diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/dataset_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26922cda72ce5b0b9f35572097a252ff7e1e7704 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "7-30-2025", + "env": "DivideBasins", + "env_args": { + "type": 1, + "env_name": "DivideBasins", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "DivideBasins", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "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": "DivideBasins", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "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": "22:30:38", + "total": 108298 +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24f755276199caeb08ee19d22620df257aae9125 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 59, + "style_id": 52, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.7540695827484295, + 1.075989 + ], + "offset": [ + -0.8240957086257854, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup004/model.xml" + }, + "reset_region": { + "offset": [ + -0.22709883292382899, + -0.037331537329460776, + -0.10634084295186433 + ], + "size": [ + 0.3486870707885604, + 0.37482596015796776 + ], + "height": 0.12014537308901849, + "name": "basin_left" + } + } + ], + "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" + }, + "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": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_island_group_1", + "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": [ + 3.7183768428525457, + -2.12565239895225, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e9959d5eaf24afd79f49b33cf48a48e82f8a4985 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 38, + "style_id": 38, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.3661990827484294, + 0.65 + ], + "offset": [ + -1.2459004586257854, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup004/model.xml" + }, + "reset_region": { + "offset": [ + -0.22709883292382899, + -0.037331537329460776, + -0.10634084295186433 + ], + "size": [ + 0.3486870707885604, + 0.37482596015796776 + ], + "height": 0.12014537308901849, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_main_group_1", + "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": [ + 1.9774788689917742, + -0.7680948019440296, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..84fdd2e11378bc280da7460651a2b332a302479c --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,466 @@ +{ + "layout_id": 51, + "style_id": 19, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.09304471, + 0.09305337, + 0.10631 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup009/model.xml" + }, + "reset_region": { + "size": [ + 1.3597667534549256, + 0.65 + ], + "offset": [ + 0.9079176232725377, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml" + }, + "reset_region": { + "offset": [ + 0.23437353368904895, + -0.02612845102737396, + -0.23104242983236573 + ], + "size": [ + 0.4210537290570493, + 0.41255406170996073 + ], + "height": 0.1927349277575648, + "name": "basin_right" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_main_group_1", + "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": [ + 4.266581091274998, + -0.8489412574607076, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd34980e9a406ebeae43dd230a72fe15f1cd1235 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,466 @@ +{ + "layout_id": 51, + "style_id": 15, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.4018363403869256, + 0.65 + ], + "offset": [ + 0.8868828298065374, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml" + }, + "reset_region": { + "offset": [ + 0.27964325197453305, + -0.024715005115716268, + -0.22885473673370343 + ], + "size": [ + 0.24005096645558588, + 0.40076461774204786 + ], + "height": 0.1355223112930033, + "name": "basin_right" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_main_group_1", + "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": [ + 4.293575523389649, + -0.8401995369487312, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..16bf8f9043a923529c24cb88ad38ad0ee30b7d34 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,407 @@ +{ + "layout_id": 58, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.6379275477734425, + 0.65 + ], + "offset": [ + -0.8128362261132787, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_12/model.xml" + }, + "reset_region": { + "offset": [ + -0.2537734798603006, + -0.004087814906791873, + -0.21525345944628485 + ], + "size": [ + 0.32479491990653453, + 0.4007205589538012 + ], + "height": 0.17946331701303553, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_main_group_1", + "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": [ + 3.5397515887769426, + -0.779306104438659, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a3a0c5d58accfc6bf7e1c06fc8a98083d0dbf49 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,623 @@ +{ + "layout_id": 25, + "style_id": 39, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8727643019160478, + 0.65 + ], + "offset": [ + 1.746617849041976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "sink_1_left_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup006/model.xml" + }, + "reset_region": { + "offset": [ + 0.21500250718720276, + -0.041432212610281516, + -0.22800612393871678 + ], + "size": [ + 0.28606758145866207, + 0.3676055948766946 + ], + "height": 0.12750776516385834, + "name": "basin_right" + } + } + ], + "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" + }, + "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": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_1_left_group", + "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": [ + 0.8072904543678721, + -2.7747833575735292, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..242ab4a9efca229bbf1f588ba4cb98246a1b81b0 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,496 @@ +{ + "layout_id": 24, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.07693444709999998, + 0.105, + 0.0893758425 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_11/model.xml" + }, + "reset_region": { + "size": [ + 1.491, + 1.95 + ], + "offset": [ + -1.1544999999999999, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_1_island_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml" + }, + "reset_region": { + "offset": [ + 0.1578835495764007, + 0.0010980436912306768, + -0.20044675476440443 + ], + "size": [ + 0.21828989404002394, + 0.4058285375737258 + ], + "height": 0.22431633395858694, + "name": "basin_right" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "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": [ + 3.3891228531601962, + -1.742767200144359, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11b1a9a7bf1c6669dd7da312303405dee7d09e8a --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 12, + "style_id": 38, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.07592543463846713, + 0.11760505384175522, + 0.09676658210000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml" + }, + "reset_region": { + "size": [ + 1.3194830827484294, + 0.65 + ], + "offset": [ + -1.2772584586257854, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup003/model.xml" + }, + "reset_region": { + "offset": [ + -0.22709883292382899, + -0.037331537329460776, + -0.10634084295186433 + ], + "size": [ + 0.3486870707885604, + 0.37482596015796776 + ], + "height": 0.12014537308901849, + "name": "basin_left" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_1_main_group", + "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": [ + 2.7349319522708258, + -0.7871262314614476, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f2a56af5c779df5a05d418885967e938f5b56ba --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,424 @@ +{ + "layout_id": 38, + "style_id": 38, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.3661990827484294, + 0.65 + ], + "offset": [ + -1.2459004586257854, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup001/model.xml" + }, + "reset_region": { + "offset": [ + -0.22709883292382899, + -0.037331537329460776, + -0.10634084295186433 + ], + "size": [ + 0.3486870707885604, + 0.37482596015796776 + ], + "height": 0.12014537308901849, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_main_group_1", + "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": [ + 2.000744715132375, + -0.8206009051667159, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1e01047f7b8c3d378c293a01613a431be5b37e89 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,385 @@ +{ + "layout_id": 52, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.050129952000000005, + 0.1410848, + 0.0501184 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml" + }, + "reset_region": { + "size": [ + 1.2650000000000001, + 0.65 + ], + "offset": [ + 0.4949999999999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.24067113244911043, + -1.2644340438947022e-05, + -0.20018010693413738 + ], + "size": [ + 0.3661999458012797, + 0.40747079991915935 + ], + "height": 0.22430961436694602, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_4_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": [ + 2.479960807328709, + -1.8825031127603045, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77bdb80c79a60cf0f2feb95d96b0a9e566c0bad8 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,431 @@ +{ + "layout_id": 45, + "style_id": 15, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.0942861, + 0.09428038, + 0.121362 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup010/model.xml" + }, + "reset_region": { + "size": [ + 0.7636371803869253, + 0.65 + ], + "offset": [ + -0.8851814098065373, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.27964325197453305, + -0.024715005115716268, + -0.22885473673370343 + ], + "size": [ + 0.24005096645558588, + 0.40076461774204786 + ], + "height": 0.1355223112930033, + "name": "basin_right" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_main_group_1", + "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": [ + 2.752861396125114, + -0.8137595633846052, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae146ecac343fd12fe5630c01c8bad53d86c04e1 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,355 @@ +{ + "layout_id": 40, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.0631424, + 0.151942576, + 0.059472000000000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml" + }, + "reset_region": { + "size": [ + 0.720325, + 0.65 + ], + "offset": [ + 0.8573375000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml" + }, + "reset_region": { + "offset": [ + -0.24067113244911043, + -1.2644340438947022e-05, + -0.20018010693413738 + ], + "size": [ + 0.3661999458012797, + 0.40747079991915935 + ], + "height": 0.22430961436694602, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_right_group_1", + "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": [ + 2.9781170297174744, + -1.7271096570866968, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89ad35c396bc0a042759259f8420e2c31ab53596 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,409 @@ +{ + "layout_id": 36, + "style_id": 55, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.094732, + 0.094042, + 0.11063924 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup005/model.xml" + }, + "reset_region": { + "size": [ + 1.3517243019160479, + 0.65 + ], + "offset": [ + 0.7783878490419762, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml" + }, + "reset_region": { + "offset": [ + -0.16428449956722066, + -0.03902629220261322, + -0.22800612393871678 + ], + "size": [ + 0.384537337814347, + 0.37019680339105854 + ], + "height": 0.12750776516385834, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_left_group_1", + "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": [ + 0.8116555225622881, + -1.3270924787299567, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7053f4cf3f55a10d597345e2b0cebe8d115e6547 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,430 @@ +{ + "layout_id": 45, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.10449502399999999, + 0.21293171200000002, + 0.07461724800000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup004/model.xml" + }, + "reset_region": { + "size": [ + 0.8453499999999999, + 0.65 + ], + "offset": [ + 0.844325, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.24067113244911043, + -1.2644340438947022e-05, + -0.20018010693413738 + ], + "size": [ + 0.3661999458012797, + 0.40747079991915935 + ], + "height": 0.22430961436694602, + "name": "basin_left" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_main_group_1", + "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": [ + 2.722009463531312, + -0.7980223813045481, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4f9c479a4ada8fe3bc1e8ca38a4b217052c0893 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,448 @@ +{ + "layout_id": 47, + "style_id": 55, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "counter_03_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.0786316751, + 0.11, + 0.0912749266 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml" + }, + "reset_region": { + "size": [ + 1.2828731019160478, + 0.649981 + ], + "offset": [ + -0.7554374490419761, + -3.469446951953614e-17, + 0.4599995 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml" + }, + "reset_region": { + "offset": [ + -0.16428449956722066, + -0.03902629220261322, + -0.22800612393871678 + ], + "size": [ + 0.384537337814347, + 0.37019680339105854 + ], + "height": 0.12750776516385834, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_03_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": [ + 6.09941894192819, + -2.067347265779343, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f42cad0d6f9f2e7658cbed98c9383e521294c12 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,404 @@ +{ + "layout_id": 41, + "style_id": 43, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.107013285, + 0.12613161625, + 0.0628187925 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_10/model.xml" + }, + "reset_region": { + "size": [ + 0.784540203625498, + 0.650008 + ], + "offset": [ + 0.9171438981872513, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.20564561673306772, + -0.00026283565737052206, + -0.24197012749003982 + ], + "size": [ + 0.3156186952191235, + 0.37582371792828684 + ], + "height": 0.1974794886454183, + "name": "basin_left" + } + } + ], + "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_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" + }, + "lightswitch_room": { + "cls": "WallAccessory" + }, + "wallaccessory.003_room": { + "cls": "WallAccessory" + }, + "wallaccessory.001_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "sink_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_main_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_main_group_1": { + "cls": "SingleCabinet" + }, + "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": "HingeCabinet" + }, + "stack_2_main_group_1_2": { + "cls": "PanelCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "dishwasher_1_main_group_1": { + "cls": "Dishwasher" + }, + "bottom_main_group_1_base": { + "cls": "Box" + }, + "bottom_main_group_1_1": { + "cls": "Drawer" + }, + "microwave_main_group_1": { + "cls": "Microwave" + }, + "fridgesidebyside_main_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "oven_cabinet_main_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_main_group_1": { + "cls": "HousingCabinet" + }, + "top_main_group_1": { + "cls": "HingeCabinet" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "knife_block_main_group_1": { + "cls": "Accessory" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "counter_2_right_group_1": { + "cls": "Counter" + }, + "stove_right_group_1": { + "cls": "Stove" + }, + "stove_hood_right_group_1": { + "cls": "Hood" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "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" + }, + "toaster_right_group_1": { + "cls": "Toaster" + }, + "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_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": "Drawer" + }, + "stack_3_island_group_1_2": { + "cls": "Drawer" + }, + "island_island_group_2": { + "cls": "Counter" + }, + "stack_4_island_group_2_base": { + "cls": "Box" + }, + "stack_4_island_group_2_1": { + "cls": "SingleCabinet" + }, + "stack_5_island_group_2_base": { + "cls": "Box" + }, + "stack_5_island_group_2_1": { + "cls": "SingleCabinet" + }, + "paper_towel_island_group_2": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_main_group_1", + "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": [ + 2.6607543795722233, + -0.7890944493525274, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d50ec77dc77c088ea34dc794e6a5bde46a622d1b --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 12, + "style_id": 41, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.633507981439009, + 0.65 + ], + "offset": [ + 1.120246009280496, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup005/model.xml" + }, + "reset_region": { + "offset": [ + -0.2743378307648673, + -0.00032859913629010307, + -0.2378779518881799 + ], + "size": [ + 0.2846096953416748, + 0.40586402736016364 + ], + "height": 0.19603346130024896, + "name": "basin_left" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_1_main_group", + "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": [ + 2.65585555719901, + -0.8188487487079956, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99b00102ad54afcb3bf91d934632ffea788391a4 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,539 @@ +{ + "layout_id": 12, + "style_id": 55, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.0786316751, + 0.11, + 0.0912749266 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml" + }, + "reset_region": { + "size": [ + 1.7140803019160478, + 0.65 + ], + "offset": [ + 1.0799598490419762, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup012/model.xml" + }, + "reset_region": { + "offset": [ + -0.16428449956722066, + -0.03902629220261322, + -0.22800612393871678 + ], + "size": [ + 0.384537337814347, + 0.37019680339105854 + ], + "height": 0.12750776516385834, + "name": "basin_left" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_1_main_group", + "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": [ + 2.656562250415045, + -0.7881704562005434, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..365e8a697441ac2eeca7a65dbaf7c3a7b835e8d6 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,430 @@ +{ + "layout_id": 60, + "style_id": 23, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.0631424, + 0.151942576, + 0.059472000000000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml" + }, + "reset_region": { + "size": [ + 1.5362981958889073, + 0.650002 + ], + "offset": [ + -1.0069199020555464, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "sink_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_11/model.xml" + }, + "reset_region": { + "offset": [ + -0.18176103991038203, + -0.0020639937960802573, + -0.22482984587615992 + ], + "size": [ + 0.36067763254884516, + 0.40807410857339144 + ], + "height": 0.1631134240516747, + "name": "basin_left" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_left_group_1", + "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": [ + 2.301278773673174, + -2.309563671090383, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415922821865117 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ff7a071b5a09f0eed0bd3ca69d2290bb8542ca3 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 42, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.082699376, + 0.190864, + 0.06475840000000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml" + }, + "reset_region": { + "size": [ + 1.0600275477734424, + 1.242 + ], + "offset": [ + -0.7779862261132788, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_10/model.xml" + }, + "reset_region": { + "offset": [ + -0.2537734798603006, + -0.004087814906791873, + -0.21525345944628485 + ], + "size": [ + 0.32479491990653453, + 0.4007205589538012 + ], + "height": 0.17946331701303553, + "name": "basin_left" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_island_group_1", + "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": [ + 3.46188569361061, + -4.0873283686968644, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb60b247be0e8512f8b9e457d93dd1438693daa3 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,377 @@ +{ + "layout_id": 37, + "style_id": 52, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.7281390827484294, + 1.045 + ], + "offset": [ + 0.7659304586257851, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_1/model.xml" + }, + "reset_region": { + "offset": [ + -0.22709883292382899, + -0.037331537329460776, + -0.10634084295186433 + ], + "size": [ + 0.3486870707885604, + 0.37482596015796776 + ], + "height": 0.12014537308901849, + "name": "basin_left" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_island_group_1", + "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": [ + 2.5336353037895996, + -2.7957243242908922, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..371f486eaaa50e6617298e3565520de373b2a732 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,449 @@ +{ + "layout_id": 47, + "style_id": 14, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_03_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.3395224480104921, + 0.649981 + ], + "offset": [ + -0.7271127759947539, + -3.469446951953614e-17, + 0.4599995 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup004/model.xml" + }, + "reset_region": { + "offset": [ + -0.08835509125800226, + -0.005608429361997777, + -0.17187606599785224 + ], + "size": [ + 0.2839308153515673, + 0.33929420642075103 + ], + "height": 0.18126232633351047, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_03_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": [ + 6.162961037762818, + -2.254532470565447, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d05634cf8e6f786c150117648dabdd0f2f1523a --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,494 @@ +{ + "layout_id": 43, + "style_id": 41, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.094732, + 0.094042, + 0.11063924 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup005/model.xml" + }, + "reset_region": { + "size": [ + 1.577103962878018, + 0.65 + ], + "offset": [ + 0.483948018560991, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "sink_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.2743378307648673, + -0.00032859913629010307, + -0.2378779518881799 + ], + "size": [ + 0.2846096953416748, + 0.40586402736016364 + ], + "height": 0.19603346130024896, + "name": "basin_left" + } + } + ], + "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_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_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.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "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_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "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" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_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": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_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" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "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" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_left_group_1", + "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": [ + 2.514054131236417, + -1.8970091997593788, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65ff008f8177faff3f847527a723f813a6172e51 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,448 @@ +{ + "layout_id": 47, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "counter_03_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.050129952000000005, + 0.1410848, + 0.0501184 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml" + }, + "reset_region": { + "size": [ + 1.1912487999999999, + 0.649981 + ], + "offset": [ + -0.8012496, + -3.469446951953614e-17, + 0.4599995 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.24067113244911043, + -1.2644340438947022e-05, + -0.20018010693413738 + ], + "size": [ + 0.3661999458012797, + 0.40747079991915935 + ