6999955536708442, 0.0, 0.0, -0.021412959322333336, 0.9442075490951538, -0.06672577436378102, -0.2603759319159944, 0.29854698983366357, -0.9995425343513489, -0.3860059380531311, -0.3765975832939148, 0.00045184034388512373, 0.014214762396121888, -0.041041468455380134], "max": [4.425152869064017, -2.723059756750431, 0.7010263576431343, 0.0, 0.0, 0.3293510973453522, 1.0, 0.48222103017899354, 0.015593915884206666, 0.6784013745035884, 0.9975643157958984, 0.06418698281049728, 0.3997446596622467, 0.16679660975933075, 0.04000394875579392, -0.020546132319460016], "mean": [4.256200364164865, -3.190855928902453, 0.7001821928874115, 0.0, 0.0, 0.019164731288087652, 0.9966322029558357, 0.2250520907429962, -0.09225933408993475, 0.5438692703882675, -0.050195135932037796, -0.12507339745112087, 0.014211553452617449, 0.05509578806962841, 0.03272850145332581, -0.03489031983154608], "std": [0.18612349395491623, 0.3406202146834194, 0.00035673113605438217, 0.0, 0.0, 0.0788971231595551, 0.011499763895366083, 0.2033271481753187, 0.06908641208987983, 0.11796921502865788, 0.9292980748385313, 0.13873230344215692, 0.3041061190763027, 0.05724932693489732, 0.006011480862478472, 0.004076586488638146], "count": [414]}, "action": {"min": [-1.0, -0.20714285714285713, -0.6228571428571429, 0.0, -1.0, -1.0, -0.7428571428571429, -0.9642857142857144, -0.08285714285714285, -0.37142857142857144, -0.3314285714285714, -1.0], "max": [1.0, 1.0, 0.6228571428571429, 0.0, 1.0, 1.0, 1.0, 0.9357142857142857, 0.1657142857142857, 0.3657142857142857, 0.17714285714285713, 1.0], "mean": [0.019685990338164247, 0.08043478260869565, -0.0016080055210489928, 0.0, -0.5072463768115942, -0.02494824016563147, -0.007522429261559713, -0.002070393374741174, 0.005527950310559007, -0.0004002760524499593, -0.0007729468599033809, 0.2222222222222222], "std": [0.3030474631953698, 0.21664784633949943, 0.17429690689997954, 0.0, 0.8618010868010718, 0.43099262567037344, 0.2401784719285427, 0.33264221783943543, 0.025617192329488368, 0.1018929458906947, 0.0749723667234842, 0.9749960430435712], "count": [414]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03864734247326851], "std": [0.19275301694869995], "count": [414]}, "next.done": {"min": [false], "max": [true], "mean": [0.0024154589371980675], "std": [0.04908792616642892], "count": [414]}, "timestamp": {"min": [0.0], "max": [20.65], "mean": [10.325000000000001], "std": [5.975557854013855], "count": [414]}, "frame_index": {"min": [0], "max": [413], "mean": [206.5], "std": [119.5111570802771], "count": [414]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [414]}, "index": {"min": [17496], "max": [17909], "mean": [17702.5], "std": [119.5111570802771], "count": [414]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [414]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4531273857565487]], [[0.36513091741823683]], [[0.34393165917490043]]], "std": [[[0.27561908782311284]], [[0.1871767532934062]], [[0.2124435297686287]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4135253116383272]], [[0.35259146058325674]], [[0.31247055532418044]]], "std": [[[0.22417634264132016]], [[0.20925081239448995]], [[0.22251944042381855]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4608195788813572]], [[0.3883581937902114]], [[0.3387223995433134]]], "std": [[[0.22102381475963115]], [[0.21955138237384686]], [[0.2411784835367986]]], "count": [100]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [329]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [329]}, "observation.state": {"min": [3.9882754825481794, -3.7796743924051572, 0.6999967447280723, 0.0, 0.0, -0.06049850210547447, 0.6185876727104187, 0.039164112488921266, -0.16907913414239362, 0.28672543964051056, -0.9885538220405579, -0.2432803213596344, -0.3580256700515747, 0.00023510487517341971, 0.01665249989764094, -0.040065952687752975], "max": [4.852385052300598, -2.574051971650534, 0.700260037316205, 0.0, 0.0, 0.7857157588005066, 1.0, 0.4804404167995626, -0.00043773992875939527, 0.6291340010615325, 0.9760637879371643, 0.14180642366409302, 0.3203609883785248, 0.18211248517036438, 0.04001034101812495, -0.017230351878014694], "mean": [4.547182851439173, -3.1777681392627364, 0.7000886195300478, 0.0, 0.0, 0.14526405056939704, 0.9404707237579902, 0.21300303891261418, -0.04140530679800283, 0.4874315655130438, 0.1905602211285507, -0.11299151761915908, 0.05670073940942353, 0.066190537542075, 0.02555163129868034, -0.027899053692455045], "std": [0.25114730982971584, 0.3880766011406107, 6.78321106034045e-05, 0.0, 0.0, 0.284236563889494, 0.1167165648921858, 0.16341806168991285, 0.044817401183050436, 0.1128335497298429, 0.932506964875902, 0.08301567917465458, 0.2512821185978497, 0.060991969677066854, 0.009649780720209425, 0.008619880280896473], "count": [329]}, "action": {"min": [-0.75, -0.942857142857143, -0.8257142857142857, 0.0, -1.0, -1.0, -0.8571428571428572, -1.0, -0.09428571428571429, -0.19428571428571428, -0.23714285714285716, -1.0], "max": [1.0, 0.8428571428571429, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.1457142857142857, 0.3, 0.2714285714285714, 1.0], "mean": [0.13851498046026925, -0.032479374728614875, -0.018358662613981773, 0.0, -0.2887537993920973, -0.041945288753799354, -0.01061658706035606, 0.04007815892314371, 0.0030742509769865404, 0.003247937472861488, -0.0008423795049934818, 0.2826747720364742], "std": [0.3903940111505306, 0.22067248660127214, 0.3664716303866078, 0.0, 0.9574033859020089, 0.5104895959279593, 0.22980297712400818, 0.47384546721327914, 0.028901738220271866, 0.06766128600858856, 0.08432193797811875, 0.959215811615994], "count": [329]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.048632219433784485], "std": [0.21509794890880585], "count": [329]}, "next.done": {"min": [false], "max": [true], "mean": [0.00303951367781155], "std": [0.05504793397044023], "count": [329]}, "timestamp": {"min": [0.0], "max": [16.4], "mean": [8.200000000000001], "std": [4.748684028233506], "count": [329]}, "frame_index": {"min": [0], "max": [328], "mean": [164.0], "std": [94.97368056467013], "count": [329]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [329]}, "index": {"min": [17910], "max": [18238], "mean": [18074.0], "std": [94.97368056467013], "count": [329]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [329]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4421969897700291]], [[0.4280185606713388]], [[0.4289039653703278]]], "std": [[[0.29870933345053363]], [[0.2600921621200131]], [[0.2538944333260457]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39468575750612744]], [[0.39552475753484984]], [[0.39298752668792125]]], "std": [[[0.2960010449246908]], [[0.28202253132041966]], [[0.2718425177527139]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4428975040211397]], [[0.4448079630533854]], [[0.4412767752853094]]], "std": [[[0.2827537482257325]], [[0.2611898674944101]], [[0.24637561465243943]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [332]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [332]}, "observation.state": {"min": [0.801230756507099, -2.285384935508386, 0.6999973030638514, 0.0, 0.0, 0.9999988079071045, 9.233530727215111e-05, 0.174116799546445, -0.010722917127852671, 0.280536242948661, -0.9916591048240662, -0.39679694175720215, -0.5982071161270142, 0.0002116953837685287, 0.020567572777650558, -0.04008861395777627], "max": [0.8013141988561329, -2.2846503476206825, 0.7001497708046686, 0.0, 0.0, 1.0, 0.0015811517369002104, 0.5672931159457084, 0.5710029352576398, 0.8258829405657362, 0.906529426574707, 0.029622048139572144, 0.5986641049385071, 0.3193502128124237, 0.04030495640148894, -0.020498986392520832], "mean": [0.8012883271357926, -2.2849972764963717, 0.7000706303646714, 0.0, 0.0, 0.999999463558197, 0.0008587012808532903, 0.34418105524305875, 0.2792012579051669, 0.5998603424821941, -0.14640860259532928, -0.1821244831185743, 0.043713935280600226, 0.15134115524134872, 0.03589804274435728, -0.035312612564165693], "std": [2.019331417063356e-05, 0.0002890583566698254, 5.051992500396626e-05, 0.0, 0.0, 5.444411551250486e-07, 0.0006293017468105743, 0.1453510691779851, 0.1790052408361207, 0.20190973824809286, 0.8639260677762794, 0.16772722493762887, 0.36155616079250924, 0.12392181203297979, 0.0038037349618475504, 0.004282775314402915], "count": [332]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9285714285714287, -0.10571428571428572, -0.52, -0.17714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.7857142857142857, 1.0, 0.11142857142857143, 0.3942857142857143, 0.5628571428571428, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.002172977624784936, 0.049376075731497375, -0.007487091222030992, -0.0026850258175559385, -0.013674698795180712, 0.011342512908777977, -0.04216867469879518], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.37764074581731866, 0.3872643018490614, 0.3698324862435215, 0.01985984527031562, 0.13723442656776738, 0.12646133251111363, 0.9991105058371395], "count": [332]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.048192769289016724], "std": [0.21417337656021118], "count": [332]}, "next.done": {"min": [false], "max": [true], "mean": [0.0030120481927710845], "std": [0.05479941385138629], "count": [332]}, "timestamp": {"min": [0.0], "max": [16.55], "mean": [8.275], "std": [4.791985496639154], "count": [332]}, "frame_index": {"min": [0], "max": [331], "mean": [165.5], "std": [95.83970993278308], "count": [332]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [332]}, "index": {"min": [18239], "max": [18570], "mean": [18404.5], "std": [95.83970993278308], "count": [332]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [332]}}} +{"episode_index": 53, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5961979328230316]], [[0.5825715643190871]], [[0.5720527379653033]]], "std": [[[0.21047044086531363]], [[0.21700822617097662]], [[0.2237658027005358]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4781873875038296]], [[0.47927109841739435]], [[0.4809577080221737]]], "std": [[[0.2821366722093302]], [[0.27437522530510305]], [[0.2632502436778641]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4896041379442402]], [[0.49181768080767463]], [[0.4945061854942172]]], "std": [[[0.28823954387603506]], [[0.2797900208876437]], [[0.26679072234863327]]], "count": [100]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [246]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [246]}, "observation.state": {"min": [6.279651268212442, -0.8439361869050294, 0.6999930891310463, 0.0, 0.0, 0.7065143585205078, 0.7071578502655029, 0.21609458557850791, 0.0016919952587262088, 0.24767347865075595, -0.990484356880188, -0.572932779788971, -0.4955419600009918, 0.0011786662507802248, 0.02055490507771837, -0.040003106143691756], "max": [6.280039047996718, -0.8438352706696438, 0.7000566215519001, 0.0, 0.0, 0.7070556879043579, 0.7076987624168396, 0.5848903562232866, 0.5966972929074625, 0.8125537602783729, -0.7475742697715759, -0.058234259486198425, -0.12351522594690323, 0.2708922028541565, 0.03989796263391942, -0.020288151461404186], "mean": [6.279801787502438, -0.8438971089954751, 0.7000107095000798, 0.0, 0.0, 0.7068294962731804, 0.7073839192952567, 0.3559081025226491, 0.22599211692129098, 0.5854035652452749, -0.8563874514122319, -0.3083283841246512, -0.32466874816795677, 0.11333194457286046, 0.031485109888940516, -0.03075000505811057], "std": [0.00013648894513599986, 2.774986994659717e-05, 1.8639115025661e-05, 0.0, 0.0, 0.000193164586043845, 0.00019297507633308947, 0.12460740904468212, 0.19514728884950358, 0.20134624325624617, 0.07325199245547465, 0.17491801349662342, 0.08697814261388152, 0.09875652564646518, 0.008096914606488967, 0.008969197038196314], "count": [246]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.06, -0.41714285714285715, -0.15428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8785714285714286, 1.0, 0.9714285714285714, 0.08571428571428572, 0.17714285714285713, 0.40857142857142864, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04372822299651572, 0.04555749128919866, 0.004790940766550555, 0.006538908246225318, -0.013530778164924515, 0.027711962833914083, -0.12195121951219512], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4316902443147708, 0.5179280942750975, 0.4493769836124141, 0.02292130087604939, 0.10657524058086772, 0.11042006762169114, 0.9925360950915012], "count": [246]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06504064798355103], "std": [0.24659758806228638], "count": [246]}, "next.done": {"min": [false], "max": [true], "mean": [0.0040650406504065045], "std": [0.06362795057926232], "count": [246]}, "timestamp": {"min": [0.0], "max": [12.25], "mean": [6.125], "std": [3.5506748184910806], "count": [246]}, "frame_index": {"min": [0], "max": [245], "mean": [122.5], "std": [71.01349636982161], "count": [246]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [246]}, "index": {"min": [18571], "max": [18816], "mean": [18693.5], "std": [71.01349636982161], "count": [246]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [246]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5797875533758425]], [[0.55461327047909]], [[0.5243380509918811]]], "std": [[[0.2659691832382534]], [[0.26695556143248833]], [[0.2643853918342352]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47500557753619027]], [[0.48813270120059743]], [[0.47396731268190867]]], "std": [[[0.24775457887037097]], [[0.21445431008622612]], [[0.19208244637062355]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4979659920486749]], [[0.5169072062174479]], [[0.5038988408107383]]], "std": [[[0.24533322063494648]], [[0.20756127491903661]], [[0.19134223372855613]]], "count": [100]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [306]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [306]}, "observation.state": {"min": [5.513344954448942, -3.1374159603575342, 0.699996276228191, 0.0, 0.0, -0.9999949932098389, 0.0031589174177497625, -0.12393838449287387, -0.32023063938075813, 0.2562100809340432, -0.9991627335548401, -0.08447423577308655, -0.2584584951400757, 3.495707278489135e-05, 0.020532302951295562, -0.04009501851626842], "max": [6.382211511734559, -2.0961962212579226, 0.7002716719317751, 0.0, 0.0, 0.9995496869087219, 1.0, 0.5137275986733894, 0.005865446524599083, 0.6693188120158224, 0.9990488886833191, 0.02368314191699028, 0.23649746179580688, 0.1004686951637268, 0.03992842067208049, -0.01803999672450723], "mean": [5.93722758041164, -2.7105514067157572, 0.7001351439606744, 0.0, 0.0, -0.17745211115258053, 0.6227639017229462, 0.12356046061583609, -0.07706830084156974, 0.5516442876887316, -0.1393244034714169, -0.025728064461373816, -0.01579522205748005, 0.03684448342395555, 0.031880752166130434, -0.027748526233175495], "std": [0.39731701542633796, 0.4061033248288077, 6.997206359368015e-05, 0.0, 0.0, 0.653755900474321, 0.3915087450213655, 0.2198952016246028, 0.09680434915074264, 0.12229483523643127, 0.9714391934946907, 0.034026158490648536, 0.18005492771856257, 0.03237461526019684, 0.004908269119096831, 0.00782708826143636], "count": [306]}, "action": {"min": [-1.0, -1.0, -0.2057142857142857, 0.0, -1.0, -1.0, -0.8714285714285716, -0.9571428571428572, -0.20857142857142857, -0.2057142857142857, -0.15714285714285714, -1.0], "max": [1.0, 0.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.18857142857142858, 0.24285714285714288, 0.14, 1.0], "mean": [0.04969654528478054, -0.07033146591970121, 0.17639589169000935, 0.0, -0.3660130718954248, -0.03473389355742293, -0.014752567693744126, 0.0004668534080298806, -0.0027731092436974777, 0.006666666666666671, -0.002334267040149392, 0.38562091503267976], "std": [0.36826483524897646, 0.19488498035983476, 0.35676652758895117, 0.0, 0.9306097093850201, 0.5337436889361895, 0.32048848229224886, 0.41371356318918234, 0.04614778566473713, 0.06020063382716117, 0.029138971763656246, 0.9226573090207185], "count": [306]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05228758230805397], "std": [0.222606360912323], "count": [306]}, "next.done": {"min": [false], "max": [true], "mean": [0.0032679738562091504], "std": [0.05707270979272216], "count": [306]}, "timestamp": {"min": [0.0], "max": [15.25], "mean": [7.625], "std": [4.416705974667848], "count": [306]}, "frame_index": {"min": [0], "max": [305], "mean": [152.5], "std": [88.33411949335697], "count": [306]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [306]}, "index": {"min": [18817], "max": [19122], "mean": [18969.5], "std": [88.33411949335697], "count": [306]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [306]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.996078431372549]], [[0.996078431372549]], [[0.996078431372549]]], "mean": [[[0.5378686409744562]], [[0.4761656996783088]], [[0.42910832304113056]]], "std": [[[0.2044886095205867]], [[0.19954397869765653]], [[0.21260205907923865]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5000666671453737]], [[0.46372711959539675]], [[0.4349911582797181]]], "std": [[[0.24445501573373912]], [[0.2413385595318831]], [[0.24072462563497163]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.06274509803921569]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49899814261642156]], [[0.4549274836521523]], [[0.4224517331590839]]], "std": [[[0.24039441737487324]], [[0.23482641644416796]], [[0.23283901738273868]]], "count": [100]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [298]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [298]}, "observation.state": {"min": [1.8130825288258237, -0.8394908874156017, 0.6999948257770032, 0.0, 0.0, 0.7067760229110718, 0.7070430517196655, 0.16237780842173077, -0.007505636848800679, 0.2704705180846151, -0.9868245124816895, -0.36483389139175415, -0.5525595545768738, 0.00899940449744463, 0.02056267629106738, -0.039952014742949606], "max": [1.813397268855117, -0.8394164573240992, 0.700028359247557, 0.0, 0.0, 0.7071705460548401, 0.7074373364448547, 0.6081982490055025, 0.5592236523348026, 0.8771839406408349, -0.832314133644104, 0.048055946826934814, -0.1573949009180069, 0.29534828662872314, 0.040018189404303746, -0.02050388423302979], "mean": [1.8132283685794712, -0.8394612019842604, 0.7000029177484637, 0.0, 0.0, 0.706971912176017, 0.7072415661891834, 0.3081085958456785, 0.22244374153140306, 0.6014288613690477, -0.882274862703861, -0.17978358713772474, -0.333782802542184, 0.1524248297213758, 0.035632433442539566, -0.035608337683305326], "std": [0.00010320945329726572, 2.113047991020897e-05, 6.914430300547217e-06, 0.0, 0.0, 0.00014207635006013817, 0.00014203782738782586, 0.13611062891733788, 0.21134833186328533, 0.22816308303110192, 0.02737527880449073, 0.14822709252789357, 0.1353978080334435, 0.11649631464269813, 0.003681396021819759, 0.003501436433499112], "count": [298]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.807142857142857, -0.05714285714285715, -0.38, -0.22285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6785714285714286, 1.0, 1.0, 0.09428571428571429, 0.21142857142857144, 0.4114285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.025527325023969327, 0.049760306807286665, -0.015124640460210921, 0.0018504314477468824, -0.006605944391179286, 0.008600191754554183, 0.040268456375838924], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4423288988827563, 0.43626084898525597, 0.3975585696078229, 0.022654907921158398, 0.10814114368836071, 0.09626627367444042, 0.999188896766324], "count": [298]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05369127541780472], "std": [0.2254074662923813], "count": [298]}, "next.done": {"min": [false], "max": [true], "mean": [0.003355704697986577], "std": [0.057831167582597605], "count": [298]}, "timestamp": {"min": [0.0], "max": [14.85], "mean": [7.424999999999999], "std": [4.301235287681901], "count": [298]}, "frame_index": {"min": [0], "max": [297], "mean": [148.5], "std": [86.024705753638], "count": [298]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [298]}, "index": {"min": [19123], "max": [19420], "mean": [19271.5], "std": [86.024705753638], "count": [298]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [298]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.9764705882352941]], [[0.9882352941176471]], [[1.0]]], "mean": [[[0.4051173771876915]], [[0.39846406106387866]], [[0.391773931166705]]], "std": [[[0.23384942970211367]], [[0.22478613836303046]], [[0.22372675417295973]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5008487877939262]], [[0.45425877829159006]], [[0.38231343527401196]]], "std": [[[0.32856828161006596]], [[0.27664404339397536]], [[0.2370295938219573]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5505103526395909]], [[0.49869228647269453]], [[0.41594633812997855]]], "std": [[[0.3155034188137163]], [[0.2609555093070093]], [[0.22269890190189476]]], "count": [100]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [288]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [288]}, "observation.state": {"min": [2.2079458384875985, -0.8158774292949384, 0.6999966473388934, 0.0, 0.0, 0.7070971727371216, 0.7069200873374939, 0.1868828036117539, -0.515968927801365, 0.29011365081688256, -0.9957377910614014, -0.0488743782043457, -0.388907253742218, 8.729702676646411e-05, 0.0170139295840121, -0.040003831896611046], "max": [2.208321022257045, -0.8157199793326327, 0.7003094202285912, 0.0, 0.0, 0.7072933316230774, 0.7071163058280945, 0.5931103718066717, 0.07235184351204138, 0.8424370609870863, 0.9987080097198486, 0.026766926050186157, 0.5346669554710388, 0.07388856261968613, 0.039994447534008104, -0.020510904319883613], "mean": [2.208201179570982, -0.8157812774751313, 0.7000669369412119, 0.0, 0.0, 0.7071754657146003, 0.7070380623141924, 0.35864691492000594, -0.12067198583525753, 0.6355761716827222, 0.38197238370776176, -0.01724472063748787, 0.20778026317970621, 0.028032478601795044, 0.03347062127567547, -0.03323588490090649], "std": [9.905354933056127e-05, 4.235063353447095e-05, 0.00010532663740797357, 0.0, 0.0, 5.869580609242862e-05, 5.868808894385302e-05, 0.12292242275980893, 0.22450776901329605, 0.21295090602186953, 0.85274196831104, 0.014809671564424498, 0.2866294923594575, 0.017221979082146337, 0.006687411367251363, 0.006737901939777479], "count": [288]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.9285714285714287, -0.06, -0.23714285714285716, -0.14285714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.942857142857143, 1.0, 0.9714285714285714, 0.05142857142857143, 0.3514285714285714, -0.0, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.010441468253968309, -0.0209573412698413, -0.03395337301587299, 0.0006448412698412706, 0.00426587301587302, -0.004910714285714286, -0.13194444444444445], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.35880900536079396, 0.4575754685346695, 0.3899421745206782, 0.01171555580260367, 0.11397775796855893, 0.018484395231207557, 0.9912571127514027], "count": [288]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0555555559694767], "std": [0.22906142473220825], "count": [288]}, "next.done": {"min": [false], "max": [true], "mean": [0.003472222222222222], "std": [0.058823174812838254], "count": [288]}, "timestamp": {"min": [0.0], "max": [14.35], "mean": [7.174999999999999], "std": [4.156896879484343], "count": [288]}, "frame_index": {"min": [0], "max": [287], "mean": [143.5], "std": [83.13793758968686], "count": [288]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [288]}, "index": {"min": [19421], "max": [19708], "mean": [19564.5], "std": [83.13793758968686], "count": [288]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [288]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.459976899988511]], [[0.4232307523839614]], [[0.4073920198328355]]], "std": [[[0.2813040872047875]], [[0.29281781262082773]], [[0.297079111924816]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38587686994964]], [[0.3862442938112745]], [[0.3824463088091682]]], "std": [[[0.2857821033323967]], [[0.27226588718349987]], [[0.26130037574976894]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4440906551585478]], [[0.4375985155292586]], [[0.4288070852242264]]], "std": [[[0.2922581230811209]], [[0.2792058945447824]], [[0.2684875046891218]]], "count": [100]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [360]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [360]}, "observation.state": {"min": [2.565754760221428, -1.7219400488089982, 0.6999954772590733, 0.0, 0.0, -1.0, 3.5016768151763245e-07, 0.05653994803830509, -0.631643612955338, 0.25032676398134357, -0.9953246116638184, -0.19706235826015472, -0.44191884994506836, 0.00041496026096865535, 0.007087535521705586, -0.03975484186240637], "max": [2.5661691558307265, -1.7217119400376857, 0.7006735148099468, 0.0, 0.0, 1.0, 0.0001689781784079969, 0.6265913972991919, 0.06692037388192285, 0.8220417842141239, 0.9952184557914734, 0.2535516917705536, 0.14502625167369843, 0.13076189160346985, 0.040043430154608914, -0.007800373656446066], "mean": [2.565996328710267, -1.721837760427777, 0.7003228304660707, 0.0, 0.0, -0.28888888888888886, 6.539370807385265e-05, 0.38707042456949525, -0.15441711119944262, 0.6306475984658546, -0.8190114522973696, 0.11984527847833104, -0.23309540163932574, 0.054954000658633755, 0.02527155403232709, -0.025637635999122003], "std": [0.000160751739992573, 4.496137515462659e-05, 0.0002793633641516156, 0.0, 0.0, 0.957362632379468, 4.765808590535861e-05, 0.17572638442950286, 0.2549996642237531, 0.19385919164839682, 0.4730517044235578, 0.10251847215922293, 0.14781075219515472, 0.03698619952486032, 0.014685828564456894, 0.01423370045367767], "count": [360]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.95, -1.0, -0.14285714285714285, -0.4257142857142857, -0.21714285714285717, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6928571428571428, 1.0, 1.0, 0.13714285714285715, 0.29428571428571426, 0.12285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.039484126984126976, -0.06619047619047619, -0.02121031746031745, -0.005103174603174604, -0.002523809523809537, -0.003396825396825394, -0.07777777777777778], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4193231173357537, 0.4122226271458978, 0.3860295345845373, 0.033739206069542844, 0.09709185168900152, 0.05409640247647697, 0.9969707203744496], "count": [360]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04444444552063942], "std": [0.20608040690422058], "count": [360]}, "next.done": {"min": [false], "max": [true], "mean": [0.002777777777777778], "std": [0.052631375893045604], "count": [360]}, "timestamp": {"min": [0.0], "max": [17.95], "mean": [8.975], "std": [5.1961323757836135], "count": [360]}, "frame_index": {"min": [0], "max": [359], "mean": [179.5], "std": [103.92264751567228], "count": [360]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [360]}, "index": {"min": [19709], "max": [20068], "mean": [19888.5], "std": [103.92264751567228], "count": [360]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [360]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5692944503484988]], [[0.5406114980660233]], [[0.5217129432827818]]], "std": [[[0.24414583308974408]], [[0.2471439076730631]], [[0.2549377996947582]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4476072782628676]], [[0.4233892708572687]], [[0.40106050139782473]]], "std": [[[0.22293201905985202]], [[0.22349629030432047]], [[0.22488802931447818]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5813788877000996]], [[0.5578863369810815]], [[0.534458184335746]]], "std": [[[0.2246060599272783]], [[0.21966311552447673]], [[0.21997391428393728]]], "count": [100]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [258]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [258]}, "observation.state": {"min": [4.675949454553743, -2.2186532509256476, 0.6999937529144635, 0.0, 0.0, -0.707802951335907, 0.7064099311828613, 0.09948772001110173, -0.7266341613930152, 0.24347862572388312, -0.9859676361083984, -0.14774474501609802, -0.39531442523002625, 0.0011453368933871388, 0.00746226577201887, -0.04021665200179749], "max": [4.676637449950562, -2.21823697134319, 0.7007528476519386, 0.0, 0.0, -0.7071011662483215, 0.7071123123168945, 0.5516576436060037, 0.045787299777765966, 0.658022579785981, 0.928274929523468, 0.110666424036026, 0.38254785537719727, 0.15223446488380432, 0.040015228998849996, -0.007146932568299077], "mean": [4.676252604275766, -2.218392031953655, 0.7004345656984559, 0.0, 0.0, -0.7074947826160017, 0.7067184478275536, 0.3425398929586858, -0.2569771921917372, 0.4837673106060499, -0.8941796937192134, -0.02162586770547453, -0.31022462393193284, 0.05825420521703267, 0.02335022431974587, -0.023184040020692673], "std": [0.0002628660133499326, 0.00014656731618988507, 0.0002958538927112342, 0.0, 0.0, 0.00027399793437508365, 0.00027422845457334924, 0.1416579324151011, 0.301540451170736, 0.11024398221182552, 0.28110804258330124, 0.08876453826014445, 0.11224853582702755, 0.02900905495493582, 0.015054203465996008, 0.0153430933679318], "count": [258]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.807142857142857, -0.18857142857142858, -0.6857142857142857, -0.18, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7928571428571428, 1.0, 0.9857142857142858, 0.09714285714285714, 0.2, 0.12, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0439922480620155, -0.1273255813953488, -0.060825027685492854, -0.00593576965669989, -0.025481727574750833, -0.002779623477297894, 0.0], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5858875450222023, 0.4915572501044801, 0.3552848785948742, 0.04836790452377467, 0.12525352119596417, 0.04381174223192455, 1.0], "count": [258]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06201550364494324], "std": [0.24118371307849884], "count": [258]}, "next.done": {"min": [false], "max": [true], "mean": [0.003875968992248062], "std": [0.06213650985225348], "count": [258]}, "timestamp": {"min": [0.0], "max": [12.85], "mean": [6.425000000000001], "std": [3.723881263771264], "count": [258]}, "frame_index": {"min": [0], "max": [257], "mean": [128.5], "std": [74.47762527542528], "count": [258]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [258]}, "index": {"min": [20069], "max": [20326], "mean": [20197.5], "std": [74.47762527542528], "count": [258]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [258]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4321479007496553]], [[0.4235757990818398]], [[0.3898689311906403]]], "std": [[[0.24621042539327637]], [[0.23956616357313443]], [[0.23573505979787848]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43044562784830726]], [[0.420211638805913]], [[0.3970649533739277]]], "std": [[[0.2625554329270192]], [[0.2538376671009665]], [[0.2414082343756678]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47377456605200674]], [[0.45941761989219515]], [[0.43544627230775124]]], "std": [[[0.2729381080046092]], [[0.26180221129087783]], [[0.2518419499883785]]], "count": [100]}, "annotation.human.task_description": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [265]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [265]}, "observation.state": {"min": [3.1054475579880507, -0.8737340672168705, 0.6999922579140612, 0.0, 0.0, 0.7070838809013367, 0.7069910764694214, 0.11949804539645292, -0.5798625286569363, 0.25784567791546686, -0.9970445036888123, -0.05052654445171356, -0.5846154689788818, 0.000294078461593017, 0.012640382570694974, -0.039868665788923], "max": [3.105625527699451, -0.8736364965798787, 0.700047379449333, 0.0, 0.0, 0.7072225213050842, 0.7071296572685242, 0.6561360258417103, 0.09288903697897366, 0.8562671963363319, 0.9972226619720459, 0.029593318700790405, 0.3325500786304474, 0.10039255023002625, 0.04000407575902306, -0.01435600895369148], "mean": [3.1055600566412807, -0.873692818163016, 0.7000061424610925, 0.0, 0.0, 0.7071436162264841, 0.7070699185695288, 0.3344663297802357, -0.18088911621615433, 0.6166529969238004, -0.7489738752257149, -0.005382343423816393, -0.32090612751133035, 0.04437181730546005, 0.02662609156308056, -0.026649355481116077], "std": [4.6020712888531135e-05, 2.4033092465075088e-05, 1.1573597715176847e-05, 0.0, 0.0, 3.3425352193053e-05, 3.34007766693591e-05, 0.15522648853287138, 0.2596923935015312, 0.20054756485871703, 0.5378349251552377, 0.01701011807871968, 0.21003009146775703, 0.01977811554647239, 0.01198693427424685, 0.011788053402324918], "count": [265]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7428571428571429, -0.26, -0.48, -0.18571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7928571428571428, 1.0, 0.9642857142857144, 0.09142857142857143, 0.28, 0.1142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.05169811320754712, -0.058409703504043176, -0.003935309973045875, -0.007902964959568734, -0.007417789757412379, -0.002037735849056603, -0.0037735849056603774], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5304893488993266, 0.5032632564616437, 0.42574575270925663, 0.04871344209326279, 0.1472315485171223, 0.03385998203596483, 0.9999928800031342], "count": [265]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06415094435214996], "std": [0.24502164125442505], "count": [265]}, "next.done": {"min": [false], "max": [true], "mean": [0.0037735849056603774], "std": [0.061313497393478945], "count": [265]}, "timestamp": {"min": [0.0], "max": [13.2], "mean": [6.6], "std": [3.8249182997810554], "count": [265]}, "frame_index": {"min": [0], "max": [264], "mean": [132.0], "std": [76.49836599562111], "count": [265]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [265]}, "index": {"min": [20327], "max": [20591], "mean": [20459.0], "std": [76.49836599562111], "count": [265]}, "task_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [265]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.023529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.576301160625383]], [[0.543211461684283]], [[0.5214948544969746]]], "std": [[[0.2201583704059805]], [[0.20909437150505816]], [[0.20395685337551367]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5781609742407705]], [[0.5173223942775352]], [[0.4744741175034467]]], "std": [[[0.24759417825351884]], [[0.26406023282809904]], [[0.2747948689592035]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5260906461827894]], [[0.43587000469132964]], [[0.3824384843414905]]], "std": [[[0.2355683194572944]], [[0.2568272464391182]], [[0.2751706026906068]]], "count": [100]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [308]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [308]}, "observation.state": {"min": [1.0394705955973755, -2.936042858372324, 0.6999970173904645, 0.0, 0.0, -1.0, 7.449327910080683e-08, -0.01750200296422011, -0.04993330756888703, 0.31385386344482635, -0.985920786857605, -0.2305063009262085, -0.26257890462875366, 0.0006389470072463155, 0.020463893540815188, -0.04017976804600494], "max": [2.0293418107983783, -2.5048787203502814, 0.7003635587143786, 0.0, 0.0, 1.0, 0.9999804496765137, 0.4216247635305532, 0.020947308364018813, 0.6885847574973286, 0.9810512065887451, 0.17566272616386414, 0.28312236070632935, 0.15227827429771423, 0.04000628035632684, -0.020518991976146903], "mean": [1.4743341749672374, -2.749101032213398, 0.7002458630441171, 0.0, 0.0, 0.3443252399394458, 0.4024798775468368, 0.20049628673718134, -0.02545922825784494, 0.5650097174021591, -0.2862842156515493, -0.0630887584736595, -0.03810987002276755, 0.05076064246191867, 0.028236305295533955, -0.03165025778499633], "std": [0.45742247596050917, 0.2013493899283883, 0.00011030773007754978, 0.0, 0.0, 0.7077234592449494, 0.4675228436720925, 0.1694547002516148, 0.016873165062951098, 0.11122229487940907, 0.9165274313210805, 0.1244686719192891, 0.2271320254945238, 0.05411296510633323, 0.0076917279356236235, 0.0053466566528893675], "count": [308]}, "action": {"min": [-1.0, -0.8500000000000001, -1.0, 0.0, -1.0, -1.0, -0.5357142857142857, -0.7571428571428572, -0.12, -0.1657142857142857, -0.27714285714285714, -1.0], "max": [0.37142857142857144, 1.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.18, 0.23714285714285716, 0.3142857142857143, 1.0], "mean": [-0.04531539888682756, -0.010644712430426702, -0.15700371057513915, 0.0, -0.5454545454545454, -0.042648423005565865, -0.01363636363636364, 0.01711502782931352, 0.0026066790352504625, 0.0025231910946196673, -0.01024118738404453, 0.2857142857142857], "std": [0.22072405708466483, 0.18998539200404468, 0.345103197688571, 0.0, 0.8381404052084436, 0.505018666848192, 0.14456736878123255, 0.411741611699187, 0.03717660558870149, 0.0638058345851552, 0.0773570867864612, 0.9583148474999091], "count": [308]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.051948051899671555], "std": [0.22192217409610748], "count": [308]}, "next.done": {"min": [false], "max": [true], "mean": [0.003246753246753247], "std": [0.05688771255823127], "count": [308]}, "timestamp": {"min": [0.0], "max": [15.35], "mean": [7.674999999999999], "std": [4.4455736412751055], "count": [308]}, "frame_index": {"min": [0], "max": [307], "mean": [153.5], "std": [88.9114728255021], "count": [308]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [308]}, "index": {"min": [20592], "max": [20899], "mean": [20745.5], "std": [88.9114728255021], "count": [308]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [308]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6079261935134819]], [[0.5551295526426842]], [[0.5347743412667989]]], "std": [[[0.21068193793225495]], [[0.23493208652435416]], [[0.24628294488455393]]], "count": [104]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5679093322063463]], [[0.486022350259496]], [[0.43907512820144584]]], "std": [[[0.20110464639016878]], [[0.2615157370320563]], [[0.286907392737719]]], "count": [104]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5631767370761969]], [[0.46974735461388956]], [[0.4252868704126971]]], "std": [[[0.19491441999054782]], [[0.2602739772558064]], [[0.2929801645802738]]], "count": [104]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [492]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [492]}, "observation.state": {"min": [4.010781681964786, -3.6670420503674186, 0.6999963936921328, 0.0, 0.0, -0.06193067878484726, 0.7019542455673218, 0.13068250357421274, -0.11664866570937216, 0.2476508819251514, -0.9948278069496155, -0.23372921347618103, -0.3584224581718445, 3.7941060782031855e-06, 0.01228039755365836, -0.04010000955202513], "max": [4.891365524173447, -2.4624863772412318, 0.7002289476764237, 0.0, 0.0, 0.7122219800949097, 1.0, 0.5675103654217608, 0.01930850851041299, 0.6167392644023393, 0.9880847334861755, 0.1631750762462616, 0.36548975110054016, 0.06273090094327927, 0.03989152966094304, -0.01248960150553731], "mean": [4.591948580194848, -3.179452295611354, 0.7000836752545875, 0.0, 0.0, 0.10220144316072709, 0.9615774709519332, 0.2703938126348714, -0.026930800544413665, 0.4532364732502241, -0.4930157560885437, -0.04465225959817568, -0.12344961009192758, 0.014413024108148143, 0.021166195998597932, -0.021464634693301607], "std": [0.24949928450301248, 0.36711788081768115, 6.892301696073439e-05, 0.0, 0.0, 0.23904025195497067, 0.08822356865587853, 0.14514462636611947, 0.04099790728200086, 0.12222763278642472, 0.8107065213631268, 0.09940197224422304, 0.2685311143561349, 0.016103654125991223, 0.01190060047406869, 0.01177303503578521], "count": [492]}, "action": {"min": [-1.0, -0.8571428571428572, -0.7485714285714286, 0.0, -1.0, -0.9571428571428572, -0.5071428571428571, -0.6214285714285714, -0.06285714285714286, -0.3485714285714286, -0.12857142857142856, -1.0], "max": [1.0, 0.7142857142857143, 1.0, 0.0, 1.0, 0.8428571428571429, 0.7928571428571428, 1.0, 0.10857142857142858, 0.24571428571428575, 0.18857142857142858, 1.0], "mean": [0.08906794425087106, -0.052061556329848976, 0.0039024390243902656, 0.0, -0.34959349593495936, -0.00933507549361204, -0.0008710801393728188, 0.01980255516840883, 0.001788617886178862, 0.0027642276422764223, 0.0006562137049941936, 0.36585365853658536], "std": [0.32109489434204275, 0.19990691178701897, 0.280733949607, 0.0, 0.9369014823341721, 0.3075431339059875, 0.137411707072682, 0.34030586653896877, 0.014170960119190308, 0.05880981482830346, 0.04112711152357492, 0.9306723916262885], "count": [492]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03252032399177551], "std": [0.17737743258476257], "count": [492]}, "next.done": {"min": [false], "max": [true], "mean": [0.0020325203252032522], "std": [0.04503764188243971], "count": [492]}, "timestamp": {"min": [0.0], "max": [24.55], "mean": [12.275], "std": [7.101393642565286], "count": [492]}, "frame_index": {"min": [0], "max": [491], "mean": [245.5], "std": [142.02787285130574], "count": [492]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [492]}, "index": {"min": [20900], "max": [21391], "mean": [21145.5], "std": [142.02787285130574], "count": [492]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [492]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5467641565659467]], [[0.48243008003982846]], [[0.45199649646235446]]], "std": [[[0.24690524959472526]], [[0.254798370726334]], [[0.26488118420955453]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43579299807081034]], [[0.3899479735131357]], [[0.3703160466212852]]], "std": [[[0.21481203510000782]], [[0.21086209464575228]], [[0.2118760378641724]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45860195085114125]], [[0.41654511216107537]], [[0.40264690085018384]]], "std": [[[0.21600662471500845]], [[0.2032983819318399]], [[0.19609299725686302]]], "count": [100]}, "annotation.human.task_description": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [401]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [401]}, "observation.state": {"min": [2.0073492603861767, -1.9329410259308135, 0.6999938537395268, 0.0, 0.0, -0.9998553991317749, 0.016159145161509514, -0.08549920584422877, -0.01863275945990983, 0.2697012248842585, -0.9991141557693481, -0.11655789613723755, -0.3916074335575104, 0.0099730733782053, 0.02056861532917296, -0.03984817300063457], "max": [2.7485037834602273, -1.1233866275755244, 0.7009274834268284, 0.0, 0.0, 0.9998694658279419, 0.7169955968856812, 0.5150847747933254, 0.13455795289244787, 0.6375775119533718, -0.9182366728782654, 0.018349915742874146, 0.034026600420475006, 0.06528932601213455, 0.0400056692149038, -0.018421793919936123], "mean": [2.271309035533842, -1.4579917823702229, 0.7001149585893673, 0.0, 0.0, 0.12730971937464955, 0.6674225439556742, 0.21294451194030906, 0.05460911140952385, 0.5383230160035108, -0.973810961716193, -0.020615653309069965, -0.17016075139396714, 0.03493344974460224, 0.028872760228771617, -0.02764973520930663], "std": [0.33985956026852276, 0.3685238260045259, 0.00028811121203444677, 0.0, 0.0, 0.7214527358119643, 0.13358629469538197, 0.22574490879366993, 0.043064793107622956, 0.11494037487330261, 0.02943260805424391, 0.02803267579425811, 0.13857970968756542, 0.015353859976463267, 0.007789922507879232, 0.008601932030572246], "count": [401]}, "action": {"min": [-0.9642857142857144, -0.7785714285714286, -0.03428571428571429, 0.0, -1.0, -1.0, -0.6214285714285714, -0.807142857142857, -0.13428571428571429, -0.37142857142857144, -0.19714285714285715, -1.0], "max": [0.7571428571428572, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.11142857142857143, 0.26285714285714284, 0.17142857142857143, 1.0], "mean": [-0.009868186676166716, 0.010723192019950126, 0.12247951549697184, 0.0, -0.5810473815461347, -0.003526897043106551, 0.004969718560741021, 0.018649804061275376, 0.00014962593516209454, 0.004752404702529389, -2.850017812611347e-05, 0.2518703241895262], "std": [0.16949863028549697, 0.21679690245225255, 0.3044238935555658, 0.0, 0.8138697318357415, 0.5227147679073868, 0.20765139191449156, 0.3525106277101016, 0.020224149920318457, 0.08110157546384993, 0.03239532644416006, 0.9677609931138295], "count": [401]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03990025073289871], "std": [0.19572485983371735], "count": [401]}, "next.done": {"min": [false], "max": [true], "mean": [0.0024937655860349127], "std": [0.04987531172069826], "count": [401]}, "timestamp": {"min": [0.0], "max": [20.0], "mean": [10.0], "std": [5.787918451395113], "count": [401]}, "frame_index": {"min": [0], "max": [400], "mean": [200.0], "std": [115.75836902790225], "count": [401]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [401]}, "index": {"min": [21392], "max": [21792], "mean": [21592.0], "std": [115.75836902790225], "count": [401]}, "task_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [401]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4884174314012715]], [[0.4417192197313496]], [[0.4156055626962699]]], "std": [[[0.26402989910312863]], [[0.25877279852601953]], [[0.2643529323740039]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.447685645608341]], [[0.36946814982096354]], [[0.32526395550896137]]], "std": [[[0.23334420798289132]], [[0.23263530940705882]], [[0.24480955425745343]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5128455672918582]], [[0.41986671537511494]], [[0.3610886003082874]]], "std": [[[0.21866189448472606]], [[0.22646084643338135]], [[0.24529115433665594]]], "count": [100]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [418]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [418]}, "observation.state": {"min": [0.5635299780085719, -1.5084250072930774, 0.699997641845661, 0.0, 0.0, 0.6154922246932983, 0.46899983286857605, -0.09826375313388858, -0.03193508009431345, 0.25235496418888037, -0.9876017570495605, -0.06561097502708435, -0.28304022550582886, 0.002979764947667718, 0.006545116589239827, -0.04000771004227367], "max": [2.5375617765268133, -0.9992601675644156, 0.7008817384512195, 0.0, 0.0, 0.8831982612609863, 0.7881430387496948, 0.5745692726625475, 0.06048910434214472, 0.6914135962296521, 0.9568417072296143, 0.7433127760887146, 0.4878883957862854, 0.17358708381652832, 0.040151026470300694, -0.01030896668514555], "mean": [1.416698908731129, -1.1628723356711081, 0.7004839942101109, 0.0, 0.0, 0.7700743750807201, 0.6197657855361273, 0.20539214203075473, -0.0001911792510336225, 0.5472760035263069, 0.5900411484629343, 0.4370729580664178, 0.24588688949577547, 0.07945486254551176, 0.019543942771922344, -0.021177907669748433], "std": [0.8602605128994786, 0.1357982599919576, 0.0002522904663730872, 0.0, 0.0, 0.09213039650683937, 0.11994928447799169, 0.2318719369505546, 0.027616239282525233, 0.1375465729139246, 0.538767687007657, 0.2679371955505002, 0.17019759939606915, 0.05492771256871327, 0.013633057537706019, 0.012797798725294499], "count": [418]}, "action": {"min": [-0.9857142857142858, -1.0, -0.3485714285714286, 0.0, -1.0, -1.0, -0.8714285714285716, -0.9785714285714284, -0.2885714285714286, -0.2485714285714286, -0.22285714285714286, -1.0], "max": [0.9714285714285714, 0.6357142857142857, 0.58, 0.0, 1.0, 1.0, 0.5285714285714286, 0.8500000000000001, 0.07428571428571429, 0.2142857142857143, 0.29714285714285715, 1.0], "mean": [0.05567327409432672, -0.13639781271360213, 0.02667805878332195, 0.0, -0.5167464114832536, -0.02349624060150376, -0.015430622009569357, -0.011466165413533822, -0.017956254272043747, 0.004675324675324677, 0.015570745044429249, 0.3157894736842105], "std": [0.2664984465379494, 0.341081457169487, 0.13375058350530625, 0.0, 0.856138508781834, 0.4678051545685244, 0.13824415622192637, 0.32894861341430237, 0.0520785841591907, 0.06534813253186587, 0.08431686635125454, 0.9488292830168379], "count": [418]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.038277510553598404], "std": [0.19186542928218842], "count": [418]}, "next.done": {"min": [false], "max": [true], "mean": [0.0023923444976076554], "std": [0.0488530570733544], "count": [418]}, "timestamp": {"min": [0.0], "max": [20.85], "mean": [10.424999999999999], "std": [6.033293047747639], "count": [418]}, "frame_index": {"min": [0], "max": [417], "mean": [208.5], "std": [120.66586095495279], "count": [418]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [418]}, "index": {"min": [21793], "max": [22210], "mean": [22001.5], "std": [120.66586095495279], "count": [418]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [418]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.050980392156862744]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5978165696088006]], [[0.5575732439826517]], [[0.5362808855842142]]], "std": [[[0.17845518550306722]], [[0.2153138502436788]], [[0.23386471746282964]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4772623494466146]], [[0.4184448714910769]], [[0.38481753958907783]]], "std": [[[0.24269337062205013]], [[0.2619353774878644]], [[0.27218474352915645]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.054901960784313725]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5039879718855316]], [[0.45995637362611064]], [[0.4297074058383119]]], "std": [[[0.2334991954377607]], [[0.2538700789571574]], [[0.26381005147495684]]], "count": [100]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [273]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [273]}, "observation.state": {"min": [2.078997335251186, -0.8640286493500814, 0.6999952634144199, 0.0, 0.0, 0.7056686878204346, 0.7070619463920593, 0.14968714715587428, -0.07945271228636885, 0.24647334092837325, -0.9885122776031494, -0.6192551851272583, -0.5576086640357971, 0.025772957131266594, 0.020564644649457568, -0.040349496068087055], "max": [2.080514926904489, -0.8638159459498318, 0.700526939784805, 0.0, 0.0, 0.7071515321731567, 0.7085418701171875, 0.6515159305018454, 0.4937610609470091, 0.8242283298544665, -0.6403558254241943, -0.029346197843551636, -0.14542166888713837, 0.3942083716392517, 0.040140985487797334, -0.02050191587521683], "mean": [2.0794414098824556, -0.8639170386246624, 0.7001603207698686, 0.0, 0.0, 0.7066396719370133, 0.7075731977001651, 0.38185867439036514, 0.14487544103179886, 0.5668456779961041, -0.7976477377580635, -0.3038281069679575, -0.3615472198842646, 0.19840672791631886, 0.03395797993980346, -0.037791868719323926], "std": [0.0005074769064496424, 4.9872443764122155e-05, 0.0001686177971909658, 0.0, 0.0, 0.0005118035637060249, 0.0005109508762198492, 0.13624617193297428, 0.2045183456915971, 0.21682096479754057, 0.11532290098713519, 0.24215129156050488, 0.09424052565063577, 0.1433423722200403, 0.005430046196472467, 0.0026351542810140894], "count": [273]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.10857142857142858, -0.5942857142857143, -0.2742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9214285714285714, 1.0, 1.0, 0.1657142857142857, 0.18571428571428572, 0.5542857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.019780219780219842, 0.028074306645735205, -0.04419152276295137, 0.004123495552066977, -0.032506541077969665, 0.020533751962323397, -0.047619047619047616], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.453608141906634, 0.4313618554307271, 0.4712781963139185, 0.046718230986172664, 0.17077619975936428, 0.15287349810314155, 0.9988655696858607], "count": [273]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05860805884003639], "std": [0.2348896712064743], "count": [273]}, "next.done": {"min": [false], "max": [true], "mean": [0.003663003663003663], "std": [0.060411804038354], "count": [273]}, "timestamp": {"min": [0.0], "max": [13.6], "mean": [6.800000000000001], "std": [3.9403891516786342], "count": [273]}, "frame_index": {"min": [0], "max": [272], "mean": [136.0], "std": [78.80778303357269], "count": [273]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [273]}, "index": {"min": [22211], "max": [22483], "mean": [22347.0], "std": [78.80778303357269], "count": [273]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [273]}}} +{"episode_index": 65, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.58924309165805]], [[0.5645245283538219]], [[0.5463711936801088]]], "std": [[[0.24518481836072512]], [[0.25242463931335934]], [[0.2637259793420501]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5049421554266238]], [[0.49366621907552083]], [[0.4826384917614507]]], "std": [[[0.23600900341203668]], [[0.23424312539756117]], [[0.23498286302508728]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5466209926231235]], [[0.5349531321806067]], [[0.5226845960430071]]], "std": [[[0.20292134300824144]], [[0.20270446541087606]], [[0.20636110054374793]]], "count": [100]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [407]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [407]}, "observation.state": {"min": [0.3329119605685871, -1.8529122960144266, 0.6999959283052636, 0.0, 0.0, 0.7005280256271362, 0.7059177160263062, 0.05240756458400919, -0.028600481836605463, 0.25296271996039066, -0.999555766582489, -0.045579493045806885, -0.41548123955726624, 1.609945684322156e-05, 0.011949993814542934, -0.03990401240911897], "max": [0.9349380822385617, -0.8900801935761595, 0.7003985855709677, 0.0, 0.0, 0.7082939147949219, 0.7136248350143433, 0.5183933030935246, 0.11840159186948551, 0.6147338124100934, 0.9986608624458313, 0.06783682107925415, 0.30090662837028503, 0.05685770511627197, 0.04003211765900393, -0.010131670018303118], "mean": [0.7041873266926794, -1.0561829372185427, 0.7000967777252041, 0.0, 0.0, 0.7071085696724182, 0.7071010786719638, 0.23840751327944565, 0.02437487729095197, 0.47806843244756086, -0.6465871621115494, 0.007830737790216391, -0.17829895386782976, 0.010843975669773383, 0.022306525548344936, -0.021922743226710787], "std": [0.2825901484394793, 0.2622619759684787, 0.00010800034182992104, 0.0, 0.0, 0.0016652586358209221, 0.0016539987682433492, 0.15926518511346904, 0.05168916450611413, 0.11832578295368813, 0.7157142503567212, 0.03490454120533319, 0.19051394105291714, 0.013958210939709344, 0.012526697606274114, 0.012547070038416952], "count": [407]}, "action": {"min": [-1.0, -0.27142857142857146, -0.09428571428571429, 0.0, -1.0, -0.9928571428571428, -0.4714285714285715, -0.8500000000000001, -0.11714285714285716, -0.2857142857142857, -0.15142857142857147, -1.0], "max": [0.9214285714285714, 1.0, 0.08285714285714285, 0.0, 1.0, 1.0, 0.6357142857142857, 0.9071428571428573, 0.022857142857142857, 0.17142857142857143, 0.08571428571428572, 1.0], "mean": [0.003422253422253442, 0.04568269568269568, 0.0002527202527202528, 0.0, -0.49385749385749383, -0.01893646893646893, 0.005791505791505809, 0.022060372060372046, -0.002997542997542998, 0.0030537030537030533, -0.0024359424359424345, 0.27764127764127766], "std": [0.3269174825937109, 0.18534040179855485, 0.013108242393603475, 0.0, 0.8695428544705568, 0.3887889583818735, 0.12906501742693724, 0.3626228946885406, 0.01615314140703567, 0.07022032842128915, 0.024091434741888542, 0.9606848187359421], "count": [407]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03931203857064247], "std": [0.19433629512786865], "count": [407]}, "next.done": {"min": [false], "max": [true], "mean": [0.002457002457002457], "std": [0.049507227714029205], "count": [407]}, "timestamp": {"min": [0.0], "max": [20.3], "mean": [10.15], "std": [5.874521257089806], "count": [407]}, "frame_index": {"min": [0], "max": [406], "mean": [203.0], "std": [117.49042514179612], "count": [407]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [407]}, "index": {"min": [22484], "max": [22890], "mean": [22687.0], "std": [117.49042514179612], "count": [407]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [407]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5593585450415518]], [[0.5084239023246018]], [[0.4909399228563496]]], "std": [[[0.25568968160742706]], [[0.27712509177929445]], [[0.2922725691695344]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49020501649145987]], [[0.4592176411946614]], [[0.43616985246246937]]], "std": [[[0.23923819306728464]], [[0.23480462390771423]], [[0.22973016242194613]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5403789439481848]], [[0.5011611920525045]], [[0.47002909761316636]]], "std": [[[0.22878176787222865]], [[0.22298107993821184]], [[0.21456979076194496]]], "count": [100]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [331]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [331]}, "observation.state": {"min": [2.6973884052493804, -4.399936184071931, 0.6999909160561105, 0.0, 0.0, -0.1082003191113472, 0.7110581398010254, 0.06952128214477593, -0.07161396805619757, 0.2759740711307721, -0.9994553923606873, -0.1632375419139862, -0.3740781843662262, 0.00026755474391393363, 0.017663026513151096, -0.03977430079388299], "max": [3.506169292369638, -2.4176550250536257, 0.7004346525400029, 0.0, 0.0, 0.7031332850456238, 1.0, 0.5174500361705081, 0.21406452297643241, 0.601665287551153, 0.97074955701828, 0.06814521551132202, 0.3651793897151947, 0.06024743244051933, 0.0399915407359861, -0.019056027273948537], "mean": [3.202267698664815, -3.396778539426451, 0.7000700208057204, 0.0, 0.0, 0.10401476815846637, 0.9522658305585925, 0.2361591415544462, 0.04869885569288414, 0.5175831028287247, -0.5477447815892199, -0.08128623232200427, -0.09466924906069599, 0.017976736954098224, 0.025392035684202917, -0.02740266495908922], "std": [0.2703693530884661, 0.8214963075837072, 0.00014360474233763153, 0.0, 0.0, 0.2714276385802058, 0.09326187680714533, 0.15851250639650405, 0.08923092001474628, 0.09886278687107006, 0.7882052236571383, 0.04713908916365501, 0.24595767776952518, 0.009900977465914137, 0.009054080421397201, 0.00777998168911775], "count": [331]}, "action": {"min": [-1.0, -1.0, -0.7314285714285714, 0.0, -1.0, -1.0, -0.7428571428571429, -0.8571428571428572, -0.11142857142857143, -0.3057142857142857, -0.26571428571428574, -1.0], "max": [1.0, 0.6857142857142858, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.06571428571428571, 0.32, 0.24, 1.0], "mean": [0.1830168321104877, 0.01445835131635735, -0.012740612861458774, 0.0, -0.27492447129909364, -0.022615451014242532, 0.012321968062149344, 0.02514026758739749, -0.003685800604229606, 0.002304704359085026, 0.00027621924902891567, 0.3595166163141994], "std": [0.42266024752638703, 0.1944763333812383, 0.3450443184726219, 0.0, 0.9614658262678446, 0.4820848461763546, 0.2991262894942124, 0.3648720438096882, 0.02026895859498916, 0.09215154718452762, 0.06815962274051451, 0.9331386834731429], "count": [331]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04833836853504181], "std": [0.2144802361726761], "count": [331]}, "next.done": {"min": [false], "max": [true], "mean": [0.0030211480362537764], "std": [0.05488187953046813], "count": [331]}, "timestamp": {"min": [0.0], "max": [16.5], "mean": [8.25], "std": [4.777551674236501], "count": [331]}, "frame_index": {"min": [0], "max": [330], "mean": [165.0], "std": [95.55103348473003], "count": [331]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [331]}, "index": {"min": [22891], "max": [23221], "mean": [23056.0], "std": [95.55103348473003], "count": [331]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [331]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4249955115224801]], [[0.4220571115531173]], [[0.4310264180501302]]], "std": [[[0.28762850264732354]], [[0.25971798637617644]], [[0.2723439520858325]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40796256211224724]], [[0.38599306293562347]], [[0.3743656831629136]]], "std": [[[0.2607366767988162]], [[0.2541195228553258]], [[0.2565326216344503]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.465421776266659]], [[0.4334663002163756]], [[0.4168732054467295]]], "std": [[[0.26652479373713434]], [[0.2625644018132134]], [[0.267022862848888]]], "count": [100]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [264]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [264]}, "observation.state": {"min": [3.2200715642883617, -0.8370656640779812, 0.6999944298640277, 0.0, 0.0, 0.7070388197898865, 0.7069739699363708, 0.1720996189787639, -0.4729941526471402, 0.257651899725564, -0.9992384910583496, -0.049152031540870667, -0.558674693107605, 0.0017517195083200932, 0.020321687997380447, -0.03991826261792204], "max": [3.2202854926990994, -0.8369674729722334, 0.7000386140876077, 0.0, 0.0, 0.7072396278381348, 0.7071747779846191, 0.6086353406885643, 0.10305299458581008, 0.8277038339877921, 0.9830653667449951, 0.039931684732437134, 0.2276623547077179, 0.11776071041822433, 0.04000628668629147, -0.0204842006223953], "mean": [3.2201755089156183, -0.8370226237039073, 0.7000047053855141, 0.0, 0.0, 0.707134614388148, 0.7070789032361724, 0.34237232202832196, -0.11560657326782033, 0.5905022802798195, -0.8185600873195764, -0.0164679090040877, -0.21010402157359445, 0.046944035975629406, 0.031173526361420532, -0.03160340593255295], "std": [5.020125716088107e-05, 2.621016712260339e-05, 1.114619385860532e-05, 0.0, 0.0, 3.743264781051103e-05, 3.742637270628099e-05, 0.14162119914196955, 0.2196207622044971, 0.21216454615013092, 0.4596689340092285, 0.025588333316701257, 0.26615819828401843, 0.023457969992888916, 0.008151479638695615, 0.0074637635019940834], "count": [264]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8642857142857142, -0.9, -0.24285714285714288, -0.34, -0.13714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.942857142857143, 1.0, 1.0, 0.04857142857142857, 0.4257142857142857, -0.0, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.018262987012986967, -0.0003246753246752697, 0.0015963203463203349, -0.008625541125541127, -0.0012337662337662187, -0.006623376623376625, -0.06060606060606061], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.508738790415769, 0.48014204347061173, 0.4435700287867896, 0.043413739671922934, 0.17218616623267688, 0.02442237632343818, 0.9981617631515517], "count": [264]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06060606241226196], "std": [0.2386062890291214], "count": [264]}, "next.done": {"min": [false], "max": [true], "mean": [0.003787878787878788], "std": [0.06142907098570779], "count": [264]}, "timestamp": {"min": [0.0], "max": [13.15], "mean": [6.575000000000001], "std": [3.810484439892999], "count": [264]}, "frame_index": {"min": [0], "max": [263], "mean": [131.5], "std": [76.20968879786], "count": [264]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [264]}, "index": {"min": [23222], "max": [23485], "mean": [23353.5], "std": [76.20968879786], "count": [264]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [264]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4691361209644991]], [[0.44299619966394765]], [[0.4178608823290058]]], "std": [[[0.24289294832860156]], [[0.24489797774836503]], [[0.2486925451643133]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40961066810757507]], [[0.37806001670687805]], [[0.35997133920706953]]], "std": [[[0.21375794762363937]], [[0.2144053039998165]], [[0.21899837625101948]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40493618056353403]], [[0.37312299900428925]], [[0.35157307523839615]]], "std": [[[0.21544600230964092]], [[0.21458150719925528]], [[0.219043545360023]]], "count": [100]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [348]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [348]}, "observation.state": {"min": [3.6530502251539017, -3.6642201552093376, 0.6999755884081797, 0.0, 0.0, -0.17833758890628815, 0.7434826493263245, -0.08101061765362516, -0.049564552041550414, 0.30961896269894373, -0.9888825416564941, -0.0814177393913269, -0.4624498784542084, 0.00013519129424821585, 0.020540741768850394, -0.039887623422253944], "max": [4.392496982638595, -2.5628015498346284, 0.7002681253191182, 0.0, 0.0, 0.6687552332878113, 1.0, 0.5493711455997632, 0.10154435757989955, 0.6527715112702509, 0.9667473435401917, 0.04666978120803833, 0.3647008240222931, 0.07971454411745071, 0.040010241097301655, -0.020525817038566062], "mean": [4.163044675920193, -3.2399161043727465, 0.7000978144670397, 0.0, 0.0, 0.04124569068337234, 0.9667065667695013, 0.1538774796645682, 0.001515624806672082, 0.5679144330536366, -0.16454160590281433, -0.024519606397069734, -0.037299421583784034, 0.021537698831843432, 0.03795047847831546, -0.037295220041668034], "std": [0.22479728086784415, 0.41176442109961386, 7.397119619213e-05, 0.0, 0.0, 0.24274337300370957, 0.06966252620832125, 0.20369729521373875, 0.0517653492760463, 0.10363123137987482, 0.9296520458356515, 0.04521792469438111, 0.3218306004516491, 0.024437844020113352, 0.0019828153417927193, 0.002125696408402822], "count": [348]}, "action": {"min": [-1.0, -0.45, -0.8199999999999998, 0.0, -1.0, -1.0, -0.7571428571428572, -0.7642857142857143, -0.06857142857142857, -0.46857142857142864, -0.11714285714285716, -1.0], "max": [1.0, 0.5642857142857142, 1.0, 0.0, 1.0, 1.0, 0.5642857142857142, 1.0, 0.12, 0.27714285714285714, 0.09714285714285714, 1.0], "mean": [0.09782430213464695, 0.0005131362889983566, -0.013793103448275851, 0.0, -0.3793103448275862, -0.05289408866995072, 0.00024630541871921516, 0.01120689655172413, 4.926108374384247e-05, -0.01324302134646962, -0.00154351395730706, 0.28160919540229884], "std": [0.3692273476446755, 0.13464556518108597, 0.3500526971880684, 0.0, 0.9252695079309443, 0.5500349015819397, 0.17460101051655263, 0.37886435379054473, 0.0199353262040984, 0.11273523921721057, 0.017849710625162656, 0.9595291871875867], "count": [348]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04597701132297516], "std": [0.20943525433540344], "count": [348]}, "next.done": {"min": [false], "max": [true], "mean": [0.0028735632183908046], "std": [0.0535285517534401], "count": [348]}, "timestamp": {"min": [0.0], "max": [17.35], "mean": [8.675], "std": [5.0229266037507125], "count": [348]}, "frame_index": {"min": [0], "max": [347], "mean": [173.5], "std": [100.45853207501425], "count": [348]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [348]}, "index": {"min": [23486], "max": [23833], "mean": [23659.5], "std": [100.45853207501425], "count": [348]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [348]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5233373299392999]], [[0.49990051867915136]], [[0.4915066468481924]]], "std": [[[0.30266186121537375]], [[0.303631558221781]], [[0.3050906926456537]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3549889963187423]], [[0.3579200002632889]], [[0.3577018085554534]]], "std": [[[0.2741669961375198]], [[0.27012405379957466]], [[0.2694879165760933]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45560134229473037]], [[0.4651800728592218]], [[0.46568576528511796]]], "std": [[[0.30054582064895996]], [[0.287770814079082]], [[0.2858958047844183]]], "count": [100]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [242]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [242]}, "observation.state": {"min": [0.7916372330932169, -1.2674207028028788, 0.6999935317327214, 0.0, 0.0, 1.0, 2.2273106878856197e-05, 0.0987805909188183, -0.013006470629631783, 0.2886321836736253, -0.993479311466217, -0.10703596472740173, -0.517615795135498, 0.0010042344219982624, 0.020561510695529715, -0.039857231334518364], "max": [0.7917060821270125, -1.2673415826990648, 0.7000418391430824, 0.0, 0.0, 1.0, 0.0001894392044050619, 0.5513147639797604, 0.13093332105533495, 0.8079518521818833, -0.8518049716949463, 0.06702011823654175, -0.11059094220399857, 0.10911338776350021, 0.0400040142288906, -0.02050504867318411], "mean": [0.7916812087075676, -1.2673741650954893, 0.7000095093884233, 0.0, 0.0, 1.0, 0.00011951707221654461, 0.31495195051142705, 0.07428332907805744, 0.6030498729562421, -0.9394516930107243, -0.03562855212525888, -0.29686858840594604, 0.04592565076679669, 0.0350720918272203, -0.03459940219409713], "std": [1.7527629714581237e-05, 2.309578894167158e-05, 1.277959054241947e-05, 0.0, 0.0, 0.0, 5.2774828049183874e-05, 0.1106610505922606, 0.042240445848941224, 0.18976990482199607, 0.04632867212699276, 0.056634589509012484, 0.14162570302995128, 0.02256846516464483, 0.004607394781981016, 0.004899590490134503], "count": [242]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.45, -1.0, -0.09428571428571429, -0.3942857142857143, -0.13428571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6785714285714286, 0.807142857142857, 1.0, 0.09428571428571429, 0.4542857142857143, 0.18857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.05286304604486422, 0.011009445100354212, 0.023081463990554912, -0.004958677685950412, -0.008016528925619817, -0.0016765053128689493, -0.11570247933884298], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4063617789536783, 0.164997742703233, 0.5198418064530425, 0.028125849252845652, 0.1384356949004166, 0.05307119544217932, 0.9932839152401707], "count": [242]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06611569970846176], "std": [0.24848423898220062], "count": [242]}, "next.done": {"min": [false], "max": [true], "mean": [0.004132231404958678], "std": [0.06414948221595052], "count": [242]}, "timestamp": {"min": [0.0], "max": [12.05], "mean": [6.0249999999999995], "std": [3.4929393066585055], "count": [242]}, "frame_index": {"min": [0], "max": [241], "mean": [120.5], "std": [69.85878613317011], "count": [242]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [242]}, "index": {"min": [23834], "max": [24075], "mean": [23954.5], "std": [69.85878613317011], "count": [242]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [242]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.519156436695772]], [[0.44813018140605854]], [[0.37888042375153186]]], "std": [[[0.21046917215435687]], [[0.207277531690069]], [[0.2113518723273271]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5144478855507046]], [[0.46756543567133885]], [[0.42196399524165135]]], "std": [[[0.21568868063387764]], [[0.21193048460392946]], [[0.21143910437674313]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41781359145220587]], [[0.39273109346277574]], [[0.369097313376034]]], "std": [[[0.22407647085055643]], [[0.21117426336590403]], [[0.20209116117253303]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [362]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [362]}, "observation.state": {"min": [0.783797785532373, -1.3750135840470539, 0.6999966988365215, 0.0, 0.0, -1.0, 1.4703419765282888e-05, 0.05240753011866062, -0.10850247831468474, 0.24478116248798198, -0.9966286420822144, -0.3738921582698822, -0.2506145238876343, 0.00043369096238166094, 0.017232749569048803, -0.03992110875629225], "max": [1.5809455621052313, -0.249765952734216, 0.7005073768106687, 0.0, 0.0, 1.0, 0.4187156856060028, 0.56293893832807, 0.15346997431233095, 0.6209282773140722, 0.9695207476615906, 0.13232627511024475, 0.24411176145076752, 0.12271518260240555, 0.04036973235714766, -0.018591919666865294], "mean": [1.000625968631018, -0.6626968502498779, 0.7001649942485656, 0.0, 0.0, 0.020782547925717265, 0.06279411638880593, 0.25494010089998315, 0.028256508563693557, 0.5195592541714538, -0.3071679642516605, -0.09723046570193043, -0.03227071220120183, 0.044545588112347476, 0.027003988096397563, -0.02673792932344931], "std": [0.2004078159536671, 0.41001006643278226, 0.0001430724702966893, 0.0, 0.0, 0.9901631045619411, 0.12329650336839885, 0.17841305130511964, 0.07957131139496713, 0.10230087200459716, 0.9114344831841374, 0.16034328123503572, 0.18941910661845, 0.02942767970822452, 0.009181783299258969, 0.009116962284128087], "count": [362]}, "action": {"min": [-1.0, -0.6785714285714286, -0.8028571428571428, 0.0, -1.0, -1.0, -0.6, -0.9571428571428572, -0.07714285714285714, -0.18857142857142858, -0.3942857142857143, -1.0], "max": [1.0, 1.0, 0.982857142857143, 0.0, 1.0, 1.0, 0.9, 1.0, 0.16857142857142857, 0.5, 0.38857142857142857, 1.0], "mean": [0.034490923441199695, 0.0033938437253354333, 0.0023677979479084566, 0.0, -0.46408839779005523, -0.026262825572217846, 0.0015588003157063746, -0.009273875295974756, -0.001152328334648777, 0.006685082872928177, -0.001815311760063145, 0.24861878453038674], "std": [0.36723264843470926, 0.23557142002875278, 0.23533345050911483, 0.0, 0.8857888907841763, 0.4435623355689881, 0.21589952676776536, 0.3517380654362583, 0.028193681254715747, 0.0824231629574575, 0.09620981265228468, 0.9686014144004941], "count": [362]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0441988967359066], "std": [0.20553675293922424], "count": [362]}, "next.done": {"min": [false], "max": [true], "mean": [0.0027624309392265192], "std": [0.052486187845303865], "count": [362]}, "timestamp": {"min": [0.0], "max": [18.05], "mean": [9.024999999999999], "std": [5.2250000000000005], "count": [362]}, "frame_index": {"min": [0], "max": [361], "mean": [180.5], "std": [104.5], "count": [362]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [362]}, "index": {"min": [24076], "max": [24437], "mean": [24256.5], "std": [104.5], "count": [362]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [362]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4296397645239736]], [[0.42264486814012714]], [[0.36729311714920343]]], "std": [[[0.1993734569568378]], [[0.23554275953433612]], [[0.1955828244279468]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4548950326956954]], [[0.39119386082069546]], [[0.3466878111596201]]], "std": [[[0.2097985404712744]], [[0.21000954377771805]], [[0.22824176296021143]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47858636474609373]], [[0.41376920213886337]], [[0.3675186947093291]]], "std": [[[0.19441835542800856]], [[0.1983275961109797]], [[0.21846751029841469]]], "count": [100]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [375]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [375]}, "observation.state": {"min": [-1.8991070985275507, -4.798379494371941, 0.6999950882068898, 0.0, 0.0, -0.1518913358449936, 0.9169020056724548, 0.06918829669158688, -0.03985575530186303, 0.3043861298598377, -0.9915879368782043, -0.32571762800216675, -0.3829827904701233, 0.00016865460202097893, 0.02052112801557934, -0.04045168552784639], "max": [-0.8128800384040176, -3.0205891624495695, 0.7009950957968254, 0.0, 0.0, 0.3991124629974365, 1.0, 0.5643082080641423, 0.07255011050938975, 0.6501396322278555, 0.995406448841095, 0.016754060983657837, 0.345535010099411, 0.14848262071609497, 0.04008154189852015, -0.020545431669231975], "mean": [-1.151456772310956, -4.0527467399583905, 0.7006345789906636, 0.0, 0.0, 0.021159460507706777, 0.9855290012359619, 0.2525741218180394, 0.010172920032017767, 0.5668666723742725, 0.24202925491333008, -0.11675956640640894, 0.047370182851950327, 0.04329800907832881, 0.038260477638671936, -0.034640103447139955], "std": [0.3200606936602473, 0.7510835719765998, 0.00037013620654694824, 0.0, 0.0, 0.16633288656198641, 0.024865001600126363, 0.16719639652933665, 0.03760201993088075, 0.09891531738547242, 0.9066103919870799, 0.08706889831909895, 0.30410263880420546, 0.04084825522130094, 0.0023534708359065344, 0.00482063197183216], "count": [375]}, "action": {"min": [-1.0, -0.6928571428571428, -0.7228571428571429, 0.0, -1.0, -1.0, -0.6428571428571428, -0.9071428571428573, -0.07714285714285714, -0.4971428571428572, -0.29428571428571426, -1.0], "max": [1.0, 1.0, 0.9542857142857143, 0.0, 1.0, 1.0, 0.55, 1.0, 0.09142857142857143, 0.3342857142857143, 0.26571428571428574, 1.0], "mean": [0.12672380952380957, 0.09699047619047621, -0.01249523809523807, 0.0, -0.37066666666666664, -0.016228571428571426, 0.008438095238095234, -0.01125714285714288, -0.0001599999999999999, -0.002902857142857146, -0.002689523809523817, 0.20533333333333334], "std": [0.45114003879413717, 0.2579604539995707, 0.23077262636492482, 0.0, 0.9287659674117197, 0.41262396710720994, 0.12193879881972051, 0.38697282929457094, 0.010633100929369125, 0.09273470656318793, 0.08415737888540578, 0.9786920977622264], "count": [375]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04266666620969772], "std": [0.20210446417331696], "count": [375]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026666666666666666], "std": [0.05157087894883657], "count": [375]}, "timestamp": {"min": [0.0], "max": [18.7], "mean": [9.35], "std": [5.412639528609555], "count": [375]}, "frame_index": {"min": [0], "max": [374], "mean": [187.0], "std": [108.2527905721911], "count": [375]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [375]}, "index": {"min": [24438], "max": [24812], "mean": [24625.0], "std": [108.2527905721911], "count": [375]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [375]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46183131199257044]], [[0.44746776206820615]], [[0.4281929219563802]]], "std": [[[0.2672879924044642]], [[0.2639393683206234]], [[0.26670875263979105]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.047058823529411764]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3185290270038679]], [[0.31257325535194547]], [[0.3051764885397519]]], "std": [[[0.2512877811751001]], [[0.24907830675120937]], [[0.24818750615480145]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.050980392156862744]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.362354263604856]], [[0.3553016860064338]], [[0.3438124263987822]]], "std": [[[0.26712841056537523]], [[0.26587064839180347]], [[0.26664697949607363]]], "count": [100]}, "annotation.human.task_description": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [283]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [283]}, "observation.state": {"min": [2.1345975308574134, -1.5775998107274594, 0.6999941000992046, 0.0, 0.0, -0.0019155846675857902, 0.9999982118606567, 0.1847507762395737, -0.4327288652618122, 0.2640181182051855, -0.9878277778625488, -0.6423459649085999, -0.5189403891563416, 8.909846656024456e-05, 0.012053073134257427, -0.04008915122082653], "max": [2.134944126910564, -1.5764904906193191, 0.7006916151451734, 0.0, 0.0, 0.00020580001000780612, 1.0, 0.6010049909211932, 0.21800633353446286, 0.8380786561749737, 0.9580168128013611, 0.28928714990615845, 0.34291157126426697, 0.26986902952194214, 0.03994027715207337, -0.013863257492233962], "mean": [2.134824281806293, -1.5769729434733968, 0.7002367639646833, 0.0, 0.0, -0.0008071675025483646, 0.99999955180677, 0.35460031155831734, -0.027821783179821195, 0.6308191611787249, -0.43780994941826, -0.21967705673548021, -0.21735608667240547, 0.12449370145957338, 0.027439199052148863, -0.027303548404082535], "std": [9.590559132345786e-05, 0.0002950229946915241, 0.00022633370764288112, 0.0, 0.0, 0.0005445239340411199, 5.177169295809663e-07, 0.12942622265166226, 0.25172431593732425, 0.19553672887292764, 0.7203665703958179, 0.3188854714767177, 0.26092038269696, 0.09288002525928699, 0.01196708842122967, 0.012053168106335008], "count": [283]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.8785714285714286, -0.18, -0.2714285714285714, -0.5257142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9214285714285714, 0.8785714285714286, 1.0, 0.26, 0.21142857142857144, 0.7914285714285716, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.017390206966178687, -0.01938414941948519, -0.018828874305906098, 0.01773851590106007, -0.006299848561332644, -0.019192327107521428, -0.06007067137809187], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.41530830397495383, 0.4908229381402259, 0.4942307075425188, 0.07693911803086588, 0.09844659377497374, 0.23618988228439752, 0.9981941266307779], "count": [283]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05653710290789604], "std": [0.23095597326755524], "count": [283]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035335689045936395], "std": [0.05933871245140164], "count": [283]}, "timestamp": {"min": [0.0], "max": [14.1], "mean": [7.050000000000001], "std": [4.08472765310002], "count": [283]}, "frame_index": {"min": [0], "max": [282], "mean": [141.0], "std": [81.69455306200041], "count": [283]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [283]}, "index": {"min": [24813], "max": [25095], "mean": [24954.0], "std": [81.69455306200041], "count": [283]}, "task_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [283]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41350142774394916]], [[0.40343167114257816]], [[0.3947678761201746]]], "std": [[[0.26206656572652404]], [[0.2653715061153224]], [[0.263923429201855]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3894101245356541]], [[0.34594508571250765]], [[0.32819115373200064]]], "std": [[[0.2462102125059826]], [[0.2531996661799403]], [[0.26078565113301044]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42276134176815255]], [[0.3539048539703967]], [[0.32517958397958796]]], "std": [[[0.23396137848328022]], [[0.25497924438829206]], [[0.2680631951271439]]], "count": [100]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [375]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [375]}, "observation.state": {"min": [0.8868096146633937, -2.287952623069102, 0.699994525976575, 0.0, 0.0, -1.0, 7.5607019311974e-08, 0.20012385850368342, -0.0031175293157716943, 0.2785424998939232, -0.9881033301353455, -0.32495975494384766, -0.550585925579071, 0.0005418857908807695, 0.020554871437587583, -0.03999311065589844], "max": [0.8869267000443264, -2.287710450224713, 0.7000235153960269, 0.0, 0.0, 1.0, 0.00048184662591665983, 0.6716980413812044, 0.6612428195499693, 0.8793304053202792, -0.7825743556022644, -0.03547613322734833, -0.14853520691394806, 0.3012591600418091, 0.04001148894233438, -0.020511687557735067], "mean": [0.8868756645835101, -2.2878478333570658, 0.7000016625693168, 0.0, 0.0, 0.9946666628519694, 0.00020886466604622456, 0.3695194055537251, 0.32142528922476343, 0.5966240748321395, -0.8754427100817362, -0.19488256382942198, -0.3771224973599116, 0.15351210992923006, 0.03291108799926792, -0.03194146241142158], "std": [2.322729920404249e-05, 7.701361817473901e-05, 5.152939615179221e-06, 0.0, 0.0, 0.1031417577004212, 0.0001473658940089272, 0.14358874003899533, 0.21195506649248058, 0.22370106958015118, 0.03133993390039404, 0.09331854066766666, 0.09628335921763949, 0.10427114509849647, 0.005804206155408776, 0.00653601987371862], "count": [375]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.07714285714285714, -0.5171428571428571, -0.15142857142857147, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7857142857142857, 0.7285714285714285, 1.0, 0.16285714285714287, 0.32, 0.32571428571428573, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.011695238095238146, 0.09415238095238081, 0.019161904761904817, 0.0017980952380952351, -0.017005714285714273, 0.008708571428571414, 0.08266666666666667], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3619209289621997, 0.2957010968610148, 0.4190912159139531, 0.030167054998064293, 0.12872762034410368, 0.06692973446161307, 0.996577253514356], "count": [375]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04266666620969772], "std": [0.20210446417331696], "count": [375]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026666666666666666], "std": [0.05157087894883657], "count": [375]}, "timestamp": {"min": [0.0], "max": [18.7], "mean": [9.35], "std": [5.412639528609555], "count": [375]}, "frame_index": {"min": [0], "max": [374], "mean": [187.0], "std": [108.2527905721911], "count": [375]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [375]}, "index": {"min": [25096], "max": [25470], "mean": [25283.0], "std": [108.2527905721911], "count": [375]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [375]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5269329283471201]], [[0.46866374415977324]], [[0.41561946195714616]]], "std": [[[0.18569751857552322]], [[0.2074711783188964]], [[0.21088362072510347]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46234631108302693]], [[0.33173274320714613]], [[0.32266185925053614]]], "std": [[[0.222572071552582]], [[0.21821523867818457]], [[0.216846649061411]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5074317226035923]], [[0.4303552832509957]], [[0.4021733003504136]]], "std": [[[0.23277095399245315]], [[0.24858938680058612]], [[0.24188913177121074]]], "count": [100]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [243]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [243]}, "observation.state": {"min": [2.558867374116667, -1.1928288610720812, 0.6999912467202264, 0.0, 0.0, 0.7070533037185669, 0.706482470035553, 0.07406749528229306, -0.5602974486507821, 0.28867006564205544, -0.985065758228302, -0.18503323197364807, -0.6441845893859863, 0.005639029201120138, 0.020560468674842146, -0.04012661811149557], "max": [2.5593800891066976, -1.1926517048376617, 0.7002371375779469, 0.0, 0.0, 0.7077305912971497, 0.7071601748466492, 0.6387051068133306, 0.030750810851070565, 0.8170533382623657, 0.9488088488578796, 0.13905483484268188, 0.5071784257888794, 0.1601400524377823, 0.04005571663343397, -0.02050609206712234], "mean": [2.559108859579961, -1.1927350557269092, 0.7000381697136983, 0.0, 0.0, 0.707376115851932, 0.7068372378624025, 0.36420389627042654, -0.2099355949826823, 0.6237038091770098, -0.1083151043197255, -0.08699727585776844, -0.13380572935681284, 0.07283614346098323, 0.03483065517168997, -0.036942624682438176], "std": [0.00020982784397618676, 5.58450394358197e-05, 5.654541364618034e-05, 0.0, 0.0, 0.00024995954506705313, 0.00025011422061588755, 0.1630946859056411, 0.2355700483577201, 0.18948906604823207, 0.8966738654698793, 0.0701161590231068, 0.3829087713793064, 0.04394117067294329, 0.0048922108758737955, 0.0030843739187753276], "count": [243]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9714285714285714, -1.0, -0.16, -0.6, -0.1742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9714285714285714, 1.0, 1.0, 0.22, 0.4371428571428572, 0.2, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0670781893004115, -0.09138741916519694, 0.00029394473838914754, 0.009417989417989422, -0.015461493239271026, -0.011158142269253378, -0.1440329218106996], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5516875665565774, 0.4654502448675351, 0.48917602809335636, 0.0717719358271377, 0.19421349833098348, 0.04967647850691336, 0.9895728964733567], "count": [243]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0658436194062233], "std": [0.24800854921340942], "count": [243]}, "next.done": {"min": [false], "max": [true], "mean": [0.00411522633744856], "std": [0.06401789788520183], "count": [243]}, "timestamp": {"min": [0.0], "max": [12.1], "mean": [6.05], "std": [3.507373186113315], "count": [243]}, "frame_index": {"min": [0], "max": [242], "mean": [121.0], "std": [70.14746372226631], "count": [243]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [243]}, "index": {"min": [25471], "max": [25713], "mean": [25592.0], "std": [70.14746372226631], "count": [243]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [243]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.03137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5333426657284008]], [[0.5057898906632966]], [[0.47853018667183667]]], "std": [[[0.22084946890785534]], [[0.1993632179354855]], [[0.2370662835910929]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0392156862745098]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5730313014610141]], [[0.46860673612706805]], [[0.4057476854511336]]], "std": [[[0.18366011565520662]], [[0.20397915183425958]], [[0.23431044393834036]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0392156862745098]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.533985860787186]], [[0.4296753402410769]], [[0.3651395173914292]]], "std": [[[0.19403955794985825]], [[0.19516260313031183]], [[0.21696218314004886]]], "count": [100]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [265]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [265]}, "observation.state": {"min": [2.733030221175393, -1.5762207783040214, 0.6999853297100096, 0.0, 0.0, 0.591671347618103, 0.5516923666000366, -0.0627327382913232, -0.04638195901677156, 0.3220883148949911, -0.9896838068962097, -0.051043421030044556, -0.4057686924934387, 0.0011077295057475567, 0.020568484246068566, -0.039730434912208026], "max": [4.146855031033082, -0.8186621479305434, 0.7000987083239616, 0.0, 0.0, 0.8340476751327515, 0.8061793446540833, 0.49068829836146155, 0.11690802922783439, 0.6909865231240259, 0.9848225116729736, 0.026754245162010193, 0.20413874089717865, 0.07947799563407898, 0.03999534624775924, -0.020498076493470234], "mean": [3.5278134986681176, -0.965628311881146, 0.7000196292688874, 0.0, 0.0, 0.6830410111625239, 0.7228282255946465, 0.17436861593356334, 0.025196511100573755, 0.5802744713570035, -0.8281419445883553, -0.020004013236963523, -0.2831035443072049, 0.031251546960622774, 0.03501442508612675, -0.031975737564687336], "std": [0.6018195373058266, 0.19665069541715932, 2.5394451461456873e-05, 0.0, 0.0, 0.07419357280754277, 0.0739568507191521, 0.1877294886390333, 0.0453843367699713, 0.10862793374508524, 0.4596419148048097, 0.01946312987220517, 0.14269826500478, 0.02538084300307762, 0.003430496073757974, 0.005259676828711956], "count": [265]}, "action": {"min": [-1.0, -0.6285714285714287, -0.5542857142857143, 0.0, -1.0, -1.0, -0.5714285714285715, -1.0, -0.08857142857142856, -0.30857142857142855, -0.09142857142857143, -1.0], "max": [1.0, 1.0, 0.7285714285714285, 0.0, 1.0, 1.0, 0.8928571428571429, 1.0, 0.13428571428571429, 0.26857142857142857, 0.15714285714285714, 1.0], "mean": [0.09274932614555255, 0.14094339622641508, -0.024571428571428567, 0.0, -0.4716981132075472, -0.05398921832884095, 0.007789757412398923, 0.02978436657681941, -0.0001940700808625321, -0.0020053908355795167, 0.0013261455525606465, 0.21509433962264152], "std": [0.43272603042694086, 0.3818025608698943, 0.18689358926438568, 0.0, 0.881760109097959, 0.6000258856237823, 0.24757422523243555, 0.412451408671293, 0.02557601480262615, 0.08353075916116759, 0.03048669994590174, 0.9765932751469794], "count": [265]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06037735939025879], "std": [0.23818464577198029], "count": [265]}, "next.done": {"min": [false], "max": [true], "mean": [0.0037735849056603774], "std": [0.061313497393478945], "count": [265]}, "timestamp": {"min": [0.0], "max": [13.2], "mean": [6.6], "std": [3.8249182997810554], "count": [265]}, "frame_index": {"min": [0], "max": [264], "mean": [132.0], "std": [76.49836599562111], "count": [265]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [265]}, "index": {"min": [25714], "max": [25978], "mean": [25846.0], "std": [76.49836599562111], "count": [265]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [265]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4850067036946615]], [[0.460084036434398]], [[0.4347186542585784]]], "std": [[[0.25934186261089226]], [[0.2479223025593048]], [[0.2382718639413556]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5498349531585095]], [[0.5185099068435969]], [[0.47681257360121787]]], "std": [[[0.2354061309025232]], [[0.21877472395137396]], [[0.21275089035116626]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5658723497577742]], [[0.5205742325128294]], [[0.47236144840016087]]], "std": [[[0.2675433898133848]], [[0.23896244833255811]], [[0.2255234484668558]]], "count": [100]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [427]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [427]}, "observation.state": {"min": [-1.8412925687712554, -4.889879468034639, 0.6999934525280048, 0.0, 0.0, -0.09433255344629288, 0.687508761882782, 0.0034766497881033587, -0.05568259197334724, 0.2841298699337761, -0.9911562204360962, -0.2412363588809967, -0.44845861196517944, 0.019519634544849396, 0.019632858592217868, -0.0399455632270664], "max": [-0.7924220630976881, -3.0981923900223363, 0.7000566990851005, 0.0, 0.0, 0.7261760830879211, 1.0, 0.5367740061039855, 0.21549189278178016, 0.6614210256681649, -0.876955509185791, -0.030352085828781128, -0.11986970901489258, 0.11471070349216461, 0.03996583264003853, -0.019014136414755668], "mean": [-1.1308590961898919, -4.093397242354897, 0.7000083831636134, 0.0, 0.0, 0.0950211461007162, 0.9584198631782442, 0.1797412516792777, 0.04735389344936044, 0.5733872667798767, -0.9321529736842707, -0.10838509712202488, -0.31741554405217426, 0.05422110210414932, 0.027087156717985353, -0.026472537862153353], "std": [0.29319540745841305, 0.8046345656574992, 1.4361674650280281e-05, 0.0, 0.0, 0.25323462829024274, 0.09096478044932921, 0.1815547428362275, 0.09193799143958618, 0.10829109826962299, 0.035748600188217926, 0.06739744263722741, 0.09475320837076374, 0.029195911910322392, 0.007989491830245108, 0.008467466149535445], "count": [427]}, "action": {"min": [-0.7000000000000001, -0.6642857142857144, -0.6514285714285715, 0.0, -1.0, -1.0, -0.5928571428571429, -0.7571428571428572, -0.06, -0.36857142857142855, -0.18285714285714286, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 0.7428571428571429, 0.6428571428571428, 0.8285714285714285, 0.07714285714285714, 0.19714285714285715, 0.2285714285714286, 1.0], "mean": [0.14553362328537978, 0.050836400133824025, -0.015142188022750077, 0.0, -0.30210772833723654, -0.03385747741719639, 0.001003680160588809, 0.02126129140180662, 0.0006891937102709929, -0.001572432251589168, 0.00012713282034125512, 0.3629976580796253], "std": [0.3629030377147372, 0.2247926352504937, 0.2984618802352735, 0.0, 0.9532737909325472, 0.4094954634413651, 0.19153312069837275, 0.3166947737520039, 0.011947210245816318, 0.0670255757581572, 0.04676284781428785, 0.9317900515828207], "count": [427]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03747072443366051], "std": [0.18991227447986603], "count": [427]}, "next.done": {"min": [false], "max": [true], "mean": [0.00234192037470726], "std": [0.04833669189824425], "count": [427]}, "timestamp": {"min": [0.0], "max": [21.3], "mean": [10.65], "std": [6.163197222221596], "count": [427]}, "frame_index": {"min": [0], "max": [426], "mean": [213.0], "std": [123.26394444443193], "count": [427]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [427]}, "index": {"min": [25979], "max": [26405], "mean": [26192.0], "std": [123.26394444443193], "count": [427]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [427]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5855770425235524]], [[0.5684267398609835]], [[0.5542809974820007]]], "std": [[[0.21266817303964847]], [[0.23544991562170792]], [[0.25194124393024014]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4582996520996094]], [[0.4566782699285769]], [[0.45646301987591914]]], "std": [[[0.2765958809427767]], [[0.2735451279441151]], [[0.26532730804432614]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4733815959855622]], [[0.4729075808057598]], [[0.4775985388662301]]], "std": [[[0.2874446160698159]], [[0.28394744911225517]], [[0.27116474026139153]]], "count": [100]}, "annotation.human.task_description": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [292]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [292]}, "observation.state": {"min": [5.488798813920848, -0.9535452556796677, 0.6999956717653958, 0.0, 0.0, 0.7068878412246704, 0.7068784832954407, 0.08505667852638721, -0.5065158787499531, 0.27894160758689635, -0.9896923899650574, -0.27842190861701965, -0.6057752966880798, 0.0003379630798008293, 0.006967038480258781, -0.040047036554090254], "max": [5.489669442618383, -0.9531246172900625, 0.7014457286199739, 0.0, 0.0, 0.7073350548744202, 0.7073256969451904, 0.628486644213313, 0.12548703164068353, 0.9082191389837209, 0.9846346378326416, 0.08473338186740875, 0.41881248354911804, 0.09192951023578644, 0.040200397688524306, -0.010490300775154962], "mean": [5.489479132035503, -0.9532918585853731, 0.7004551270493333, 0.0, 0.0, 0.7070448363888754, 0.7071687123955113, 0.3427387876524591, -0.1058508713753977, 0.6327831571805054, -0.3563605665344082, -0.11064826115353467, -0.20326132327318192, 0.05158270718336459, 0.02661330145919758, -0.027216926235367436], "std": [0.00023144910589646198, 0.00012061001186009706, 0.0004805295100684616, 0.0, 0.0, 8.374196682019181e-05, 8.374997571540844e-05, 0.16499921257702946, 0.22862093222206628, 0.2013626568267639, 0.8440729837429289, 0.08505780490958532, 0.3107755795468547, 0.02264245829817904, 0.014048462358387345, 0.013182560900400162], "count": [292]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.942857142857143, -0.12285714285714287, -0.32285714285714284, -0.20285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9857142857142858, 1.0, 1.0, 0.10857142857142858, 0.27714285714285714, 0.15142857142857147, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0362769080234834, -0.005063600782778862, -0.0318003913894326, 0.004452054794520547, -0.003013698630137011, -0.006399217221135033, -0.14383561643835616], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4991832139683795, 0.4850472888159518, 0.47981887700763015, 0.03794114679215931, 0.1330787583381297, 0.06283606192885949, 0.98960159430136], "count": [292]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05821917951107025], "std": [0.23415744304656982], "count": [292]}, "next.done": {"min": [false], "max": [true], "mean": [0.003424657534246575], "std": [0.058420281195999936], "count": [292]}, "timestamp": {"min": [0.0], "max": [14.55], "mean": [7.275], "std": [4.214632249674934], "count": [292]}, "frame_index": {"min": [0], "max": [291], "mean": [145.5], "std": [84.2926449934987], "count": [292]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [292]}, "index": {"min": [26406], "max": [26697], "mean": [26551.5], "std": [84.2926449934987], "count": [292]}, "task_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [292]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47990861960018383]], [[0.43431579889035693]], [[0.38239500217811734]]], "std": [[[0.2670872244074464]], [[0.25841455396260865]], [[0.2520231133787002]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4875653273638557]], [[0.40843912461224724]], [[0.36209203563017006]]], "std": [[[0.24019889724362878]], [[0.23990489861791808]], [[0.2538107546459278]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5031632756251915]], [[0.4139305521647135]], [[0.3605323606004902]]], "std": [[[0.22590638656925338]], [[0.23446944813331874]], [[0.25123001833208486]]], "count": [100]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [463]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [463]}, "observation.state": {"min": [0.46972474785693874, -1.2449648336337882, 0.6999929385218977, 0.0, 0.0, -0.10965162515640259, 0.681656002998352, 0.04153570137892193, -0.02674411453078207, 0.26082777710967686, -0.9943801164627075, -0.06863084435462952, -0.4838344156742096, 0.000650624162517488, 0.020572152327113718, -0.03984323710593754], "max": [2.131465406792281, -0.3033405233138555, 0.7000535289610826, 0.0, 0.0, 0.7316727638244629, 0.9999912977218628, 0.5076305664335257, 0.16599184826095809, 0.6431276048389948, 0.9698420166969299, 0.012276232242584229, 0.2741151452064514, 0.07313837110996246, 0.04000605508204027, -0.02049440865128491], "mean": [1.1541285775051744, -0.6008789318763027, 0.7000122406751571, 0.0, 0.0, 0.6143782714092159, 0.746730111973847, 0.22360807645399092, 0.06446528813847395, 0.5420244078984223, -0.8808471516708061, -0.019014281777918467, -0.31411576102091476, 0.03801847275456647, 0.02870447953719331, -0.029477602796484342], "std": [0.7553693225294258, 0.27864351432095014, 1.4903589362746922e-05, 0.0, 0.0, 0.23279432375696876, 0.10363529190712663, 0.15953888499672356, 0.06140210402982126, 0.11910292808107709, 0.31509384571696486, 0.025191755889136004, 0.1524469036626052, 0.021767526865042786, 0.00801723222897537, 0.007319743643060886], "count": [463]}, "action": {"min": [-1.0, -0.4285714285714286, -0.9914285714285714, 0.0, -1.0, -1.0, -0.44285714285714284, -0.7285714285714285, -0.08, -0.44285714285714284, -0.18285714285714286, -1.0], "max": [1.0, 0.3357142857142857, 0.7257142857142858, 0.0, 1.0, 0.8642857142857142, 0.6928571428571428, 0.9, 0.09714285714285714, 0.26857142857142857, 0.06, 1.0], "mean": [0.11698549830299289, -0.008392471459426103, 0.004615859302684367, 0.0, -0.4557235421166307, -0.01713977167540886, -0.0016352977476087579, 0.01683122493057698, -0.000475161987041037, -0.0013699475470533825, -0.0039000308546744836, 0.24838012958963282], "std": [0.35572239198931677, 0.08513044847499569, 0.2945584441245251, 0.0, 0.8901213699045032, 0.34219716252158006, 0.15207521611360542, 0.3143369356566431, 0.016516476989837894, 0.08882115416482324, 0.028614997072809532, 0.9686626405643126], "count": [463]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03455723449587822], "std": [0.18265549838542938], "count": [463]}, "next.done": {"min": [false], "max": [true], "mean": [0.0021598272138228943], "std": [0.046423726263940986], "count": [463]}, "timestamp": {"min": [0.0], "max": [23.1], "mean": [11.55], "std": [6.682813778641449], "count": [463]}, "frame_index": {"min": [0], "max": [462], "mean": [231.0], "std": [133.65627557282897], "count": [463]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [463]}, "index": {"min": [26698], "max": [27160], "mean": [26929.0], "std": [133.65627557282897], "count": [463]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [463]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9607843137254902]], [[0.9607843137254902]]], "mean": [[[0.3668149856866575]], [[0.36246452301623777]], [[0.35797632494159776]]], "std": [[[0.2758139269746024]], [[0.27450394969283415]], [[0.2703438601150381]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32720473764456953]], [[0.29949586217543656]], [[0.28393149461933215]]], "std": [[[0.2536898739328728]], [[0.25595163641725527]], [[0.26360004257503594]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34964701992857694]], [[0.3432222810633042]], [[0.34093513039981616]]], "std": [[[0.23226911076978285]], [[0.23257675816858553]], [[0.23535559139157194]]], "count": [100]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [355]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [355]}, "observation.state": {"min": [2.9318157663434605, -3.4940552463163708, 0.6999955107626563, 0.0, 0.0, -0.0006267601274885237, 0.9999998807907104, 0.01637864763076502, -0.01881959938003952, 0.25961587184248724, -0.9879787564277649, -0.47535860538482666, -0.72449791431427, 0.01961837150156498, 0.020545307501702085, -0.04004099410047679], "max": [2.9319285160031687, -3.493667350015777, 0.7001017923644077, 0.0, 0.0, 0.00016735099779907614, 1.0, 0.5714013963947067, 0.5879941611843433, 0.8294905376776732, -0.6807484030723572, -0.017757803201675415, -0.14960135519504547, 0.3264614939689636, 0.04001908417671509, -0.02052125123336238], "mean": [2.9318724819732322, -3.4938215060234583, 0.70001783511849, 0.0, 0.0, -0.00014731060442935699, 0.9999999556742923, 0.30060799488747963, 0.2267143106219772, 0.6082992874722631, -0.8291949137835436, -0.22521145423533212, -0.4130396139453834, 0.15399392563587344, 0.0380622790468852, -0.03851873943488656], "std": [3.083778387819185e-05, 0.00015365817767506098, 2.514329291439465e-05, 0.0, 0.0, 0.00033320360522149126, 5.76130867038491e-08, 0.15492452346671576, 0.19813952691508968, 0.1990616429407258, 0.05780703405253945, 0.17414520082397572, 0.13858954747070887, 0.12051751492403881, 0.0022791775095407454, 0.002079472273589781], "count": [355]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9142857142857143, -1.0, -0.025714285714285714, -0.4571428571428572, -0.25142857142857145, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6285714285714287, 0.9142857142857143, 0.8142857142857143, 0.03142857142857143, 0.3628571428571429, 0.56, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.011710261569416498, 0.06132796780684101, -0.000503018108651869, -0.00031388329979879293, -0.009183098591549295, 0.005360160965794769, -0.07042253521126761], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.41923222091950785, 0.3510461779099976, 0.36516881940049056, 0.005426803679046887, 0.14149854818854032, 0.12016550304699777, 0.9975172512465249], "count": [355]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04507042095065117], "std": [0.20745861530303955], "count": [355]}, "next.done": {"min": [false], "max": [true], "mean": [0.0028169014084507044], "std": [0.052999683724582476], "count": [355]}, "timestamp": {"min": [0.0], "max": [17.7], "mean": [8.85], "std": [5.12396330978277], "count": [355]}, "frame_index": {"min": [0], "max": [354], "mean": [177.0], "std": [102.4792661956554], "count": [355]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [355]}, "index": {"min": [27161], "max": [27515], "mean": [27338.0], "std": [102.4792661956554], "count": [355]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [355]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5154908979827282]], [[0.5448597836961933]], [[0.47118767113779103]]], "std": [[[0.19512552291653718]], [[0.2532498899753735]], [[0.20284676985007166]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37775653435202206]], [[0.36564876601275276]], [[0.35768262197457107]]], "std": [[[0.2031015332882703]], [[0.1990979852203906]], [[0.20169061643796135]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43083430391199445]], [[0.42343197990866266]], [[0.4187857983159084]]], "std": [[[0.2160717014888063]], [[0.21484180813315779]], [[0.2162377246655377]]], "count": [100]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [251]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [251]}, "observation.state": {"min": [0.9309331896320703, -3.1529601822432776, 0.6999954476963441, 0.0, 0.0, -1.0, 0.0, 0.06718897851185157, -0.6101055157875757, 0.2640164786587602, -0.9944780468940735, -0.4328339397907257, -0.4375816285610199, 0.00016037121531553566, 0.020571852241619917, -0.04041049370367724], "max": [0.931054122791122, -3.152523942229648, 0.7001162645070786, 0.0, 0.0, 1.0, 0.0005863629630766809, 0.4881564661436503, 0.13166061008112395, 0.5813972057037112, 0.9279882311820984, 0.358669638633728, 0.21584223210811615, 0.2950134575366974, 0.040016034452467125, -0.02049470695255724], "mean": [0.931005628670981, -3.152731985651834, 0.7000409345841255, 0.0, 0.0, 0.12350600649161168, 0.0003370722878977145, 0.3002077494921111, -0.20477798762547447, 0.44505375066163894, -0.5116150210578129, -0.18114598282423627, -0.1567079296921829, 0.11512655043773691, 0.03774689003731001, -0.037990399127451294], "std": [3.121415666072828e-05, 0.00011826531193972568, 4.448181801748211e-05, 0.0, 0.0, 0.9923437844673644, 0.00016450574837550792, 0.11967730750675307, 0.3022787820026162, 0.10323010501261211, 0.7435120271962746, 0.24280494045201592, 0.21207406415818242, 0.10433086686468186, 0.002694682793002171, 0.0023716184791766556], "count": [251]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7714285714285714, -0.1142857142857143, -0.14285714285714285, -0.3914285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7642857142857143, 1.0, 0.5785714285714286, 0.12571428571428572, 0.12571428571428572, 0.4514285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03463289698349458, -0.13628343767786008, -0.016220830961866772, 0.012145702902675014, -0.01698349459305635, 0.01675583380762664, -0.043824701195219126], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5114769961406812, 0.4901357244387596, 0.23885754456901087, 0.03695332196075404, 0.043693683184085876, 0.16395960253002506, 0.9990392362490803], "count": [251]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06374502182006836], "std": [0.24429816007614136], "count": [251]}, "next.done": {"min": [false], "max": [true], "mean": [0.00398406374501992], "std": [0.06299357888781631], "count": [251]}, "timestamp": {"min": [0.0], "max": [12.5], "mean": [6.25], "std": [3.6228441865473595], "count": [251]}, "frame_index": {"min": [0], "max": [250], "mean": [125.0], "std": [72.4568837309472], "count": [251]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [251]}, "index": {"min": [27516], "max": [27766], "mean": [27641.0], "std": [72.4568837309472], "count": [251]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [251]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4855802690094593]], [[0.4631115453383502]], [[0.4216694880466835]]], "std": [[[0.24354601280765217]], [[0.239070460598316]], [[0.24206417135414926]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3989681079340916]], [[0.34360276106292126]], [[0.3147396437701057]]], "std": [[[0.24933815506374102]], [[0.2229298899463124]], [[0.2184053186326214]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39287907200233607]], [[0.3789646594477635]], [[0.3633610977472043]]], "std": [[[0.2571186052342479]], [[0.24867184307012805]], [[0.25025524186603537]]], "count": [100]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [262]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [262]}, "observation.state": {"min": [1.0737156780448773, -3.4988560288035813, 0.6999899310538258, 0.0, 0.0, -1.0, 2.2149813503347104e-06, 0.13336469723455224, -0.6354042068659012, 0.2843807064370468, -0.9899863004684448, -0.654735803604126, -0.658378541469574, 0.009701517410576344, 0.020549001070858258, -0.03991442098979375], "max": [1.073814156148187, -3.498602588933658, 0.7000481318142471, 0.0, 0.0, 1.0, 0.0005276480806060135, 0.5687710334539887, 0.10664075109490145, 0.5922759426823776, -0.5641598701477051, 0.04730209708213806, -0.13138937950134277, 0.25210338830947876, 0.039973347855828345, -0.02051755783831842], "mean": [1.0737719332918374, -3.498720283905486, 0.700007053708996, 0.0, 0.0, 0.7251908287747215, 0.0001988057809212339, 0.37949608858866357, -0.3148097325264337, 0.4174714340951374, -0.8491258323192596, -0.18756453209478435, -0.41023657977126027, 0.09801526917571216, 0.03401275937679306, -0.03313318848265012], "std": [2.393770653889871e-05, 6.856835182636978e-05, 1.2313688610847604e-05, 0.0, 0.0, 0.6885479213687057, 0.00015278496982902475, 0.1302041917572855, 0.2990838227724886, 0.09690215410790595, 0.10926363952502702, 0.1845918429721448, 0.1241385659385718, 0.06693843562945162, 0.004150729794982953, 0.004778184303714218], "count": [262]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5357142857142857, -0.2057142857142857, -0.36857142857142855, -0.10285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8500000000000001, 1.0, 0.5857142857142857, 0.08857142857142856, 0.18, 0.25142857142857145, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01712104689203924, -0.17080152671755738, -0.03358778625954198, -0.010054525627044713, -0.04178844056706653, 0.03694656488549618, 0.17557251908396945], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5365501871016284, 0.4849183976052467, 0.19336577110136507, 0.056981616728248675, 0.11976808658141289, 0.0692781563649828, 0.9844665004673894], "count": [262]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06106870248913765], "std": [0.23945628106594086], "count": [262]}, "next.done": {"min": [false], "max": [true], "mean": [0.003816793893129771], "std": [0.06166219244810501], "count": [262]}, "timestamp": {"min": [0.0], "max": [13.05], "mean": [6.524999999999999], "std": [3.781616717754458], "count": [262]}, "frame_index": {"min": [0], "max": [261], "mean": [130.5], "std": [75.63233435508916], "count": [262]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [262]}, "index": {"min": [27767], "max": [28028], "mean": [27897.5], "std": [75.63233435508916], "count": [262]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [262]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5260379847523737]], [[0.5001751707925288]], [[0.4686773572554713]]], "std": [[[0.24726352064023743]], [[0.24258570607055835]], [[0.22559410584414993]]], "count": [113]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46214329542311944]], [[0.4783252759089843]], [[0.46712648973228327]]], "std": [[[0.24025278721157395]], [[0.21442175378185457]], [[0.1988970992085277]]], "count": [113]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47637539806826007]], [[0.5051763303863614]], [[0.4996501556560643]]], "std": [[[0.23658002606140674]], [[0.2017676690310875]], [[0.19100350675140482]]], "count": [113]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [549]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [549]}, "observation.state": {"min": [5.448479180441922, -3.690755628158962, 0.699998119786975, 0.0, 0.0, -0.9999983310699463, 0.0015180862974375486, 0.03404039771338585, -0.021510563022638873, 0.3009911046775069, -0.9947382211685181, -0.4661458730697632, -0.4495679438114166, 0.00017464382108300924, 0.02054231422198905, -0.04014545488239722], "max": [6.362451375282784, -2.0377463797256516, 0.7003946843250335, 0.0, 0.0, 0.999998927116394, 1.0, 0.5770414257083907, 0.058715195855277624, 0.6460222357480002, 0.9233503341674805, 0.0904756486415863, 0.38390055298805237, 0.1778092235326767, 0.04019298772076491, -0.020524245088272], "mean": [6.044941318952505, -2.8849665814473333, 0.7002191908932014, 0.0, 0.0, -0.07058112071216188, 0.731472474490233, 0.27389630142485827, 0.009235014112186631, 0.5305842032613532, -0.9277636390349036, -0.12000549375630902, -0.23182572776923305, 0.06937313791706255, 0.03273847643160559, -0.03374449204024979], "std": [0.3908223033489475, 0.5260053049061986, 0.00013102098187875688, 0.0, 0.0, 0.5433595250995079, 0.40586547342621493, 0.20383925275370793, 0.02517311837360559, 0.08375186945240283, 0.14861885599028857, 0.1606918776613484, 0.1254379069253873, 0.05151114891312081, 0.005806380170738222, 0.004842832446683825], "count": [549]}, "action": {"min": [-1.0, -1.0, 0.0, 0.0, -1.0, -1.0, -0.6571428571428571, -0.9857142857142858, -0.06, -0.34285714285714286, -0.22285714285714286, -1.0], "max": [1.0, 0.0, 1.0, 0.0, 1.0, 1.0, 0.3357142857142857, 1.0, 0.05714285714285715, 0.2257142857142857, 0.16285714285714287, 1.0], "mean": [0.04795732500650533, -0.0693728857663284, 0.10888888888888894, 0.0, -0.4936247723132969, -0.03169398907103827, 0.008534998698933127, 0.00832682799895913, -0.00035389018995576356, -0.008248763986468913, 0.0013270882123341153, 0.16939890710382513], "std": [0.32842744557137593, 0.20061532426489584, 0.2665183657613294, 0.0, 0.869674987658403, 0.3453263880700918, 0.09187471737508712, 0.27676289913125146, 0.011771827609125677, 0.08077070104565928, 0.06935052216105515, 0.9855475687515252], "count": [549]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02914389781653881], "std": [0.16820979118347168], "count": [549]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018214936247723133], "std": [0.042640072534497725], "count": [549]}, "timestamp": {"min": [0.0], "max": [27.4], "mean": [13.700000000000001], "std": [7.924119299118777], "count": [549]}, "frame_index": {"min": [0], "max": [548], "mean": [274.0], "std": [158.48238598237555], "count": [549]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [549]}, "index": {"min": [28029], "max": [28577], "mean": [28303.0], "std": [158.48238598237555], "count": [549]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [549]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6598882111194087]], [[0.630359442617379]], [[0.5610727000517004]]], "std": [[[0.23058427167579496]], [[0.22977080078548223]], [[0.29229133487595604]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6634079290651808]], [[0.6207477680281097]], [[0.5622642505122166]]], "std": [[[0.2324552095931363]], [[0.22020020560695813]], [[0.22450522097807896]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.670269318225337]], [[0.6266255385454963]], [[0.5675538958381204]]], "std": [[[0.23991521692375548]], [[0.22379143983508593]], [[0.22298574684040512]]], "count": [100]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [327]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [327]}, "observation.state": {"min": [3.5562300898245924, -1.674131289661223, 0.6999941041459562, 0.0, 0.0, -0.9999942779541016, 0.0017694799462333322, 0.08157831517682146, -0.0551895656124497, 0.2598625901165935, -0.9993687272071838, -0.03884954750537872, -0.2283366471529007, 0.013647192157804966, 0.020564396531554337, -0.03985592893517541], "max": [4.469506554930752, -0.8197593421073179, 0.7000791934744779, 0.0, 0.0, 0.9999984502792358, 0.7276754975318909, 0.5663024075911222, 0.15967260524691174, 0.608569862198743, -0.9730225205421448, 0.04392626881599426, -0.030482521280646324, 0.05742928758263588, 0.03998855454125258, -0.018763779914363267], "mean": [4.027385876605865, -1.0270311063366926, 0.7000095504920093, 0.0, 0.0, 0.6210427574061472, 0.6074354367865398, 0.2394064438735168, 0.025628280826490726, 0.4963359152269298, -0.9862934571522821, -0.00398474534124774, -0.15321098168918845, 0.023091021307177318, 0.03155408671753928, -0.02831361047561687], "std": [0.3491619712801295, 0.240045613264572, 2.0139912156666986e-05, 0.0, 0.0, 0.44339833968860537, 0.220739612515349, 0.15741243727143442, 0.06628447286150037, 0.09215676791951732, 0.0076367115872807865, 0.01766695399520005, 0.052571001462868444, 0.008269569481967512, 0.005724727950009649, 0.008409322291990373], "count": [327]}, "action": {"min": [-0.40714285714285714, -1.0, -0.8885714285714287, 0.0, -1.0, -1.0, -1.0, -1.0, -0.10571428571428572, -0.13142857142857142, -0.05142857142857143, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.08571428571428572, 0.2742857142857143, 0.03142857142857143, 1.0], "mean": [0.1202927042376584, 0.062210572302315394, -0.01138488422892092, 0.0, -0.345565749235474, -0.031105286151157714, 0.0009174311926605516, 0.02127566622979467, 6.989951944080436e-05, 0.0025251201397990366, -0.0013280908693752726, 0.27217125382262997], "std": [0.3209546360093669, 0.2635663762616366, 0.36451607595871255, 0.0, 0.9383945401350792, 0.43817598967409294, 0.2632379800646255, 0.3781862598226678, 0.0159069599368607, 0.05182064617121895, 0.006820320467911177, 0.962248828834109], "count": [327]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.048929665237665176], "std": [0.2157209813594818], "count": [327]}, "next.done": {"min": [false], "max": [true], "mean": [0.0030581039755351682], "std": [0.055215504847913724], "count": [327]}, "timestamp": {"min": [0.0], "max": [16.3], "mean": [8.15], "std": [4.7198163806091715], "count": [327]}, "frame_index": {"min": [0], "max": [326], "mean": [163.0], "std": [94.39632761218344], "count": [327]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [327]}, "index": {"min": [28578], "max": [28904], "mean": [28741.0], "std": [94.39632761218344], "count": [327]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [327]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42625291592467063]], [[0.416864470837163]], [[0.4090717988855698]]], "std": [[[0.2630863960341901]], [[0.22777176759540796]], [[0.2354073801896688]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.047058823529411764]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29913601983762256]], [[0.29537133609547334]], [[0.2880668131510417]]], "std": [[[0.2447589353534808]], [[0.24293523983594087]], [[0.2429119510706071]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.050980392156862744]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34763112146714154]], [[0.3414022324505974]], [[0.3343291841394761]]], "std": [[[0.26222962784389414]], [[0.2582249662592529]], [[0.25971440994528494]]], "count": [100]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [259]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [259]}, "observation.state": {"min": [5.295309648034208, -0.939482815690761, 0.6999939880808883, 0.0, 0.0, 0.7066439986228943, 0.7070461511611938, 0.08782410360168191, -0.6215028209248876, 0.2944308661637344, -0.9916533827781677, -0.21492330729961395, -0.5289121866226196, 0.00160224421415478, 0.020554519699658054, -0.03987245495677142], "max": [5.295522953697504, -0.93915070274236, 0.7004170200459051, 0.0, 0.0, 0.7071673274040222, 0.7075691819190979, 0.6021486863594412, -0.016870777155744143, 0.8261029451760916, 0.9827502369880676, 0.12426567077636719, 0.19097481667995453, 0.08223529160022736, 0.04000406586479045, -0.020512040800418865], "mean": [5.295473135250682, -0.9392645172421685, 0.7000983374660263, 0.0, 0.0, 0.7069908417329825, 0.7072226296980869, 0.32723436145623364, -0.23158185044115662, 0.6060029767011618, -0.15819401998777646, -0.07152437185688829, -0.20877093154376078, 0.04138242530602329, 0.035479421826472374, -0.03602422732934075], "std": [5.5103084383402715e-05, 0.00010436071703865401, 0.00015342586277500376, 0.0, 0.0, 0.00014534984922975167, 0.00014528154647340703, 0.15026786903102402, 0.24490797000490214, 0.20305185771220718, 0.9215890335748114, 0.0994413705976709, 0.25515849545519914, 0.015502668065957455, 0.004330313208003775, 0.003748420606675069], "count": [259]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.08285714285714285, -0.4285714285714286, -0.17142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8500000000000001, 1.0, 0.9285714285714287, 0.14857142857142858, 0.4514285714285714, 0.05428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.05333701047986761, -0.0830391616105901, 0.0006894649751791976, 0.006894649751792608, 0.0016767788196359562, -0.008483177054605624, -0.10424710424710425], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5664879616001972, 0.4899837242988244, 0.42088917841958556, 0.032292100841362574, 0.1394694626146761, 0.030852031657623083, 0.9945514271550224], "count": [259]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0617760606110096], "std": [0.24074837565422058], "count": [259]}, "next.done": {"min": [false], "max": [true], "mean": [0.003861003861003861], "std": [0.06201690503555602], "count": [259]}, "timestamp": {"min": [0.0], "max": [12.9], "mean": [6.449999999999999], "std": [3.7383151285037486], "count": [259]}, "frame_index": {"min": [0], "max": [258], "mean": [129.0], "std": [74.76630257007497], "count": [259]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [259]}, "index": {"min": [28905], "max": [29163], "mean": [29034.0], "std": [74.76630257007497], "count": [259]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [259]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5789513023226869]], [[0.5530738537358303]], [[0.533625929888557]]], "std": [[[0.24266527210767325]], [[0.24817624615635625]], [[0.2535400972055001]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5887653006759345]], [[0.555385959999234]], [[0.5249829496495865]]], "std": [[[0.2541350847802874]], [[0.24875005006701068]], [[0.2502834729500803]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6164666742063035]], [[0.5773162117752374]], [[0.5400027501723346]]], "std": [[[0.22995502704331475]], [[0.2259158207919799]], [[0.22702099438510284]]], "count": [100]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [444]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [444]}, "observation.state": {"min": [-1.8638486090803208, -4.879709318447267, 0.6999957451897969, 0.0, 0.0, -0.9999101161956787, 0.01340535469353199, 0.07525767484106904, -0.16258723891379123, 0.24618715712715766, -0.9908322095870972, -0.1931200623512268, -0.34346649050712585, 0.00015301269013434649, 0.016830987492736846, -0.039784026528475534], "max": [-0.790627085667349, -3.0532466013866357, 0.7004767175966424, 0.0, 0.0, 0.9998939037322998, 1.0, 0.5153718749993478, -0.011279036787827046, 0.6224397800380242, 0.9880244135856628, 0.137052983045578, 0.36208590865135193, 0.06265973299741745, 0.04003791189608894, -0.016404648985767958], "mean": [-1.184079198050028, -3.935700869298778, 0.7001487672659146, 0.0, 0.0, 0.04630995661198966, 0.8978972069872962, 0.2285567609947496, -0.05817442425814999, 0.5298633866167283, 0.4424291324239593, -0.04499998688697815, 0.12282959133101341, 0.035030278315094324, 0.022914868677308284, -0.022977819388448575], "std": [0.3758438836500871, 0.7474624214529807, 0.00014216841699291936, 0.0, 0.0, 0.37578751361265933, 0.2245434285815664, 0.14023066159242492, 0.04754651489033558, 0.12388901364682184, 0.8415519659152513, 0.0703860317557934, 0.26928781297390075, 0.015408264356159801, 0.009108718770094438, 0.009043452961067814], "count": [444]}, "action": {"min": [-1.0, -0.5214285714285715, -1.0, 0.0, -1.0, -0.9571428571428572, -0.6285714285714287, -0.8428571428571429, -0.19428571428571428, -0.3342857142857143, -0.14857142857142858, -1.0], "max": [1.0, 0.7714285714285714, 0.3514285714285714, 0.0, 1.0, 0.9785714285714284, 0.6214285714285714, 0.9285714285714287, 0.1142857142857143, 0.2914285714285714, 0.12857142857142856, 1.0], "mean": [0.13935006435006433, 0.030292792792792803, -0.2202509652509653, 0.0, -0.16666666666666666, -0.028088803088803068, -0.004456241956241957, 0.0023648648648648524, 0.002277992277992277, -0.001216216216216217, -0.006357786357786355, 0.481981981981982], "std": [0.34951226817836306, 0.16699242409571824, 0.36537718673779135, 0.0, 0.9860132971832696, 0.35965077827583947, 0.15535730444855317, 0.30337212987773876, 0.025058767756123927, 0.07073674581853517, 0.031081350204408668, 0.8761811279893689], "count": [444]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.036036036908626556], "std": [0.1863798350095749], "count": [444]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022522522522522522], "std": [0.04740442608074141], "count": [444]}, "timestamp": {"min": [0.0], "max": [22.15], "mean": [11.075000000000001], "std": [6.408571733753682], "count": [444]}, "frame_index": {"min": [0], "max": [443], "mean": [221.5], "std": [128.17143467507364], "count": [444]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [444]}, "index": {"min": [29164], "max": [29607], "mean": [29385.5], "std": [128.17143467507364], "count": [444]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [444]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6538973454494102]], [[0.6519127675972733]], [[0.6477155767702588]]], "std": [[[0.22530657613655095]], [[0.2246650844987558]], [[0.22420343348079627]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5377685522939645]], [[0.5227231026443782]], [[0.5026886357326134]]], "std": [[[0.24906556241859304]], [[0.23792832052295282]], [[0.23170649908140126]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.08235294117647059]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6198967279172412]], [[0.5908255734911152]], [[0.5517543191348805]]], "std": [[[0.2413029954701929]], [[0.22725197678410242]], [[0.22403647199287408]]], "count": [100]}, "annotation.human.task_description": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [286]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [286]}, "observation.state": {"min": [2.2421216816321974, -0.8237549224940753, 0.6999905432208988, 0.0, 0.0, 0.7069770097732544, 0.706803560256958, 0.09589363119524219, -0.46517519506777605, 0.24857303480500237, -0.9905204176902771, -0.2660079300403595, -0.5699361562728882, 0.0001709474454401061, 0.02055111901636145, -0.03994955451007602], "max": [2.2424582136078595, -0.8236573781194726, 0.7000626641521344, 0.0, 0.0, 0.7074099779129028, 0.7072365283966064, 0.5890823779019383, 0.1792959507783869, 0.8717466991175188, 0.9609411954879761, 0.2715548276901245, 0.555813193321228, 0.10519430041313171, 0.04000373850994861, -0.020515441200902453], "mean": [2.2423112665194114, -0.8237119756277096, 0.7000122800581489, 0.0, 0.0, 0.7071677590166772, 0.70704577852796, 0.32513459624980345, -0.08335062998458831, 0.6165947549616387, -0.09354207690779145, -0.10334271489531843, -0.10005433081121712, 0.05512190042477764, 0.03255341859603628, -0.032274006543899274], "std": [0.00010734297601941267, 2.508738756484153e-05, 1.9573845129003865e-05, 0.0, 0.0, 0.00014385226036011685, 0.00014389297088699416, 0.15380013405183715, 0.24528693829112247, 0.21046660695125038, 0.9085852933106303, 0.1540500204543609, 0.34230032561067897, 0.0330562454709971, 0.007453816329617366, 0.007703325978034832], "count": [286]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.16285714285714287, -0.42, -0.2742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9785714285714284, 1.0, 1.0, 0.2257142857142857, 0.42, 0.2571428571428571, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02919580419580422, -0.022452547452547475, 0.0216783216783216, 0.006433566433566438, -0.009740259740259731, -0.0020379620379620423, -0.14685314685314685], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5114963508790248, 0.48606475029885915, 0.529207512472088, 0.05732286187118803, 0.14366615444206648, 0.09280102654020413, 0.9891583054594099], "count": [286]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0559440553188324], "std": [0.2298136204481125], "count": [286]}, "next.done": {"min": [false], "max": [true], "mean": [0.0034965034965034965], "std": [0.059027772783685775], "count": [286]}, "timestamp": {"min": [0.0], "max": [14.25], "mean": [7.125], "std": [4.128029190788262], "count": [286]}, "frame_index": {"min": [0], "max": [285], "mean": [142.5], "std": [82.56058381576526], "count": [286]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [286]}, "index": {"min": [29608], "max": [29893], "mean": [29750.5], "std": [82.56058381576526], "count": [286]}, "task_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [286]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4146876549814261]], [[0.40657906506108304]], [[0.3647083578670726]]], "std": [[[0.2554883110057228]], [[0.24060318505609776]], [[0.2157811911796711]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33689216224820007]], [[0.3335327740837546]], [[0.3281181090111826]]], "std": [[[0.25266299448626894]], [[0.24930466809627969]], [[0.2449214571776442]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3722369917327283]], [[0.3693223721373315]], [[0.3645325131883808]]], "std": [[[0.2308519610416212]], [[0.22786557616688888]], [[0.2239543190328589]]], "count": [100]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [305]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [305]}, "observation.state": {"min": [2.8861759996497764, -3.442860456064745, 0.6999963247312598, 0.0, 0.0, -0.0006258516223169863, 0.9999998807907104, 0.15095619648095804, 9.17861241873652e-05, 0.2861945506711857, -0.9891529679298401, -0.3593849539756775, -0.446560263633728, 0.0005391433951444924, 0.020525553833122406, -0.04005778681320722], "max": [2.886263389944573, -3.4423945536596094, 0.7002784684671041, 0.0, 0.0, 0.00015090520901139826, 1.0, 0.5907660954238612, 0.45064565329988904, 0.8400517682628615, 0.9023635387420654, 0.047305554151535034, 0.4465520679950714, 0.19967244565486908, 0.04013790629755072, -0.020541005571717473], "mean": [2.886223277040964, -3.442618346019933, 0.7001312575285317, 0.0, 0.0, -0.00022565849127841666, 0.9999999605241369, 0.34862065474700804, 0.1481456417366204, 0.6075490909916876, -0.8497385054338173, -0.1768417150759306, -0.31072804209638816, 0.0956042115366636, 0.03853595755241829, -0.035332837991618606], "std": [2.0731068579636177e-05, 0.00016351094523659734, 9.67522673267655e-05, 0.0, 0.0, 0.0002789791832345751, 5.610299303022941e-08, 0.13578437068351565, 0.15183886575913452, 0.20289811213933645, 0.3061865411661465, 0.1301487662875754, 0.15606538688213006, 0.07703302582417153, 0.002245267409112077, 0.00435208382670984], "count": [305]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.09428571428571429, -0.5371428571428571, -0.28285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8357142857142857, 0.8642857142857142, 0.9714285714285714, 0.08285714285714285, 0.26, 0.4885714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.017072599531615915, 0.016065573770491847, -0.006042154566744826, 0.0034285714285714284, 0.009489461358313835, 0.004740046838407493, -0.022950819672131147], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4174602932442372, 0.39147469392172857, 0.388425667784652, 0.018535761101500875, 0.10965251377202812, 0.12203039046971523, 0.9997365952471603], "count": [305]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05245901644229889], "std": [0.22295081615447998], "count": [305]}, "next.done": {"min": [false], "max": [true], "mean": [0.003278688524590164], "std": [0.05716588778413998], "count": [305]}, "timestamp": {"min": [0.0], "max": [15.2], "mean": [7.6], "std": [4.402272140611028], "count": [305]}, "frame_index": {"min": [0], "max": [304], "mean": [152.0], "std": [88.04544281222056], "count": [305]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [305]}, "index": {"min": [29894], "max": [30198], "mean": [30046.0], "std": [88.04544281222056], "count": [305]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [305]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38915037087833176]], [[0.3639210623946844]], [[0.3451373105516621]]], "std": [[[0.22503712153705435]], [[0.2167363665257286]], [[0.19999481660125917]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42717574235504746]], [[0.4143874308268229]], [[0.3969140379662607]]], "std": [[[0.227191543046269]], [[0.2201320751795984]], [[0.21168462616963446]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3833346300312117]], [[0.374603053074257]], [[0.36083332974303]]], "std": [[[0.22727928461423666]], [[0.2231616399763433]], [[0.22032346610554698]]], "count": [100]}, "annotation.human.task_description": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [344]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [344]}, "observation.state": {"min": [0.9374926746307062, -3.1019461926299976, 0.6999964198216779, 0.0, 0.0, -1.0, 0.0, 0.06452235286057029, -0.5639394339870547, 0.25413885865940833, -0.9915302395820618, -0.7009544968605042, -0.43342292308807373, 0.021785179153084755, 0.02055944960902266, -0.040174089939365984], "max": [0.9376841378178422, -3.101624625737483, 0.7003792106838018, 0.0, 0.0, 1.0, 0.0005847763386555016, 0.5883635204370505, 0.19198430403799227, 0.6123764904822366, -0.5217784643173218, -0.03104156255722046, -0.1242118775844574, 0.2849692702293396, 0.04000508730264388, -0.020507109605086046], "mean": [0.9375895871159009, -3.101802882727156, 0.7001802782394732, 0.0, 0.0, 0.6627906900505687, 0.00015544597134452374, 0.35411033524313523, -0.12235692959355919, 0.4683173780094723, -0.8650001150577568, -0.2969129931095035, -0.30055852697858976, 0.11785007020740142, 0.03427277204004033, -0.03436307511011525], "std": [5.636830336553883e-05, 7.414571874961027e-05, 0.00013125859026355598, 0.0, 0.0, 0.7488047048026553, 0.00012920862107074167, 0.15353975293858635, 0.29502693268250735, 0.11053391220919509, 0.11977971482204315, 0.18812215094399584, 0.07222495340278903, 0.06663215740900268, 0.006185865931398065, 0.006334608751377098], "count": [344]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6357142857142857, -0.11142857142857143, -0.34, -0.33714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.8714285714285716, 0.6928571428571428, 0.18285714285714286, 0.10285714285714286, 0.2, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0264950166112957, -0.05151578073089698, -0.0415074750830565, -0.002516611295681063, -0.022151162790697683, 0.015747508305647855, -0.25], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5041399753161399, 0.429953045126357, 0.23028927701244334, 0.03580324912145396, 0.07163259849326008, 0.09431615755981546, 0.9682458365518543], "count": [344]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04651162773370743], "std": [0.21059034764766693], "count": [344]}, "next.done": {"min": [false], "max": [true], "mean": [0.0029069767441860465], "std": [0.05383796272515155], "count": [344]}, "timestamp": {"min": [0.0], "max": [17.15], "mean": [8.575000000000001], "std": [4.965191335688887], "count": [344]}, "frame_index": {"min": [0], "max": [343], "mean": [171.5], "std": [99.30382671377775], "count": [344]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [344]}, "index": {"min": [30199], "max": [30542], "mean": [30370.5], "std": [99.30382671377775], "count": [344]}, "task_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [344]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5551438802083334]], [[0.518357333912569]], [[0.47491314098881743]]], "std": [[[0.21400889311918425]], [[0.22535211929247775]], [[0.24380952263007138]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.438333350686466]], [[0.40394871251723347]], [[0.38406637034696695]]], "std": [[[0.20531510615513182]], [[0.20902859295109788]], [[0.22168195311608993]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4470218978582644]], [[0.42847495763442095]], [[0.41710143145392925]]], "std": [[[0.21779548269579052]], [[0.21926119589981463]], [[0.22592602042724122]]], "count": [100]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [357]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [357]}, "observation.state": {"min": [1.8064925556426827, -2.1110865155977523, 0.6999921151328747, 0.0, 0.0, -0.7061769962310791, 0.7070243954658508, 0.021679550825095095, -0.12532764265047058, 0.25956106449970695, -0.991346538066864, -0.08554130792617798, -0.3349648118019104, 0.0009068241342902184, 0.020581978637987653, -0.03997461984701344], "max": [2.955699260787259, -1.1437777603021342, 0.7001164807123612, 0.0, 0.0, 0.7071892023086548, 0.9999011754989624, 0.5884882399159327, -0.007402303489468354, 0.6461866423258568, 0.9935722351074219, 0.07196998596191406, 0.2759263813495636, 0.05383720248937607, 0.04027386216885686, -0.02048458236890249], "mean": [2.243986533260184, -1.5503919155434003, 0.7000336004129639, 0.0, 0.0, 0.10613481207106377, 0.7404450343436554, 0.2499858669390809, -0.04930487213104101, 0.5411998880225205, 0.823618973169674, -0.05533648451336292, 0.16528600412590497, 0.03100837773385168, 0.03296851982056854, -0.033299141759278186], "std": [0.5191343848569906, 0.4236980314924907, 3.662474546666208e-05, 0.0, 0.0, 0.6590778451261359, 0.07805748103080012, 0.19672171028398197, 0.03225019497361817, 0.110403678964727, 0.5206031965247063, 0.023516219653461463, 0.1365060450023921, 0.009699181720807453, 0.005050309559416053, 0.004765372562482216], "count": [357]}, "action": {"min": [-1.0, -0.41428571428571426, -0.9771428571428572, 0.0, -1.0, -1.0, -0.3357142857142857, -1.0, -0.05428571428571429, -0.5057142857142857, -0.19714285714285715, -1.0], "max": [0.7214285714285715, 1.0, 0.05142857142857143, 0.0, 1.0, 1.0, 0.40714285714285714, 1.0, 0.05428571428571429, 0.2285714285714286, 0.10571428571428572, 1.0], "mean": [0.04779911964785914, 0.07144857943177271, -0.1418647458983594, 0.0, -0.45098039215686275, -0.03423369347739092, -0.0058623449379751865, 0.021448579431772738, -0.0013765506202480999, 0.00043217286914766067, -0.0048659463785514214, 0.20448179271708683], "std": [0.2461450649930511, 0.2637487372234531, 0.29796401027628844, 0.0, 0.8925338569992981, 0.46052803576286955, 0.11052260874226158, 0.39001628404904654, 0.008855027762096018, 0.07906499738091956, 0.031769235464078775, 0.97887036753965], "count": [357]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04481792822480202], "std": [0.20690402388572693], "count": [357]}, "next.done": {"min": [false], "max": [true], "mean": [0.0028011204481792717], "std": [0.052851434913482376], "count": [357]}, "timestamp": {"min": [0.0], "max": [17.8], "mean": [8.9], "std": [5.1528309371321965], "count": [357]}, "frame_index": {"min": [0], "max": [356], "mean": [178.0], "std": [103.05661874264392], "count": [357]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [357]}, "index": {"min": [30543], "max": [30899], "mean": [30721.0], "std": [103.05661874264392], "count": [357]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [357]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42400208203398543]], [[0.40402059432171306]], [[0.36688849954044117]]], "std": [[[0.27875839036408695]], [[0.26727768007797587]], [[0.2500157585717498]]], "count": [105]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.56716135461346]], [[0.5549312251756171]], [[0.5284032713020104]]], "std": [[[0.24773825288166612]], [[0.24145481188334944]], [[0.2320255582503466]]], "count": [105]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46829599417892154]], [[0.46297481077391894]], [[0.4421320668566906]]], "std": [[[0.2821829122679194]], [[0.2707691690355509]], [[0.2598101627414018]]], "count": [105]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [497]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [497]}, "observation.state": {"min": [0.7855100556901761, -1.372952460215147, 0.6999680811283474, 0.0, 0.0, -1.0, 3.0520648124365835e-06, -0.05197598848214291, -0.10662970438621955, 0.25202583976041104, -0.9864026308059692, -0.049490153789520264, -0.47669780254364014, 0.00029221217846497893, 0.018476338696379643, -0.039944733336474136], "max": [1.5655804088447511, -0.30357168761206454, 0.7000382444796229, 0.0, 0.0, 1.0, 0.680837869644165, 0.5495850519420977, 0.06219624152612818, 0.7211029262730387, 0.9964995980262756, 0.01895695924758911, 0.496432363986969, 0.04384499415755272, 0.04000217059161588, -0.01900063515007141], "mean": [0.9682711426952336, -0.7604599498682518, 0.7000090363758736, 0.0, 0.0, 0.2894323819599881, 0.09054455644268895, 0.18520714645839867, -0.009460976117940749, 0.5846075262981637, 0.2745186077277185, -0.012486786174942071, 0.04059455300900538, 0.0199406745676579, 0.02710095130140962, -0.027626350706946665], "std": [0.20505738127636236, 0.34705606800054983, 1.020127627868594e-05, 0.0, 0.0, 0.9356527656455569, 0.1805117411405345, 0.19794347174701168, 0.04626028925026873, 0.13409259046212804, 0.8937239119756794, 0.02186830721220131, 0.3507071717578329, 0.014896114995540133, 0.00942084434013184, 0.009006659798909097], "count": [497]}, "action": {"min": [-0.5, -1.0, -0.76, 0.0, -1.0, -1.0, -0.45714285714285713, -0.75, -0.06857142857142857, -0.5371428571428571, -0.08571428571428572, -1.0], "max": [1.0, 0.5928571428571429, 1.0, 0.0, 1.0, 0.7428571428571429, 0.9285714285714287, 1.0, 0.08571428571428572, 0.21714285714285717, 0.025714285714285714, 1.0], "mean": [0.08889048577177353, -0.02867203219315896, 0.0022017821212992205, 0.0, -0.48490945674044267, -0.021155504455303207, 0.0012934751365334888, 0.005432595573440679, -0.0001954584650761717, -0.006271917217591263, -0.0014544409313020988, 0.23138832997987926], "std": [0.27112370141285863, 0.17327527097162174, 0.28997274444355403, 0.0, 0.8745643594177018, 0.3578010998764957, 0.155840622613093, 0.30702978376827156, 0.012823515824928473, 0.08912299109515971, 0.010537408849771704, 0.9728614704823714], "count": [497]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03219315782189369], "std": [0.17651276290416718], "count": [497]}, "next.done": {"min": [false], "max": [true], "mean": [0.002012072434607646], "std": [0.04481098078736436], "count": [497]}, "timestamp": {"min": [0.0], "max": [24.8], "mean": [12.399999999999999], "std": [7.173562573784382], "count": [497]}, "frame_index": {"min": [0], "max": [496], "mean": [248.0], "std": [143.47125147568764], "count": [497]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [497]}, "index": {"min": [30900], "max": [31396], "mean": [31148.0], "std": [143.47125147568764], "count": [497]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [497]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4633751854990043]], [[0.42396339266907934]], [[0.40421721993240656]]], "std": [[[0.25565284256654436]], [[0.26523723837022417]], [[0.27600561494713816]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4383910061705346]], [[0.3543546154545803]], [[0.29628104954139856]]], "std": [[[0.2095265228395414]], [[0.19545340454937396]], [[0.20994999978844703]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47546793200922943]], [[0.40980075252757353]], [[0.36437342744715073]]], "std": [[[0.2077871185538189]], [[0.20829106620126586]], [[0.22911989166321536]]], "count": [100]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [441]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [441]}, "observation.state": {"min": [4.350945508735671, -3.49379026446875, 0.6999969027637912, 0.0, 0.0, -0.0007499674102291465, 0.6485864520072937, 0.028686004369551377, -0.09883820600868987, 0.2882008790551388, -0.989239513874054, -0.21767625212669373, -0.3649825155735016, 9.99222684185952e-05, 0.020534741243211953, -0.04015297638867269], "max": [5.235624257010211, -1.4127487072702158, 0.7002953215684858, 0.0, 0.0, 0.7611410617828369, 1.0, 0.49473100610174825, 0.009024613586915642, 0.6534066317776329, 0.9946056604385376, 0.016897737979888916, 0.404979407787323, 0.10055181384086609, 0.040003787046390564, -0.020531817826578067], "mean": [4.935554776212317, -2.4725252546695797, 0.7001730608602631, 0.0, 0.0, 0.1302227507664906, 0.951562026866169, 0.19856625699491653, -0.04655104139978693, 0.5523594033768464, 0.3330437750502779, -0.0807843645717822, 0.11576466409324788, 0.028860434659371572, 0.03171176492111499, -0.03454511030817964], "std": [0.28906054079837495, 0.8510965369270828, 7.987533149458829e-05, 0.0, 0.0, 0.2559645634989594, 0.10979027171626898, 0.16718933732256058, 0.02209366363075069, 0.11175511608831715, 0.8885786902181467, 0.06796410060916505, 0.27020374917258727, 0.03346745495377088, 0.004984178646942103, 0.003315714052676776], "count": [441]}, "action": {"min": [-1.0, -1.0, -0.7914285714285716, 0.0, -1.0, -1.0, -0.5071428571428571, -0.6571428571428571, -0.07142857142857142, -0.24285714285714288, -0.23714285714285716, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 0.8285714285714285, 0.5928571428571429, 0.9714285714285714, 0.08, 0.27714285714285714, 0.2057142857142857, 1.0], "mean": [0.13441852931648848, -1.2827513050250267e-17, -0.005733722060252693, 0.0, -0.3333333333333333, -0.030272108843537444, -0.005766115970197594, 0.010285066407515376, 0.0025267249757045676, -0.0019241982507288626, -0.0021509556203433756, 0.3786848072562358], "std": [0.4012863830262829, 0.21243450452886542, 0.3031278160297659, 0.0, 0.9428090415820639, 0.356004990083065, 0.12967734104076398, 0.3034365651756708, 0.012913780904685786, 0.06145248245909774, 0.05002032239264016, 0.9255256975110402], "count": [441]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03628117963671684], "std": [0.1869889199733734], "count": [441]}, "next.done": {"min": [false], "max": [true], "mean": [0.0022675736961451248], "std": [0.04756502712789803], "count": [441]}, "timestamp": {"min": [0.0], "max": [22.0], "mean": [11.0], "std": [6.365270352991039], "count": [441]}, "frame_index": {"min": [0], "max": [440], "mean": [220.0], "std": [127.30540705982078], "count": [441]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [441]}, "index": {"min": [31397], "max": [31837], "mean": [31617.0], "std": [127.30540705982078], "count": [441]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [441]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5468133463162492]], [[0.49596364653196134]], [[0.46173488681373304]]], "std": [[[0.17891136537552757]], [[0.20187661355188402]], [[0.21181526501194045]]], "count": [101]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5196863599898306]], [[0.4569386201746323]], [[0.4240589708384901]]], "std": [[[0.2277305070706172]], [[0.2314784492560108]], [[0.22519023497090457]]], "count": [101]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5456316981077703]], [[0.4698330487632863]], [[0.4367315032787171]]], "std": [[[0.2228309906018834]], [[0.23440088142416168]], [[0.2274287799765789]]], "count": [101]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [475]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [475]}, "observation.state": {"min": [4.85669446945175, -3.5957425320260805, 0.6999936349177208, 0.0, 0.0, -0.0005526673048734665, 0.9999998807907104, 0.1373183872992243, -0.013437592029773349, 0.26479408943149607, -0.9878477454185486, -0.5779885053634644, -0.6106614470481873, 0.0003426458570174873, 0.020524450322781992, -0.04006808716341094], "max": [4.8567898932671, -3.5954214549473797, 0.7001263992282114, 0.0, 0.0, -6.945923814782873e-05, 1.0, 0.6826829330772872, 0.596773260517891, 0.824728894417187, 0.8851168155670166, 0.06735146045684814, 0.5937575697898865, 0.38738664984703064, 0.04001734503941193, -0.019322830314430085], "mean": [4.856731683551721, -3.595544343186298, 0.7000259613977671, 0.0, 0.0, -0.00028653120278919995, 0.999999959594325, 0.3963350257569532, 0.2568185975800187, 0.5713901037158526, -0.7847564945722881, -0.2814904664378417, -0.3398554456233978, 0.23014455196202585, 0.03282680230036866, -0.03153684415240112], "std": [1.9622567583894644e-05, 9.973090492528943e-05, 3.613515489379844e-05, 0.0, 0.0, 0.0001536204642233246, 5.6427947311346025e-08, 0.15004478978212304, 0.2176015710567329, 0.2152677969798452, 0.24616652234627384, 0.17224854196736797, 0.1759503374975342, 0.12339403130748267, 0.007834390805791007, 0.009137637014344762], "count": [475]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.75, -1.0, -0.008571428571428572, -0.5114285714285715, -0.20857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6, 0.7857142857142857, 0.9, 0.09142857142857143, 0.2142857142857143, 0.20857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.010902255639097741, 0.03793984962406022, -0.00012030075187973389, 0.007675187969924807, -0.004162406015037595, 0.007278195488721824, -0.1705263157894737], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3494006562498463, 0.2710685951521186, 0.333611212269618, 0.020179329664165434, 0.10600009040898888, 0.07744532007745528, 0.9853531222984298], "count": [475]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03368420898914337], "std": [0.18041503429412842], "count": [475]}, "next.done": {"min": [false], "max": [true], "mean": [0.002105263157894737], "std": [0.04583482327805735], "count": [475]}, "timestamp": {"min": [0.0], "max": [23.7], "mean": [11.85], "std": [6.8560192531818345], "count": [475]}, "frame_index": {"min": [0], "max": [474], "mean": [237.0], "std": [137.1203850636367], "count": [475]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [475]}, "index": {"min": [31838], "max": [32312], "mean": [32075.0], "std": [137.1203850636367], "count": [475]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [475]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4896845320159314]], [[0.46684775677849266]], [[0.4607467166676241]]], "std": [[[0.3149448182118673]], [[0.3278565953088818]], [[0.32275017687381025]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3983249882716759]], [[0.3388066083122702]], [[0.307311793308632]]], "std": [[[0.2509080779961606]], [[0.23023223231353304]], [[0.2267531635277735]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5078078798780253]], [[0.4490064433976716]], [[0.4177441825118719]]], "std": [[[0.24065022102196276]], [[0.24930541698868786]], [[0.25987354168934107]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [241]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [241]}, "observation.state": {"min": [4.55012307638819, -2.2832252833291147, 0.699994126536207, 0.0, 0.0, -0.7071285247802734, 0.7070850133895874, 0.08161493441320555, -0.5258973127388966, 0.27102208753613566, -0.9960470795631409, -0.09988725185394287, -0.3828224241733551, 0.002566812327131629, 0.020539301931926615, -0.04010033682266122], "max": [4.550382077563833, -2.2831128489361254, 0.7001063225569566, 0.0, 0.0, -0.7068613171577454, 0.7073522210121155, 0.5176552462549622, 0.10382407523615367, 0.6208037548858045, -0.9203428030014038, 0.15484443306922913, -0.08377842605113983, 0.13387812674045563, 0.04000625363790566, -0.020527258762726975], "mean": [4.55022654233503, -2.2831564466095458, 0.7000186475088519, 0.0, 0.0, -0.7070279235167127, 0.7071856104486711, 0.29757567327853685, -0.18172532724325674, 0.4864571571012684, -0.9633841556632172, -0.017050674718445267, -0.234703455166698, 0.05118871281982334, 0.031165816137967532, -0.03285155222995464], "std": [7.258509234427461e-05, 2.4055238490312e-05, 3.0246099115613816e-05, 0.0, 0.0, 7.883438803116614e-05, 7.883727622180794e-05, 0.1133958180187909, 0.2629039732228561, 0.11294484010832369, 0.025031007520529735, 0.05859441858969995, 0.0946596289140938, 0.0295626211551089, 0.007609029631020836, 0.005992201965377919], "count": [241]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.8, -0.11142857142857143, -0.2857142857142857, -0.21714285714285717, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7714285714285714, 1.0, 0.8928571428571429, 0.14857142857142858, 0.19142857142857142, 0.29428571428571426, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.059691760521635995, -0.05794309425014817, 0.011558980438648501, -0.002620035566093656, 0.0025607587433313646, 0.0020154119739181956, -0.012448132780082987], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4897365861232391, 0.5270352031155061, 0.39477515295156934, 0.032046170989325114, 0.08602717179493623, 0.07323040546878934, 0.9999225189934914], "count": [241]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06639004498720169], "std": [0.2489626705646515], "count": [241]}, "next.done": {"min": [false], "max": [true], "mean": [0.004149377593360996], "std": [0.06428188126485339], "count": [241]}, "timestamp": {"min": [0.0], "max": [12.0], "mean": [6.0], "std": [3.4785054261852175], "count": [241]}, "frame_index": {"min": [0], "max": [240], "mean": [120.0], "std": [69.57010852370435], "count": [241]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [241]}, "index": {"min": [32313], "max": [32553], "mean": [32433.0], "std": [69.57010852370435], "count": [241]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [241]}}} +{"episode_index": 94, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5882625163957185]], [[0.552777286903531]], [[0.5377873421463313]]], "std": [[[0.2600588888235033]], [[0.2741038319304853]], [[0.28393848276348405]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46090137736002607]], [[0.433218521417356]], [[0.414221809536803]]], "std": [[[0.21355422544064537]], [[0.20827085365899536]], [[0.20350277387817783]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5725331612381281]], [[0.5335699468874464]], [[0.4971468092974494]]], "std": [[[0.23783546716611573]], [[0.2284158424784803]], [[0.21842206726374508]]], "count": [100]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [359]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [359]}, "observation.state": {"min": [1.1935805257333132, -1.4540003868799183, 0.6999941174784725, 0.0, 0.0, -1.0, 1.2241603144502733e-06, -0.0344570482063542, -0.1432350008209015, 0.26252577792397913, -0.9921227097511292, -0.27004188299179077, -0.3924996852874756, 0.00019827616051770747, 0.01266496588947162, -0.03986672910620619], "max": [1.6735113325451882, -1.0763809923308372, 0.7001607818855846, 0.0, 0.0, 1.0, 0.38219404220581055, 0.5258572932705021, 0.09168404409405895, 0.676056938442788, 0.9698310494422913, 0.2061174213886261, 0.3919507563114166, 0.06364291161298752, 0.04010721762529259, -0.012485259758190367], "mean": [1.3084986998113384, -1.3108668262693621, 0.7000536698882093, 0.0, 0.0, 0.27635578790414966, 0.1414745021185402, 0.2680868527523325, -0.012010220684022367, 0.5323903155257347, -0.04922964679165471, -0.04106261350816339, 0.03872254225204914, 0.02639043942205076, 0.024431355002431113, -0.02420298244281333], "std": [0.14293255403171332, 0.1771950530112206, 4.85614395892465e-05, 0.0, 0.0, 0.9333341999318023, 0.1802768134676065, 0.19167303798845736, 0.080354156161972, 0.11778649193277423, 0.9589644199450248, 0.14163373413961614, 0.23202882399188068, 0.013570563713962834, 0.01234253838028763, 0.012216132770601415], "count": [359]}, "action": {"min": [-1.0, -0.4785714285714286, -0.6828571428571428, 0.0, -1.0, -1.0, -0.6571428571428571, -0.95, -0.09142857142857143, -0.34285714285714286, -0.36857142857142855, -1.0], "max": [0.6928571428571428, 0.6071428571428572, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.14857142857142858, 0.26571428571428574, 0.2485714285714286, 1.0], "mean": [-0.002805411858336642, -0.015917230401910062, -0.038042180660565056, 0.0, -0.7437325905292479, -0.013131715081575814, -0.013828093911659374, 0.012614405093513756, 0.0031436530043772383, 0.0014803024273776408, -0.0050298448070035815, 0.16434540389972144], "std": [0.22726059823025782, 0.1261394376156265, 0.13715093421589597, 0.0, 0.6684772500127844, 0.5195209600761042, 0.1950242010196254, 0.3587838039087486, 0.024074425546042645, 0.0762159509541989, 0.07781937931753664, 0.9864028529039425], "count": [359]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.044568244367837906], "std": [0.20635384321212769], "count": [359]}, "next.done": {"min": [false], "max": [true], "mean": [0.002785515320334262], "std": [0.05270442319895404], "count": [359]}, "timestamp": {"min": [0.0], "max": [17.9], "mean": [8.950000000000001], "std": [5.181698563212646], "count": [359]}, "frame_index": {"min": [0], "max": [358], "mean": [179.0], "std": [103.63397126425292], "count": [359]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [359]}, "index": {"min": [32554], "max": [32912], "mean": [32733.0], "std": [103.63397126425292], "count": [359]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [359]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4118718704522825]], [[0.3784383120069317]], [[0.3526720802456725]]], "std": [[[0.25229849131426646]], [[0.2479047550282918]], [[0.2467272899382628]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48481306607115504]], [[0.3966556013518689]], [[0.3366821731866575]]], "std": [[[0.23395744590613718]], [[0.23894591874487062]], [[0.25931946978396314]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.525937884162454]], [[0.44591236727845435]], [[0.39057635916915595]]], "std": [[[0.24877158741654654]], [[0.26115010129373595]], [[0.28524078253189955]]], "count": [100]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [392]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [392]}, "observation.state": {"min": [5.143305568746999, -3.4972174165617838, 0.6999949642820239, 0.0, 0.0, -0.05592650920152664, 0.7635987997055054, -0.020356016733765747, -0.01813036420043712, 0.2955662013025486, -0.9869443774223328, -0.15769341588020325, -0.4733993709087372, 0.004281322471797466, 0.020549859360392816, -0.04031988772315761], "max": [5.8669830047202245, -2.519114802398117, 0.7001165085225328, 0.0, 0.0, 0.6456909775733948, 1.0, 0.5828678045108067, 0.1587919510420428, 0.6732880879201347, -0.8725828528404236, 0.05914492905139923, -0.14788518846035004, 0.10751865059137344, 0.04000323511803274, -0.020516699243974236], "mean": [5.659364973240178, -3.063339995059275, 0.7000143715436701, 0.0, 0.0, 0.056340528629306746, 0.9774179549849763, 0.19695027095839893, 0.031767476891282016, 0.5659832490181331, -0.9320419386637454, -0.017682394468966797, -0.33379572702153604, 0.03996612300397828, 0.03570072102199016, -0.03633950090753692], "std": [0.21617168220741118, 0.36261712967944115, 3.154508142728821e-05, 0.0, 0.0, 0.19465132961390738, 0.059923175539171716, 0.20147264963095055, 0.058492580665668106, 0.11855408062995561, 0.03484197896477985, 0.0751278088776225, 0.10083077278101835, 0.03071299600443762, 0.002801525524189935, 0.0027793404525266944], "count": [392]}, "action": {"min": [-0.8785714285714286, -0.8500000000000001, -0.8342857142857143, 0.0, -1.0, -1.0, -0.4, -0.7571428571428572, -0.06, -0.3514285714285714, -0.16, -1.0], "max": [1.0, 0.44285714285714284, 1.0, 0.0, 1.0, 0.8785714285714286, 0.4928571428571429, 1.0, 0.09142857142857143, 0.29714285714285715, 0.2, 1.0], "mean": [0.0948615160349854, -0.0036625364431486797, -0.004256559766763854, 0.0, -0.42857142857142855, -0.02297740524781344, -0.0006195335276967972, 0.018968658892128287, 0.001567055393586006, 0.003148688046647237, -0.00334548104956268, 0.32142857142857145], "std": [0.35136898565349794, 0.15381190754626584, 0.29908119605256084, 0.0, 0.9035079029052474, 0.45214655453526054, 0.13481801398394935, 0.34014593031745843, 0.010660290652010922, 0.07914288850334435, 0.03547897655473825, 0.9469338273973463], "count": [392]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.040816325694322586], "std": [0.19786448776721954], "count": [392]}, "next.done": {"min": [false], "max": [true], "mean": [0.002551020408163265], "std": [0.05044316309511528], "count": [392]}, "timestamp": {"min": [0.0], "max": [19.55], "mean": [9.775], "std": [5.658014227624388], "count": [392]}, "frame_index": {"min": [0], "max": [391], "mean": [195.5], "std": [113.16028455248777], "count": [392]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [392]}, "index": {"min": [32913], "max": [33304], "mean": [33108.5], "std": [113.16028455248777], "count": [392]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [392]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45334879138422945]], [[0.4177642074285769]], [[0.3787628598680683]]], "std": [[[0.28617534504037223]], [[0.26772986121222137]], [[0.25291911323012645]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4041234459970512]], [[0.4040732691147748]], [[0.3975456034342448]]], "std": [[[0.2852087775437679]], [[0.2691174493154114]], [[0.25648296727205416]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4283130678663067]], [[0.42215384509516696]], [[0.4072433908499924]]], "std": [[[0.29459646807265544]], [[0.2802131367229]], [[0.2693557668407037]]], "count": [100]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [385]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [385]}, "observation.state": {"min": [2.6218080548550966, -1.7697857664489682, 0.6999961308815846, 0.0, 0.0, 0.9999998807907104, 2.9085271307849325e-05, 0.15815253046003397, -0.6878871740635017, 0.24194159311449837, -0.9205880761146545, -0.17240703105926514, -0.5778214335441589, 0.0012403011787682772, 0.001832735407242448, -0.04013673612387826], "max": [2.6220287871407875, -1.769434963549883, 0.700238856623365, 0.0, 0.0, 1.0, 0.0005170542281121016, 0.6936795768665165, -0.0036357161339506394, 0.8377335362302755, 0.9911285042762756, 0.0561290979385376, 0.5604376196861267, 0.12381937354803085, 0.040057050420962664, -0.001743403008078385], "mean": [2.6219272580699884, -1.7696214949166447, 0.7000979421699554, 0.0, 0.0, 0.9999999783255837, 0.0003061612414660283, 0.4606883366464764, -0.2098337596572777, 0.6464712747505852, -0.18215826409203664, -0.05808112408433642, -0.19348124966218874, 0.03631348795160748, 0.033354096181335, -0.03323278008291722], "std": [6.321364866653816e-05, 7.936857403419004e-05, 8.36585260673696e-05, 0.0, 0.0, 4.597838019370249e-08, 0.0001263857915365502, 0.17569011745334948, 0.238046664351683, 0.1946597333589234, 0.8950994238781937, 0.06213069041838711, 0.3452406322427713, 0.020904362928610812, 0.009288972890082299, 0.009254067984462596], "count": [385]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.12, -0.5171428571428571, -0.1742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9785714285714284, 1.0, 1.0, 0.13142857142857142, 0.2885714285714286, 0.16, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02651205936920221, -0.04792207792207795, -0.014211502782931339, 0.0004526901669758831, -0.011666048237476818, 0.00011131725417439631, -0.35064935064935066], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4576616081218899, 0.4475192122055892, 0.38021538221476764, 0.034930041799126635, 0.11898264212994007, 0.044530692479326714, 0.9365068247958407], "count": [385]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.041558440774679184], "std": [0.19957789778709412], "count": [385]}, "next.done": {"min": [false], "max": [true], "mean": [0.0025974025974025974], "std": [0.05089848816172838], "count": [385]}, "timestamp": {"min": [0.0], "max": [19.2], "mean": [9.6], "std": [5.556977595779922], "count": [385]}, "frame_index": {"min": [0], "max": [384], "mean": [192.0], "std": [111.13955191559843], "count": [385]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [385]}, "index": {"min": [33305], "max": [33689], "mean": [33497.0], "std": [111.13955191559843], "count": [385]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [385]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48849891213809743]], [[0.5128791551776961]], [[0.5246129563275506]]], "std": [[[0.22868879070520126]], [[0.18290294461896048]], [[0.19606429728175634]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5238653588388481]], [[0.5277395163143382]], [[0.5201842854817709]]], "std": [[[0.25320520583293177]], [[0.23736304128570795]], [[0.22362795088947965]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.50780647427428]], [[0.5147431646608839]], [[0.5113196363262102]]], "std": [[[0.23762855867650667]], [[0.22395539413972196]], [[0.21503223983636363]]], "count": [100]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [305]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [305]}, "observation.state": {"min": [1.500563364339633, -1.5823093325902817, 0.6999939722259073, 0.0, 0.0, 0.6804032325744629, 0.6419599652290344, 0.023228951516452767, -0.010054739457342698, 0.31427092256763856, -0.9945949912071228, -0.1768084168434143, -0.44634974002838135, 4.744989928440191e-05, 0.014617612797360315, -0.04021297407975426], "max": [3.1435540958778403, -1.0487218444229676, 0.700254545307304, 0.0, 0.0, 0.7667381167411804, 0.7328379154205322, 0.5905913455990996, 0.14827470752026395, 0.6423722785417784, 0.9384291768074036, 0.031943291425704956, 0.4127006530761719, 0.07558255642652512, 0.03995198301823634, -0.01630629026538077], "mean": [2.1984482430220393, -1.195487020192453, 0.7000961634189343, 0.0, 0.0, 0.7241011844306696, 0.6881873820648818, 0.264013793490711, 0.054809895484607865, 0.5444947918697071, -0.4632715745050399, -0.06615851152627195, -0.12578766546288475, 0.03593603956059135, 0.024556344350973782, -0.025342983350309024], "std": [0.7448835321820465, 0.12866502557145865, 7.301846918212196e-05, 0.0, 0.0, 0.031013183469230928, 0.033373691699505895, 0.19105686972912023, 0.05067829839375422, 0.10128684702499752, 0.8189670932043147, 0.07564831965838932, 0.294732649891424, 0.024320043029993837, 0.010802156902298828, 0.010224123107978237], "count": [305]}, "action": {"min": [-1.0, -1.0, -0.20285714285714287, 0.0, -1.0, -1.0, -0.5642857142857142, -0.8357142857142857, -0.15428571428571428, -0.5371428571428571, -0.19714285714285715, -1.0], "max": [1.0, 0.4357142857142858, 0.38857142857142857, 0.0, 1.0, 1.0, 0.7857142857142857, 1.0, 0.09714285714285714, 0.34, 0.3171428571428571, 1.0], "mean": [0.03515222482435596, -0.13896955503512884, 0.010716627634660423, 0.0, -0.580327868852459, -0.04072599531615921, 0.0033255269320843265, 0.04325526932084306, -0.001292740046838408, 0.0007775175644028039, -0.0005620608899297399, 0.23934426229508196], "std": [0.2794866103870618, 0.35396848106905443, 0.07858348850091697, 0.0, 0.8143829348857711, 0.5966618202396878, 0.21111466686021071, 0.40564683701865767, 0.026923710743886702, 0.11236565235471221, 0.07124570441337931, 0.9709347682035229], "count": [305]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04918032884597778], "std": [0.21624436974525452], "count": [305]}, "next.done": {"min": [false], "max": [true], "mean": [0.003278688524590164], "std": [0.05716588778413998], "count": [305]}, "timestamp": {"min": [0.0], "max": [15.2], "mean": [7.6], "std": [4.402272140611028], "count": [305]}, "frame_index": {"min": [0], "max": [304], "mean": [152.0], "std": [88.04544281222056], "count": [305]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [305]}, "index": {"min": [33690], "max": [33994], "mean": [33842.0], "std": [88.04544281222056], "count": [305]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [305]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40334859451593136]], [[0.37419551654890476]], [[0.35297696760589]]], "std": [[[0.2337424944826281]], [[0.22483012669063035]], [[0.20606530798674952]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4050015139112286]], [[0.379826691272212]], [[0.3619147530350031]]], "std": [[[0.2264219055955654]], [[0.219792859689941]], [[0.22576993556391495]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4166063435872396]], [[0.370642515893076]], [[0.34086232024548097]]], "std": [[[0.22425269695132669]], [[0.21584399397631007]], [[0.22687754879414077]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [313]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [313]}, "observation.state": {"min": [5.526828328157991, -0.9832729707258203, 0.699993174334779, 0.0, 0.0, 0.7049224972724915, 0.7070878744125366, 0.0698750641311846, -0.46079859122150335, 0.31185211679747593, -0.9997214078903198, -0.10610252618789673, -0.49451449513435364, 0.0023646026384085417, 0.014841729804130599, -0.040858720246007084], "max": [5.528588235281349, -0.9822053847419635, 0.7023370864826707, 0.0, 0.0, 0.7071256041526794, 0.7092843651771545, 0.573951273918407, 0.24125372979247572, 0.9032616286052533, 0.996042013168335, 0.08140642195940018, 0.04755505546927452, 0.12507997453212738, 0.04000819924163936, -0.020506170757584055], "mean": [5.527582609145002, -0.9825272318802123, 0.7005796538311991, 0.0, 0.0, 0.7066275917303068, 0.7075847598691337, 0.31353620678959504, -0.08311893592178976, 0.6099055051940042, -0.8987579298095582, -0.010738539250609212, -0.22696687144290276, 0.051590198869653305, 0.03239173133810377, -0.03648009774805795], "std": [0.0004309489483413529, 0.00039271363904355065, 0.0008975350223492535, 0.0, 0.0, 0.0007846582959682787, 0.0007823739459458828, 0.14356687890838032, 0.27230533618009506, 0.2120814214262869, 0.3099165016548462, 0.03924161682237126, 0.19812034024526495, 0.03321967083301695, 0.008297978493830436, 0.004651341943997436], "count": [313]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7357142857142858, -0.25142857142857145, -0.4228571428571429, -0.16, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.06, 0.31142857142857144, 0.22, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007462345960748541, 0.004244637151985432, -0.06382930168872664, -0.013418530351437703, 0.004171611136467371, 0.001980830670926517, -0.1182108626198083], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5390385788208315, 0.502724446344415, 0.41010431796619157, 0.0462711874173164, 0.11402294652763155, 0.05258414603944439, 0.99298851552205], "count": [313]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05111820995807648], "std": [0.2202388197183609], "count": [313]}, "next.done": {"min": [false], "max": [true], "mean": [0.003194888178913738], "std": [0.05643297678164758], "count": [313]}, "timestamp": {"min": [0.0], "max": [15.6], "mean": [7.799999999999999], "std": [4.517742799230607], "count": [313]}, "frame_index": {"min": [0], "max": [312], "mean": [156.0], "std": [90.35485598461214], "count": [313]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [313]}, "index": {"min": [33995], "max": [34307], "mean": [34151.0], "std": [90.35485598461214], "count": [313]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [313]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6298574415877974]], [[0.5763668939531885]], [[0.5371468597987913]]], "std": [[[0.22410209979674334]], [[0.23585173840655582]], [[0.25285106362522525]]], "count": [106]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5644691583010341]], [[0.5331244482448972]], [[0.5002765894024362]]], "std": [[[0.20727527120732162]], [[0.2000188758032987]], [[0.1988575474405639]]], "count": [106]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5593016567646554]], [[0.5321717081976696]], [[0.5046533012319573]]], "std": [[[0.19433341489590233]], [[0.18840591085829617]], [[0.18792318005924732]]], "count": [106]}, "annotation.human.task_description": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [505]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [505]}, "observation.state": {"min": [3.3284351499680733, -2.0124828788239832, 0.6999945261494872, 0.0, 0.0, -0.9999995231628418, 0.0009934426052495837, 0.007303023290925914, -0.0992932618086293, 0.2716655626947113, -0.9991540312767029, -0.05785852670669556, -0.45784226059913635, 0.007162971887737513, 0.02055586617233923, -0.03991702903861806], "max": [5.210874250940413, -0.875091574786701, 0.7001608377062928, 0.0, 0.0, 0.999998927116394, 0.7603087425231934, 0.5230986121963134, 0.08130709940269032, 0.6368618681566366, -0.8856314420700073, 0.022314026951789856, -0.01672051101922989, 0.06941637396812439, 0.040003078131090504, -0.020510694370299884], "mean": [4.511444139773411, -1.1815841984604096, 0.7000504963629243, 0.0, 0.0, 0.6035945187700857, 0.6143690871535846, 0.2060589610856193, 0.007637508490348772, 0.5452255558966219, -0.9703029416575291, -0.029322026153602222, -0.2112908941684383, 0.028791303374795334, 0.0332733179973907, -0.03094387571155137], "std": [0.7722131918651605, 0.3292751438947946, 4.780364849543811e-05, 0.0, 0.0, 0.46326326294540865, 0.20883342739609548, 0.1863438741122425, 0.053320581867328035, 0.10418368170039151, 0.026017314402543033, 0.012962281718720877, 0.1050350885257657, 0.01738810000231682, 0.004558131368036069, 0.006101437864721671], "count": [505]}, "action": {"min": [-0.9071428571428573, -0.8714285714285716, -0.7, 0.0, -1.0, -0.8928571428571429, -0.6571428571428571, -0.7785714285714286, -0.11142857142857143, -0.35428571428571426, -0.03142857142857143, -1.0], "max": [1.0, 0.9142857142857143, 1.0, 0.0, 1.0, 0.942857142857143, 0.9857142857142858, 1.0, 0.1142857142857143, 0.2285714285714286, 0.11714285714285716, 1.0], "mean": [0.11564356435643566, -0.011258840169731254, -0.0017369165487977436, 0.0, -0.3069306930693069, -0.021683168316831702, 0.008076379066478071, 0.0067043847241867105, -0.00028288543140028293, 0.0020537482319660503, 0.0001584158415841584, 0.27920792079207923], "std": [0.35405507482423404, 0.22323900906396488, 0.29757406336843856, 0.0, 0.9517318685701347, 0.3708655506507873, 0.16115846971168662, 0.284672978149939, 0.01798454670165068, 0.0766489581205109, 0.008983447228201373, 0.9602306686244564], "count": [505]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.031683169305324554], "std": [0.17515520751476288], "count": [505]}, "next.done": {"min": [false], "max": [true], "mean": [0.0019801980198019802], "std": [0.044455335288403265], "count": [505]}, "timestamp": {"min": [0.0], "max": [25.2], "mean": [12.6], "std": [7.289032857656769], "count": [505]}, "frame_index": {"min": [0], "max": [504], "mean": [252.0], "std": [145.78065715313537], "count": [505]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [505]}, "index": {"min": [34308], "max": [34812], "mean": [34560.0], "std": [145.78065715313537], "count": [505]}, "task_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [505]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4471505156872319]], [[0.39659139954810047]], [[0.4044599651261872]]], "std": [[[0.25753731522727247]], [[0.20627078574647445]], [[0.21802490814438277]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4141056440764782]], [[0.3993458353678385]], [[0.38992880009669884]]], "std": [[[0.24887773875778968]], [[0.24488677750340207]], [[0.25049356850971444]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4276887440400965]], [[0.39750438196518845]], [[0.37826710779526657]]], "std": [[[0.22637636305474826]], [[0.2195948863849676]], [[0.23012587218500288]]], "count": [100]}, "annotation.human.task_description": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [325]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [325]}, "observation.state": {"min": [2.448868930451099, -0.906132907799201, 0.6999959136347904, 0.0, 0.0, 0.7068729996681213, 0.7067629098892212, 0.1847835472056808, -0.009014326924284166, 0.25298436891190645, -0.9887519478797913, -0.45916956663131714, -0.4479982554912567, 3.3943237212952226e-05, 0.015006396661019659, -0.040179220518414265], "max": [2.449266817775868, -0.9059097649251734, 0.700186748676321, 0.0, 0.0, 0.7074503898620605, 0.7073405385017395, 0.6658234086289296, 0.6949225643687609, 0.8410517837261453, 0.9269840717315674, 0.18063443899154663, 0.4862293004989624, 0.2727040648460388, 0.04004248411734786, -0.020507500374966528], "mean": [2.449114573780624, -0.9060246932279065, 0.7000645826137302, 0.0, 0.0, 0.707111370563507, 0.7071021492664631, 0.3636183837541292, 0.324556990629313, 0.6033340004907648, -0.24269897240858812, -0.22423017639380236, -0.022073842149514418, 0.11044899888493372, 0.02783383210948691, -0.03389555224835362], "std": [0.00010545662116386758, 4.443209785331101e-05, 6.113321345368807e-05, 0.0, 0.0, 0.00014988573249770162, 0.0001499205917550684, 0.14460667302915653, 0.21101141356623412, 0.20767096999047868, 0.8518823654220874, 0.178664095608582, 0.33145784101590087, 0.10316525703169878, 0.011227842149343378, 0.005437219504979362], "count": [325]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7000000000000001, -0.10571428571428572, -0.48571428571428577, -0.17714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7071428571428572, 0.7142857142857143, 0.8571428571428572, 0.10285714285714286, 0.27714285714285714, 0.3457142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.03646153846153839, 0.0777142857142857, 0.0038681318681318974, -0.006417582417582416, 0.0025054945054944927, 0.011648351648351634, 0.021538461538461538], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.42022316771819546, 0.39111287501782616, 0.34369190714620756, 0.0246608684958908, 0.09342747277951732, 0.10039558515039926, 0.9997680204300161], "count": [325]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05230769142508507], "std": [0.2226468026638031], "count": [325]}, "next.done": {"min": [false], "max": [true], "mean": [0.003076923076923077], "std": [0.055384615384615386], "count": [325]}, "timestamp": {"min": [0.0], "max": [16.2], "mean": [8.1], "std": [4.690948731333567], "count": [325]}, "frame_index": {"min": [0], "max": [324], "mean": [162.0], "std": [93.81897462667133], "count": [325]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [325]}, "index": {"min": [34813], "max": [35137], "mean": [34975.0], "std": [93.81897462667133], "count": [325]}, "task_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [325]}}} +{"episode_index": 101, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.549875961004519]], [[0.5147815168792127]], [[0.4926029220281863]]], "std": [[[0.23321118515161568]], [[0.24723691669244957]], [[0.26104599123341576]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5048868599685968]], [[0.4320752539541207]], [[0.38031470265107997]]], "std": [[[0.2077680791756941]], [[0.23855913654507635]], [[0.2674262194652967]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44726310041839]], [[0.37437798952588847]], [[0.32861366182215074]]], "std": [[[0.19225374227196512]], [[0.20966204334895094]], [[0.23466171328384675]]], "count": [100]}, "annotation.human.task_description": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [350]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [350]}, "observation.state": {"min": [3.309050058428815, -1.6286712242074877, 0.6999951344747136, 0.0, 0.0, -0.9999735355377197, 0.007281717844307423, -0.004728543445508104, -0.01402150402772362, 0.2624615674123829, -0.9963496923446655, -0.08139947056770325, -0.3383273482322693, 0.0003704508126247674, 0.019904074363872735, -0.03983910482053599], "max": [4.6792634614882305, -0.8020081151217646, 0.7005030707126674, 0.0, 0.0, 0.9999194145202637, 0.8012511134147644, 0.517177366967454, 0.14565333334757025, 0.6756415565007565, 0.9534288048744202, 0.08480140566825867, 0.3248107433319092, 0.07902396470308304, 0.04000542297939816, -0.017501243917012004], "mean": [4.00604731318167, -1.038428514947727, 0.7000787239535837, 0.0, 0.0, 0.5671617879186358, 0.6244150484353304, 0.21214260473790023, 0.053468327850353346, 0.5451036406520692, -0.9412241659845625, -0.006393318772315979, -0.1449891225241923, 0.03472626756893338, 0.02845302965257495, -0.027830531892145995], "std": [0.43022250643593185, 0.2810517627106328, 0.00014785549195696037, 0.0, 0.0, 0.4816719543324992, 0.23754041677120366, 0.18879019685269144, 0.053384101245014026, 0.12648052120676465, 0.25011576111836825, 0.05298231501712501, 0.16069616836181666, 0.025301190892712582, 0.008176250267674996, 0.008532992513847057], "count": [350]}, "action": {"min": [-1.0, -1.0, -0.7771428571428571, 0.0, -1.0, -1.0, -0.75, -1.0, -0.09428571428571429, -0.2714285714285714, -0.2057142857142857, -1.0], "max": [1.0, 0.17142857142857146, 1.0, 0.0, 1.0, 1.0, 0.7285714285714285, 1.0, 0.16857142857142857, 0.28, 0.04285714285714286, 1.0], "mean": [0.12708163265306124, -0.03304081632653062, -0.0175265306122449, 0.0, -0.36, -0.038673469387755136, 0.015163265306122454, 0.010408163265306145, 0.002677551020408164, 0.008497959183673473, -0.005208163265306123, 0.22857142857142856], "std": [0.41940012941672816, 0.17612692902287974, 0.35849795778954696, 0.0, 0.9329523031752504, 0.5148306252332415, 0.19337259806557863, 0.4152298982349075, 0.02807180179130078, 0.08105007178144102, 0.028376073830150565, 0.9735271449943345], "count": [350]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04571428522467613], "std": [0.20886477828025818], "count": [350]}, "next.done": {"min": [false], "max": [true], "mean": [0.002857142857142857], "std": [0.05337583340648401], "count": [350]}, "timestamp": {"min": [0.0], "max": [17.45], "mean": [8.725], "std": [5.051794235714673], "count": [350]}, "frame_index": {"min": [0], "max": [349], "mean": [174.5], "std": [101.03588471429346], "count": [350]}, "episode_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [350]}, "index": {"min": [35138], "max": [35487], "mean": [35312.5], "std": [101.03588471429346], "count": [350]}, "task_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [350]}}} +{"episode_index": 102, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44703149174708945]], [[0.4002576335832185]], [[0.37774499332203587]]], "std": [[[0.25075503537911853]], [[0.24694439777880736]], [[0.25039187806698776]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4549402154660692]], [[0.3876767087450214]], [[0.3458216486912148]]], "std": [[[0.247603881697187]], [[0.22167005924901884]], [[0.21613298499520497]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6001639003379673]], [[0.520305035759421]], [[0.4573423001158471]]], "std": [[[0.24998045853064124]], [[0.24435133822140817]], [[0.2379642768996943]]], "count": [100]}, "annotation.human.task_description": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [377]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [377]}, "observation.state": {"min": [1.1801959858226676, -1.3965776132756478, 0.6999959276776415, 0.0, 0.0, -1.0, 7.964532642290578e-07, 0.006635758726939667, -0.7408392999899808, 0.3068947650313647, -0.9922693967819214, -0.4940030574798584, -0.38789495825767517, 0.00023253295512404293, 0.020547132141824843, -0.04021925858974684], "max": [1.180294076664007, -1.3962191971699123, 0.7003355143706351, 0.0, 0.0, 1.0, 0.00044926258851774037, 0.46677428896915707, 0.13910849173254491, 0.6129317819742781, 0.9681306481361389, 0.25963887572288513, 0.39524391293525696, 0.1671677976846695, 0.04001338944099213, -0.020519427402143516], "mean": [1.1802433989262957, -1.3964100165264435, 0.7001822685782544, 0.0, 0.0, -0.469496017109494, 0.00020675694074255043, 0.22208501135136, -0.15110922998136336, 0.5047753769956599, 0.4436229835770807, -0.25978432443556165, 0.1264796544963232, 0.05384547102467475, 0.034418175529275445, -0.033437215186256586], "std": [2.5287961664708352e-05, 0.00010621713232938726, 0.00010838151763584978, 0.0, 0.0, 0.8829345851743438, 0.000136494091557015, 0.17707655728085922, 0.3414908530704156, 0.08853136778523388, 0.7774580605714793, 0.20410635095952362, 0.26363104707905, 0.034821712399906814, 0.004800962742922826, 0.005586649918419503], "count": [377]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5071428571428571, -0.2285714285714286, -0.3457142857142857, -0.31142857142857144, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6, 1.0, 0.6857142857142858, 0.08, 0.1742857142857143, 0.29714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04666540356195533, -0.054471390678287115, -0.004869268662372127, -0.0066540356195528595, -0.003774156877605152, -0.016672982190223586, 0.09283819628647215], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2990760224672351, 0.476413620624366, 0.21433490774020889, 0.04692347702863354, 0.06754668245554658, 0.11812001102509874, 0.9956812086758874], "count": [377]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04244031757116318], "std": [0.20159152150154114], "count": [377]}, "next.done": {"min": [false], "max": [true], "mean": [0.002652519893899204], "std": [0.05143426904420508], "count": [377]}, "timestamp": {"min": [0.0], "max": [18.8], "mean": [9.4], "std": [5.441507144165116], "count": [377]}, "frame_index": {"min": [0], "max": [376], "mean": [188.0], "std": [108.83014288330233], "count": [377]}, "episode_index": {"min": [102], "max": [102], "mean": [102.0], "std": [0.0], "count": [377]}, "index": {"min": [35488], "max": [35864], "mean": [35676.0], "std": [108.83014288330233], "count": [377]}, "task_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [377]}}} +{"episode_index": 103, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5123904514686733]], [[0.5140129107306984]], [[0.5152620125564874]]], "std": [[[0.25899462303104304]], [[0.25830559111058055]], [[0.2570670254759283]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4074427292767693]], [[0.3974335225423177]], [[0.39054823512657016]]], "std": [[[0.21909623343384377]], [[0.21929190463519063]], [[0.22119142583670517]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4132474724264706]], [[0.39928065520641853]], [[0.3891978023753447]]], "std": [[[0.22043106565503964]], [[0.21964836396897405]], [[0.22069988910802954]]], "count": [100]}, "annotation.human.task_description": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [239]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [239]}, "observation.state": {"min": [2.2355406819272723, -0.8697679601421586, 0.6999912759106068, 0.0, 0.0, 0.7070611119270325, 0.7061018347740173, 0.0750463758150336, -0.4520850926978528, 0.2685134764477908, -0.9904811382293701, -0.15859417617321014, -0.46735653281211853, 0.00011643984908005223, 0.02056086071368941, -0.03999962224494932], "max": [2.2366011896857394, -0.8695243769100729, 0.7000745400228987, 0.0, 0.0, 0.7081102132797241, 0.7071524262428284, 0.6681467995394843, 0.13023789397869123, 0.8717065581608147, 0.9845772385597229, 0.15523681044578552, 0.45189714431762695, 0.10480136424303055, 0.039967833587555006, -0.020505700250883826], "mean": [2.236126076908555, -0.8696635314682888, 0.7000115611217136, 0.0, 0.0, 0.7075414468054991, 0.7066715070393295, 0.3616948760236437, -0.09719607876897426, 0.625453149773262, -0.45161591139797386, -0.06501394560147529, -0.20335576917087683, 0.03815735815366059, 0.03800950470790849, -0.03747251914952896], "std": [0.00046994632336042633, 8.249577095127878e-05, 1.7065841069223623e-05, 0.0, 0.0, 0.0004744746539009902, 0.00047508748659594503, 0.1495924131742171, 0.22065040765225752, 0.19152707584439918, 0.8175417592833455, 0.09474008653753703, 0.26672595873670363, 0.022666216568393436, 0.0026067324570694895, 0.002888697075225741], "count": [239]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.045714285714285714, -0.32857142857142857, -0.29428571428571426, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 0.9785714285714284, 1.0, 0.17142857142857143, 0.24571428571428575, 0.10571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.05448296473401074, -0.042169754931261204, 0.01936640765092645, 0.010328750747160787, -0.0084997011356844, -0.011022115959354458, -0.26359832635983266], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.5353333688075247, 0.5154836753623986, 0.5271537747898536, 0.030486105677286806, 0.11822728550656462, 0.06547845184000524, 0.9646325322838215], "count": [239]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06694560497999191], "std": [0.24992775917053223], "count": [239]}, "next.done": {"min": [false], "max": [true], "mean": [0.0041841004184100415], "std": [0.06454915740812348], "count": [239]}, "timestamp": {"min": [0.0], "max": [11.9], "mean": [5.95], "std": [3.449637662132068], "count": [239]}, "frame_index": {"min": [0], "max": [238], "mean": [119.0], "std": [68.99275324264136], "count": [239]}, "episode_index": {"min": [103], "max": [103], "mean": [103.0], "std": [0.0], "count": [239]}, "index": {"min": [35865], "max": [36103], "mean": [35984.0], "std": [68.99275324264136], "count": [239]}, "task_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [239]}}} +{"episode_index": 104, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.514109318153531]], [[0.4735154221478631]], [[0.4120192942899816]]], "std": [[[0.23838835724480037]], [[0.22783097010739095]], [[0.2285850234999887]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38161365583831186]], [[0.37429779172411154]], [[0.35830014157762713]]], "std": [[[0.21699844475973543]], [[0.21235602330632236]], [[0.20670333019475903]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4457701739142923]], [[0.4323176149854473]], [[0.40931934431487443]]], "std": [[[0.26552224520809664]], [[0.25763787686538286]], [[0.25144867189177833]]], "count": [100]}, "annotation.human.task_description": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [317]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [317]}, "observation.state": {"min": [2.517311197182777, -1.1706760320942693, 0.6999963990739315, 0.0, 0.0, 0.7067109942436218, 0.7070375680923462, 0.12255408437491977, -0.6229020280248054, 0.2798477084419019, -0.9917157292366028, -0.1461099088191986, -0.48593053221702576, 0.005794638302177191, 0.015642025332660854, -0.040074014257617384], "max": [2.517621773993184, -1.1704616436799147, 0.7004361320098627, 0.0, 0.0, 0.7071759700775146, 0.7075023651123047, 0.5938287642789567, 0.0013159378503213581, 0.8140134720082, -0.8617467880249023, 0.06974969804286957, -0.022475963458418846, 0.13104607164859772, 0.040021296786809546, -0.020488461363543816], "mean": [2.5174456590714933, -1.1705464905744432, 0.700117600491546, 0.0, 0.0, 0.7070079319860657, 0.7072055636896319, 0.32021316607452693, -0.27497147247890624, 0.5710896746364741, -0.9345800342619983, -0.018306342538222907, -0.3091920729409257, 0.06825691916941656, 0.03026367678534226, -0.031116536483698096], "std": [6.743002673163884e-05, 6.773651373114026e-05, 0.00015481618815531235, 0.0, 0.0, 0.00014002422670425786, 0.0001399737803890488, 0.15209151604623902, 0.25680482820673195, 0.2053990004692634, 0.04359437274099404, 0.07525700312560556, 0.13073355201028097, 0.03620706623631586, 0.008702195314495696, 0.0076590484538398606], "count": [317]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.06857142857142857, -0.26857142857142857, -0.16285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.7857142857142857, 0.10857142857142858, 0.2542857142857143, 0.05428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02129337539432175, -0.05290671473636776, -0.03528616493916179, 0.005461919783686345, 0.002361424064894108, -0.0035601622352411004, 0.00946372239747634], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4636607723255154, 0.4448110859648567, 0.3910744223596231, 0.020645307484884648, 0.08576015858453284, 0.03250553788908144, 0.9999552179764785], "count": [317]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05047318711876869], "std": [0.21891924738883972], "count": [317]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031545741324921135], "std": [0.056076936386849144], "count": [317]}, "timestamp": {"min": [0.0], "max": [15.8], "mean": [7.9], "std": [4.575478117093338], "count": [317]}, "frame_index": {"min": [0], "max": [316], "mean": [158.0], "std": [91.50956234186677], "count": [317]}, "episode_index": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [317]}, "index": {"min": [36104], "max": [36420], "mean": [36262.0], "std": [91.50956234186677], "count": [317]}, "task_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [317]}}} +{"episode_index": 105, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4872753978056066]], [[0.4367028006759344]], [[0.41138382855583644]]], "std": [[[0.23438535927313664]], [[0.2598094154395993]], [[0.2668356435610826]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4731013428931143]], [[0.42802442124310663]], [[0.3968685655780867]]], "std": [[[0.1932606251402513]], [[0.21118369855253835]], [[0.23198948269755051]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47506663064395677]], [[0.40898623776903337]], [[0.3596743343577665]]], "std": [[[0.2090365561342798]], [[0.2344174231751248]], [[0.25999614247462166]]], "count": [100]}, "annotation.human.task_description": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [345]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [345]}, "observation.state": {"min": [0.3492445272215001, -1.6324035642788202, 0.6999945080411021, 0.0, 0.0, -0.0021209795959293842, 0.6935663819313049, -0.01043200848142889, -0.03231762191776344, 0.26982523341157894, -0.9904502630233765, -0.2729010283946991, -0.32278552651405334, 3.1007737561594695e-05, 0.020553489042822736, -0.03982767693605967], "max": [1.9589769563143298, -0.8511620938477393, 0.7000270661310368, 0.0, 0.0, 0.720392644405365, 1.0, 0.5078308999331627, 0.0789851302830562, 0.6777713208149111, 0.982987642288208, 0.03463050723075867, 0.3242008090019226, 0.09842751920223236, 0.03986929485978972, -0.020513071304533018], "mean": [1.152056065641265, -1.1104874834915253, 0.7000036302617739, 0.0, 0.0, 0.5986689479557938, 0.7579871269239895, 0.19045628798028466, 0.004235002879778554, 0.5466800618810629, 0.03560068520946779, -0.07187660530857418, 0.07065971711839454, 0.023178417259866062, 0.03167670962523201, -0.031247534959342967], "std": [0.7437689080530455, 0.25026350657431773, 7.059129145220866e-06, 0.0, 0.0, 0.23495849629658572, 0.1088369857766392, 0.17776789307235477, 0.03801250144239339, 0.1303603005245506, 0.95433406653483, 0.08995119687019285, 0.2608216756914444, 0.03411205358294402, 0.0047130464107599775, 0.004844619242197588], "count": [345]}, "action": {"min": [-1.0, -0.7285714285714285, -1.0, 0.0, -1.0, -1.0, -0.6285714285714287, -0.8428571428571429, -0.09142857142857143, -0.3342857142857143, -0.2, -1.0], "max": [1.0, 0.7071428571428572, 0.8657142857142858, 0.0, 1.0, 1.0, 0.807142857142857, 0.9571428571428572, 0.008571428571428572, 0.24, 0.35428571428571426, 1.0], "mean": [0.13917184265010354, -0.018737060041407873, 0.0033706004140786833, 0.0, -0.3507246376811594, -0.02695652173913045, -0.00022774327122154344, 0.020082815734989646, -0.003875776397515529, 0.0033209109730848907, -0.00026501035196688444, 0.391304347826087], "std": [0.3813742802838953, 0.16117590226788103, 0.34255206779042247, 0.0, 0.9364786321766297, 0.43591981121840245, 0.1602601816793807, 0.3667980096606805, 0.014207777322124165, 0.06436418677622938, 0.07210348340444385, 0.9202613255876815], "count": [345]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04637681320309639], "std": [0.2102997899055481], "count": [345]}, "next.done": {"min": [false], "max": [true], "mean": [0.002898550724637681], "std": [0.053760107220264954], "count": [345]}, "timestamp": {"min": [0.0], "max": [17.2], "mean": [8.6], "std": [4.979625153228571], "count": [345]}, "frame_index": {"min": [0], "max": [344], "mean": [172.0], "std": [99.59250306457142], "count": [345]}, "episode_index": {"min": [105], "max": [105], "mean": [105.0], "std": [0.0], "count": [345]}, "index": {"min": [36421], "max": [36765], "mean": [36593.0], "std": [99.59250306457142], "count": [345]}, "task_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [345]}}} +{"episode_index": 106, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47876535991593905]], [[0.49962606991038605]], [[0.418369535558364]]], "std": [[[0.21828432973926765]], [[0.25108584293533426]], [[0.20298591515070363]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4404199655570236]], [[0.4296838827694163]], [[0.40414512245327816]]], "std": [[[0.23556767234095158]], [[0.228251411380944]], [[0.21773757277085995]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4607840737735524]], [[0.44873282039866724]], [[0.4191630302877987]]], "std": [[[0.22116293324499697]], [[0.21430861213544045]], [[0.2067467747319834]]], "count": [100]}, "annotation.human.task_description": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [348]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [348]}, "observation.state": {"min": [0.5454889870014402, -1.5141290082979824, 0.6999956226816919, 0.0, 0.0, 0.3061484098434448, 0.5399996042251587, -0.019584333758856598, -0.018163320317220455, 0.28150795269549844, -0.9914392828941345, -0.1144009381532669, -0.3443829119205475, 0.011721106246113777, 0.02055980420563624, -0.039911065893794145], "max": [2.148722937318289, -0.8556022434193654, 0.7006257278728056, 0.0, 0.0, 0.8416652083396912, 0.9519838094711304, 0.48276661332826865, 0.20417333809441612, 0.6650849810708843, -0.9371373653411865, 0.032144397497177124, -0.12656643986701965, 0.0399775467813015, 0.03997325788947492, -0.020506756455307414], "mean": [1.2463145062550427, -1.067371745467676, 0.7000888666302074, 0.0, 0.0, 0.7203097194433212, 0.670856189967572, 0.19446548739323008, 0.054154457283004595, 0.5565298427295068, -0.9554996677171225, -0.03735122735472931, -0.28056382529180623, 0.02257075847458394, 0.03343663948031855, -0.03305419650935428], "std": [0.7093689283949769, 0.19790890566077132, 0.00019120171128262438, 0.0, 0.0, 0.13249109311082252, 0.11641289815070098, 0.177732450499778, 0.09145232391935756, 0.12074229843995833, 0.014707864106534196, 0.047856640678519746, 0.062120487343184545, 0.0058511039936118715, 0.004117155946049719, 0.004243678280898364], "count": [348]}, "action": {"min": [-1.0, -0.9571428571428572, -0.88, 0.0, -1.0, -1.0, -0.6142857142857143, -1.0, -0.06857142857142857, -0.15714285714285714, -0.11714285714285716, -1.0], "max": [1.0, 0.5857142857142857, 0.7457142857142857, 0.0, 1.0, 1.0, 0.8928571428571429, 1.0, 0.022857142857142857, 0.29714285714285715, 0.15428571428571428, 1.0], "mean": [0.11393678160919538, -0.10426929392446635, 0.02170771756978654, 0.0, -0.4540229885057471, -0.029885057471264364, 0.000574712643678145, 0.023296387520525475, -0.0008374384236453203, 0.00034482758620689745, 0.004096880131362889, 0.3218390804597701], "std": [0.3537868116974459, 0.2504668635610318, 0.26446178301258394, 0.0, 0.8909899695890589, 0.4985967627286223, 0.22139273080035074, 0.3791316307810307, 0.007755505408399294, 0.05265525974626232, 0.030095430313551857, 0.9467943843775203], "count": [348]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04597701132297516], "std": [0.20943525433540344], "count": [348]}, "next.done": {"min": [false], "max": [true], "mean": [0.0028735632183908046], "std": [0.0535285517534401], "count": [348]}, "timestamp": {"min": [0.0], "max": [17.35], "mean": [8.675], "std": [5.0229266037507125], "count": [348]}, "frame_index": {"min": [0], "max": [347], "mean": [173.5], "std": [100.45853207501425], "count": [348]}, "episode_index": {"min": [106], "max": [106], "mean": [106.0], "std": [0.0], "count": [348]}, "index": {"min": [36766], "max": [37113], "mean": [36939.5], "std": [100.45853207501425], "count": [348]}, "task_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [348]}}} +{"episode_index": 107, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5622542940027574]], [[0.5172594143736596]], [[0.4584531387628294]]], "std": [[[0.2599670710601094]], [[0.2543084534683254]], [[0.2791910598851683]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4698483096852022]], [[0.42905293363683367]], [[0.4060559776156556]]], "std": [[[0.27324001361178407]], [[0.2633224147946332]], [[0.2658400788936047]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5243386469822304]], [[0.45968054318895524]], [[0.42725372314453125]]], "std": [[[0.25879393932414657]], [[0.24260023647078954]], [[0.2470918983258892]]], "count": [100]}, "annotation.human.task_description": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [426]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [426]}, "observation.state": {"min": [-1.8332611832153147, -5.048313979991791, 0.6999901380439999, 0.0, 0.0, -0.999944806098938, 0.01050748024135828, 0.011807046344786076, -0.04989929811479188, 0.2972195607445509, -0.9906151294708252, -0.06784927845001221, -0.3699858486652374, 0.0220024436712265, 0.02054639567611685, -0.039942056039496424], "max": [-0.8474034293151986, -2.996468159175584, 0.70001738006084, 0.0, 0.0, 0.9997428059577942, 1.0, 0.5313063206936061, 0.15064803967236173, 0.6498528216192263, -0.9273714423179626, 0.019455641508102417, -0.12979388236999512, 0.03671516105532646, 0.03999707052200681, -0.020520163263890067], "mean": [-1.1725155465377481, -4.113988050545367, 0.7000022971277088, 0.0, 0.0, 0.013948798928127795, 0.8983292175531212, 0.18857807620021383, 0.04045126651343478, 0.5586279226324753, -0.9446214087692225, -0.03709600054322274, -0.3168806091930385, 0.029603013165400063, 0.03238218877081648, -0.033664266401526526], "std": [0.3105480607348937, 0.8038687549957456, 5.080038227695978e-06, 0.0, 0.0, 0.38357518401379653, 0.2137291142302705, 0.1823671620012412, 0.06074975073793485, 0.10632450116817208, 0.019104055328339076, 0.02617211764225397, 0.06296216677695748, 0.0032316415742881226, 0.005227186938581343, 0.004255284058179972], "count": [426]}, "action": {"min": [-1.0, -0.6357142857142857, -1.0, 0.0, -1.0, -1.0, -0.44285714285714284, -0.9142857142857143, -0.05142857142857143, -0.4028571428571428, -0.10571428571428572, -1.0], "max": [1.0, 1.0, 0.005714285714285714, 0.0, 1.0, 1.0, 0.9285714285714287, 1.0, 0.05428571428571429, 0.45999999999999996, 0.06285714285714286, 1.0], "mean": [0.15375586854460094, 0.038648558014755204, -0.2436418511066397, 0.0, -0.19718309859154928, -0.01530851777330651, 0.009523809523809542, 0.02003688799463448, -1.3413816230717611e-05, -3.353454057679427e-05, -0.0017303822937625758, 0.352112676056338], "std": [0.35919934678980214, 0.22962093225891925, 0.3744930300197008, 0.0, 0.9803666791715363, 0.3984337246492725, 0.1804597232922119, 0.34006710977246996, 0.00432020684977545, 0.07344634145155016, 0.01376916311913352, 0.9359576183569664], "count": [426]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03755868598818779], "std": [0.19012635946273804], "count": [426]}, "next.done": {"min": [false], "max": [true], "mean": [0.002347417840375587], "std": [0.048393258516639205], "count": [426]}, "timestamp": {"min": [0.0], "max": [21.25], "mean": [10.625], "std": [6.148763425817151], "count": [426]}, "frame_index": {"min": [0], "max": [425], "mean": [212.5], "std": [122.97526851634302], "count": [426]}, "episode_index": {"min": [107], "max": [107], "mean": [107.0], "std": [0.0], "count": [426]}, "index": {"min": [37114], "max": [37539], "mean": [37326.5], "std": [122.97526851634302], "count": [426]}, "task_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [426]}}} +{"episode_index": 108, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5304112907858456]], [[0.48337753116383275]], [[0.44545251045975026]]], "std": [[[0.21453205455285423]], [[0.18315219870902466]], [[0.18283721486276547]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40988265153473497]], [[0.38536848838656557]], [[0.375031317617379]]], "std": [[[0.2563608110748605]], [[0.2403171934050974]], [[0.2329984692543016]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34257794548483456]], [[0.32977191341624545]], [[0.3246134864956725]]], "std": [[[0.2376227403020967]], [[0.22838049123970539]], [[0.22797887392327154]]], "count": [100]}, "annotation.human.task_description": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [346]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [346]}, "observation.state": {"min": [2.940550021377009, -3.5486875996358993, 0.6999917161638881, 0.0, 0.0, -0.0014594171661883593, 0.999998927116394, 0.13884757182961982, 0.00453977357826485, 0.2787624758270304, -0.9909738898277283, -0.6044183373451233, -0.5073981881141663, 0.00027529089129529893, 0.020544033863846373, -0.040303224171718034], "max": [2.9406502571453395, -3.5477819853255217, 0.7001733931324083, 0.0, 0.0, 0.0005166211049072444, 1.0, 0.5563117844841767, 0.6346391647890237, 0.8352856181380376, 0.948567271232605, 0.4443809390068054, 0.2736397385597229, 0.40253132581710815, 0.04004346251912476, -0.020522525350883912], "mean": [2.9405774011309194, -3.548225804294728, 0.7000619337635032, 0.0, 0.0, -0.000450041017330376, 0.9999995352215849, 0.36408480319342806, 0.2692408616643281, 0.5968202072687541, -0.8066475966762257, -0.10751976796312829, -0.30853679384282556, 0.16795546761210914, 0.03720119647508332, -0.03538963924222235], "std": [2.1962353666206673e-05, 0.0003857631488852483, 5.4210525763096563e-05, 0.0, 0.0, 0.0008786859615363907, 4.1282673742164294e-07, 0.10240964743840184, 0.1991602849075501, 0.21178734695107762, 0.15324292138464524, 0.4076869514921374, 0.11187595952193811, 0.11021291022011089, 0.003016784719105602, 0.004433291424684277], "count": [346]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7928571428571428, -0.20285714285714287, -0.48571428571428577, -0.3457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6142857142857143, 0.8428571428571429, 1.0, 0.21142857142857144, 0.23428571428571432, 0.8485714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.02786952931461608, 0.05154830718414533, 0.009826589595375749, 0.013418662262592897, -0.01582989265070191, 0.029570602807597036, -0.09826589595375723], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.32385283128115777, 0.3632347379717913, 0.4028767242704806, 0.06120937903286568, 0.10994373002047624, 0.19032631155813623, 0.9951601949899311], "count": [346]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04624277353286743], "std": [0.21001042425632477], "count": [346]}, "next.done": {"min": [false], "max": [true], "mean": [0.002890173410404624], "std": [0.05368258850001939], "count": [346]}, "timestamp": {"min": [0.0], "max": [17.25], "mean": [8.625], "std": [4.994058970416749], "count": [346]}, "frame_index": {"min": [0], "max": [345], "mean": [172.5], "std": [99.88117940833499], "count": [346]}, "episode_index": {"min": [108], "max": [108], "mean": [108.0], "std": [0.0], "count": [346]}, "index": {"min": [37540], "max": [37885], "mean": [37712.5], "std": [99.88117940833499], "count": [346]}, "task_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [346]}}} +{"episode_index": 109, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.06274509803921569]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5122789336559819]], [[0.48589937756108303]], [[0.4235357947256051]]], "std": [[[0.21769963611795612]], [[0.20396926296634896]], [[0.20103055271881642]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5160774165134804]], [[0.47748049388212316]], [[0.4327207527908624]]], "std": [[[0.27048125523287847]], [[0.2569545507072359]], [[0.2515904315025602]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5504273208917356]], [[0.5049829915364583]], [[0.4514127149394914]]], "std": [[[0.27122077590048005]], [[0.2601573935588712]], [[0.25875907823376343]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [273]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [273]}, "observation.state": {"min": [6.279569407091785, -0.8869580814957037, 0.6999938000254997, 0.0, 0.0, 0.7069929242134094, 0.7069357633590698, 0.18867991719596633, -0.4953574074089344, 0.32844338499139125, -0.9873511791229248, -0.306849867105484, -0.4928174316883087, 0.00014151692448649555, 0.020545868020791194, -0.04002959925956938], "max": [6.279793643961641, -0.8868670204371424, 0.7000446179962718, 0.0, 0.0, 0.7072777152061462, 0.7072206735610962, 0.657390395304922, 0.12565484877409805, 0.8973766254207971, 0.9688045978546143, 0.2875418961048126, 0.49127650260925293, 0.05965748801827431, 0.039997831324120346, -0.020520692768110714], "mean": [6.2797060068839805, -0.8869220237439067, 0.7000044018713857, 0.0, 0.0, 0.7070997946864956, 0.7071137773248303, 0.35374075429168467, -0.10709146487509638, 0.6601146907097158, 0.00037323904561472465, -0.12733365961046883, -0.09268512781504747, 0.030913423412716554, 0.03669945001496618, -0.03699233876328514], "std": [7.507155890458872e-05, 2.4171685295253415e-05, 1.0002151937043405e-05, 0.0, 0.0, 9.002561485947919e-05, 9.003605611501105e-05, 0.1438395668972535, 0.23755457073033506, 0.18947522309985604, 0.9235338886789378, 0.11734316375616366, 0.32748410473626915, 0.017599161734033475, 0.0033423600876740494, 0.0030750106800608817], "count": [273]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.8785714285714286, -0.12857142857142856, -0.38, -0.2057142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9928571428571428, 1.0, 1.0, 0.07714285714285714, 0.26285714285714284, 0.14, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0024071166928309935, -0.03105703819989534, -0.027838827838827823, 0.002710622710622711, -0.014798534798534801, -0.011742543171114598, -0.16483516483516483], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4722961500462084, 0.49178797518334794, 0.4195739482051652, 0.03014766779376253, 0.1024557849200955, 0.06573651099523176, 0.9863211284534896], "count": [273]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05860805884003639], "std": [0.2348896712064743], "count": [273]}, "next.done": {"min": [false], "max": [true], "mean": [0.003663003663003663], "std": [0.060411804038354], "count": [273]}, "timestamp": {"min": [0.0], "max": [13.6], "mean": [6.800000000000001], "std": [3.9403891516786342], "count": [273]}, "frame_index": {"min": [0], "max": [272], "mean": [136.0], "std": [78.80778303357269], "count": [273]}, "episode_index": {"min": [109], "max": [109], "mean": [109.0], "std": [0.0], "count": [273]}, "index": {"min": [37886], "max": [38158], "mean": [38022.0], "std": [78.80778303357269], "count": [273]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [273]}}} +{"episode_index": 110, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5139708610983457]], [[0.47793528657801015]], [[0.4586776176901425]]], "std": [[[0.22673441329407257]], [[0.21939148194215724]], [[0.21424740125344677]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4806594621246936]], [[0.4204439416025199]], [[0.3827433992273667]]], "std": [[[0.26931416163628447]], [[0.27168286501129046]], [[0.2790689838053109]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5024679565429687]], [[0.4531927017511106]], [[0.4231092002719056]]], "std": [[[0.26411344024307176]], [[0.2726047631115534]], [[0.2819298707725344]]], "count": [100]}, "annotation.human.task_description": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [253]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [253]}, "observation.state": {"min": [2.5802425865650904, -1.7006735573891545, 0.6999914160182249, 0.0, 0.0, -1.0, 3.5591590403782902e-06, 0.1821124827614895, -0.6218485042141819, 0.25148256832428484, -0.9556125998497009, -0.3970162272453308, -0.4112706184387207, 0.0032422621734440327, 0.015921006315432976, -0.03975651650260633], "max": [2.5803223317678703, -1.7004957745274818, 0.7000738555460273, 0.0, 0.0, 1.0, 0.0004492647713050246, 0.5832401761338677, 0.013567294226981552, 0.8466956734485611, 0.9893375635147095, 0.2270141839981079, 0.4588765501976013, 0.2482028603553772, 0.04007226038964021, -0.018446674884218514], "mean": [2.5802881059969733, -1.7005991228459765, 0.7000132797195255, 0.0, 0.0, 0.13043477365621936, 0.00017752042799567047, 0.3538120803579046, -0.20708375914036065, 0.6136664406379947, 0.06034444254848797, -0.18108093732666122, 0.09115646355472534, 0.09142331358067426, 0.030605170027758862, -0.03065595182564961], "std": [2.207611457974944e-05, 4.816455873711442e-05, 2.1106394062432927e-05, 0.0, 0.0, 0.9914568835387138, 0.00013821147618343536, 0.13258277309262523, 0.24643413615850446, 0.2034074985560263, 0.8977248244939312, 0.15219030332864106, 0.33612977586366627, 0.06960985802684007, 0.010477915571948182, 0.00989411176096578], "count": [253]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.27714285714285714, -0.32571428571428573, -0.23714285714285716, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8500000000000001, 1.0, 0.8928571428571429, 0.12, 0.18, 0.3942857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.028797289666854867, -0.07549407114624507, -0.0033596837944663833, -0.014025974025974032, -0.02423489553924336, 0.009169960474308285, -0.22529644268774704], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.4879581120430003, 0.5159542306782005, 0.4784272998344747, 0.07295797079586941, 0.09285330660719517, 0.12521536143055725, 0.9742902611194731], "count": [253]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06324110925197601], "std": [0.2433961033821106], "count": [253]}, "next.done": {"min": [false], "max": [true], "mean": [0.003952569169960474], "std": [0.06274509038097843], "count": [253]}, "timestamp": {"min": [0.0], "max": [12.6], "mean": [6.300000000000001], "std": [3.651711927302043], "count": [253]}, "frame_index": {"min": [0], "max": [252], "mean": [126.0], "std": [73.03423854604085], "count": [253]}, "episode_index": {"min": [110], "max": [110], "mean": [110.0], "std": [0.0], "count": [253]}, "index": {"min": [38159], "max": [38411], "mean": [38285.0], "std": [73.03423854604085], "count": [253]}, "task_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [253]}}} +{"episode_index": 111, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4380036112467448]], [[0.38163801006242337]], [[0.3521487211339614]]], "std": [[[0.2501957104258687]], [[0.24493885799886897]], [[0.24444292810413643]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5333590321260341]], [[0.46551534316119025]], [[0.4188133383358226]]], "std": [[[0.22855742266729978]], [[0.22134984973207167]], [[0.22173780835231044]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5157929932837393]], [[0.44312251251819085]], [[0.39724276374368106]]], "std": [[[0.21065095048568624]], [[0.20974130895914436]], [[0.21517422004111414]]], "count": [100]}, "annotation.human.task_description": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [317]}, "annotation.human.task_name": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [317]}, "observation.state": {"min": [1.4834194301955155, -1.3953041167911784, 0.6999974940622835, 0.0, 0.0, 0.5584261417388916, 0.6508932113647461, -0.010997702123115127, -0.005391283148642678, 0.2508441734257656, -0.990477979183197, -0.060790061950683594, -0.38998714089393616, 0.005661349277943373, 0.005827021767803239, -0.039842150499469625], "max": [3.153099558183418, -0.97150247970694, 0.7007365195016868, 0.0, 0.0, 0.7591692805290222, 0.8295542597770691, 0.5359265964349095, 0.1680198462725757, 0.6400835889958744, -0.9199022650718689, 0.06974126398563385, -0.12024722993373871, 0.06626430153846741, 0.0400006245344008, -0.006945619625671515], "mean": [2.221554037661495, -1.1356950437120457, 0.7004580334603684, 0.0, 0.0, 0.7134433516568566, 0.6974985960530182, 0.21751379419922118, 0.06702970826551385, 0.5280018083118478, -0.9561425033803994, -0.0060610731693472395, -0.27413919774891826, 0.030466917723017725, 0.02064974449308961, -0.020756342037902834], "std": [0.7568587171236396, 0.1292962052525983, 0.00026741621451964367, 0.0, 0.0, 0.04894137274744469, 0.04581527572021615, 0.18369510393580302, 0.0603925051911215, 0.10620948287598007, 0.022553616621847246, 0.04512258098967119, 0.08186389043400515, 0.020684051454723806, 0.015192672265545142, 0.014820054671395185], "count": [317]}, "action": {"min": [-0.8, -1.0, -0.6885714285714286, 0.0, -1.0, -1.0, -0.6428571428571428, -0.9857142857142858, -0.03428571428571429, -0.23142857142857146, -0.16857142857142857, -1.0], "max": [0.9071428571428573, 0.46428571428571436, 0.3942857142857143, 0.0, 1.0, 1.0, 0.9285714285714287, 1.0, 0.08, 0.2, 0.08857142857142856, 1.0], "mean": [0.06784587652095539, -0.13821541234790446, 0.015042812077512388, 0.0, -0.5583596214511041, -0.03974763406940062, 0.00989184317260026, 0.01568273997296081, 0.00011716989634970704, 0.004614691302388463, -0.0038575935105903533, 0.167192429022082], "std": [0.2484586001369221, 0.3557738820139883, 0.14778884797763228, 0.0, 0.8295990194865129, 0.5273443981452437, 0.2279223572475352, 0.4287283537655432, 0.012691047599164987, 0.06150938380320854, 0.045066424502612286, 0.9859242829333789], "count": [317]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.09148264676332474], "std": [0.2882942259311676], "count": [317]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031545741324921135], "std": [0.056076936386849144], "count": [317]}, "timestamp": {"min": [0.0], "max": [15.8], "mean": [7.9], "std": [4.575478117093338], "count": [317]}, "frame_index": {"min": [0], "max": [316], "mean": [158.0], "std": [91.50956234186677], "count": [317]}, "episode_index": {"min": [111], "max": [111], "mean": [111.0], "std": [0.0], "count": [317]}, "index": {"min": [38412], "max": [38728], "mean": [38570.0], "std": [91.50956234186677], "count": [317]}, "task_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [317]}}} diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/info.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..15126a22a84991bbcd5e8f6df7261d484d84db15 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 112, + "total_frames": 38729, + "total_tasks": 22, + "total_videos": 336, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:112" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "observation.images.robot0_eye_in_hand": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_left": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.robot0_agentview_right": { + "dtype": "video", + "shape": [ + 256, + 256, + 3 + ], + "names": [ + "height", + "width", + "channel" + ], + "video_info": { + "video.fps": 20, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "has_audio": false + }, + "info": { + "video.height": 256, + "video.width": 256, + "video.codec": "h264", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 20, + "video.channels": 3, + "has_audio": false + } + }, + "annotation.human.task_description": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "annotation.human.task_name": { + "dtype": "int64", + "shape": [ + 1 + ] + }, + "observation.state": { + "dtype": "float64", + "shape": [ + 16 + ] + }, + "action": { + "dtype": "float64", + "shape": [ + 12 + ] + }, + "next.reward": { + "dtype": "float32", + "shape": [ + 1 + ] + }, + "next.done": { + "dtype": "bool", + "shape": [ + 1 + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + } + } +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/modality.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/modality.json @@ -0,0 +1,72 @@ +{ + "state": { + "base_position": { + "original_key": "observation.state", + "start": 0, + "end": 3 + }, + "base_rotation": { + "original_key": "observation.state", + "start": 3, + "end": 7 + }, + "end_effector_position_relative": { + "original_key": "observation.state", + "start": 7, + "end": 10 + }, + "end_effector_rotation_relative": { + "original_key": "observation.state", + "start": 10, + "end": 14 + }, + "gripper_qpos": { + "original_key": "observation.state", + "start": 14, + "end": 16 + } + }, + "action": { + "base_motion": { + "original_key": "action", + "start": 0, + "end": 4 + }, + "control_mode": { + "original_key": "action", + "start": 4, + "end": 5 + }, + "end_effector_position": { + "original_key": "action", + "start": 5, + "end": 8 + }, + "end_effector_rotation": { + "original_key": "action", + "start": 8, + "end": 11 + }, + "gripper_close": { + "original_key": "action", + "start": 11, + "end": 12 + } + }, + "video": { + "robot0_eye_in_hand": { + "original_key": "observation.images.robot0_eye_in_hand" + }, + "robot0_agentview_left": { + "original_key": "observation.images.robot0_agentview_left" + }, + "robot0_agentview_right": { + "original_key": "observation.images.robot0_agentview_right" + } + }, + "annotation": { + "human.task_description": { + "original_key": "annotation.human.task_description" + } + } +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/stats.json b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..ccfa8daa03cb0f00e4835982492b7b98f53be4f0 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 9.770172119140625 + ], + "std": [ + 6.37019157409668 + ], + "min": [ + 0.0 + ], + "max": [ + 21.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 21.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 22.0 + ], + "std": [ + 0.0 + ], + "min": [ + 22.0 + ], + "max": [ + 22.0 + ], + "q01": [ + 22.0 + ], + "q99": [ + 22.0 + ] + }, + "observation.state": { + "mean": [ + 2.7627482414245605, + -2.1075680255889893, + 0.6999350190162659, + 0.0, + 0.0, + 0.3259708881378174, + 0.6738463044166565, + 0.2748851478099823, + -0.0006548759993165731, + 0.5556677579879761, + -0.46110960841178894, + -0.07543308287858963, + -0.14881758391857147, + 0.05945558473467827, + 0.03105229325592518, + -0.031138576567173004 + ], + "std": [ + 1.9438527822494507, + 1.2730940580368042, + 0.0002667797962203622, + 0.0, + 0.0, + 0.5695884227752686, + 0.33942219614982605, + 0.18495939671993256, + 0.20780618488788605, + 0.15880104899406433, + 0.8057239651679993, + 0.16617485880851746, + 0.27163153886795044, + 0.07357119023799896, + 0.009271400049328804, + 0.009144789539277554 + ], + "min": [ + -2.0942652225494385, + -5.706064701080322, + 0.6999611258506775, + 0.0, + 0.0, + -1.0, + 0.0, + -0.12393838167190552, + -0.7408393025398254, + 0.232668936252594, + -0.9997214078903198, + -0.7009544968605042, + -0.72449791431427, + 3.7941060782031855e-06, + 0.0009272194583900273, + -0.04104146733880043 + ], + "max": [ + 6.382211685180664, + -0.24976594746112823, + 0.7023370862007141, + 0.0, + 0.0, + 1.0, + 1.0, + 0.6936795711517334, + 0.6975807547569275, + 0.9082191586494446, + 0.9991693496704102, + 0.7433127760887146, + 0.5986641049385071, + 0.5038634538650513, + 0.040775004774332047, + -0.0008577375556342304 + ], + "q01": [ + -1.7200912237167358, + -5.352245807647705, + 0.6999951004981995, + 0.0, + 0.0, + -1.0, + 1.6719557606847957e-05, + -0.06659255176782608, + -0.6206705570220947, + 0.2537793517112732, + -0.9982016682624817, + -0.5844330191612244, + -0.5577853322029114, + 0.0007003299542702734, + 0.00761890085414052, + -0.04007706791162491 + ], + "q99": [ + 6.362338066101074, + -0.3427944779396057, + 0.7008587718009949, + 0.0, + 0.0, + 1.0, + 1.0, + 0.6489744782447815, + 0.5831764340400696, + 0.8448371887207031, + 0.9936048984527588, + 0.5490807294845581, + 0.45636647939682007, + 0.3572027385234833, + 0.040017955005168915, + -0.007824220694601536 + ] + }, + "action": { + "mean": [ + 0.05143657699227333, + -0.005397207103669643, + -0.011904802173376083, + 0.0, + -0.6550388336181641, + -0.02019440196454525, + -0.006649871822446585, + 0.0026097195222973824, + -0.00026432686718180776, + -0.0035763143096119165, + -2.117378608090803e-05, + 0.13687418401241302 + ], + "std": [ + 0.2684226334095001, + 0.18560446798801422, + 0.22721819579601288, + 0.0, + 0.75564044713974, + 0.45340168476104736, + 0.31774160265922546, + 0.37284356355667114, + 0.033145830035209656, + 0.09644842147827148, + 0.0783693790435791, + 0.9906216859817505 + ], + "min": [ + -1.0, + -1.0, + -1.0, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.3742857277393341, + -0.7085714340209961, + -0.5685714483261108, + -1.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.3285714387893677, + 0.5314285755157471, + 0.8485714197158813, + 1.0 + ], + "q01": [ + -0.8928571343421936, + -0.8428571224212646, + -0.8849142789840698, + 0.0, + -1.0, + -1.0, + -1.0, + -0.9142857193946838, + -0.13428571820259094, + -0.3628571331501007, + -0.2571428716182709, + -1.0 + ], + "q99": [ + 1.0, + 0.7714285850524902, + 0.9885714054107666, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.10571428388357162, + 0.25999999046325684, + 0.28285714983940125, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.04663172364234924 + ], + "std": [ + 0.21084877848625183 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.002891889773309231 + ], + "std": [ + 0.053698476403951645 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 9.044788360595703 + ], + "std": [ + 5.6969895362854 + ], + "min": [ + 0.0 + ], + "max": [ + 27.399999618530273 + ], + "q01": [ + 0.15000000596046448 + ], + "q99": [ + 22.600000381469727 + ] + }, + "frame_index": { + "mean": [ + 180.89576721191406 + ], + "std": [ + 113.9397964477539 + ], + "min": [ + 0.0 + ], + "max": [ + 548.0 + ], + "q01": [ + 3.0 + ], + "q99": [ + 452.0 + ] + }, + "episode_index": { + "mean": [ + 55.343929290771484 + ], + "std": [ + 32.43705749511719 + ], + "min": [ + 0.0 + ], + "max": [ + 111.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 110.0 + ] + }, + "index": { + "mean": [ + 19364.0 + ], + "std": [ + 11180.099609375 + ], + "min": [ + 0.0 + ], + "max": [ + 38728.0 + ], + "q01": [ + 387.2799987792969 + ], + "q99": [ + 38340.71875 + ] + }, + "task_index": { + "mean": [ + 9.770172119140625 + ], + "std": [ + 6.37019157409668 + ], + "min": [ + 0.0 + ], + "max": [ + 21.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 21.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/tasks.jsonl b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34ce6ce5dffc3ff546fd710d88236771851227b5 --- /dev/null +++ b/pretrain/atomic/PickPlaceMicrowaveToCounter/20250819/lerobot/meta/tasks.jsonl @@ -0,0 +1,23 @@ +{"task_index": 0, "task": "Pick the potato from the microwave and place it on plate located on the counter."} +{"task_index": 1, "task": "Pick the onion from the microwave and place it on plate located on the counter."} +{"task_index": 2, "task": "Pick the eggplant from the microwave and place it on plate located on the counter."} +{"task_index": 3, "task": "Pick the mushroom from the microwave and place it on plate located on the counter."} +{"task_index": 4, "task": "Pick the hotdog bun from the microwave and place it on plate located on the counter."} +{"task_index": 5, "task": "Pick the chicken drumstick from the microwave and place it on plate located on the counter."} +{"task_index": 6, "task": "Pick the bell pepper from the microwave and place it on plate located on the counter."} +{"task_index": 7, "task": "Pick the egg from the microwave and place it on plate located on the counter."} +{"task_index": 8, "task": "Pick the marshmallow from the microwave and place it on plate located on the counter."} +{"task_index": 9, "task": "Pick the shrimp from the microwave and place it on plate located on the counter."} +{"task_index": 10, "task": "Pick the hot dog from the microwave and place it on plate located on the counter."} +{"task_index": 11, "task": "Pick the cheese from the microwave and place it on plate located on the counter."} +{"task_index": 12, "task": "Pick the broccoli from the microwave and place it on plate located on the counter."} +{"task_index": 13, "task": "Pick the steak from the microwave and place it on plate located on the counter."} +{"task_index": 14, "task": "Pick the fish from the microwave and place it on plate located on the counter."} +{"task_index": 15, "task": "Pick the carrot from the microwave and place it on plate located on the counter."} +{"task_index": 16, "task": "Pick the squash from the microwave and place it on plate located on the counter."} +{"task_index": 17, "task": "Pick the garlic from the microwave and place it on plate located on the counter."} +{"task_index": 18, "task": "Pick the sweet potato from the microwave and place it on plate located on the counter."} +{"task_index": 19, "task": "Pick the corn from the microwave and place it on plate located on the counter."} +{"task_index": 20, "task": "Pick the tomato from the microwave and place it on plate located on the counter."} +{"task_index": 21, "task": "Pick the kebab skewer from the microwave and place it on plate located on the counter."} +{"task_index": 22, "task": "PickPlaceMicrowaveToCounter"}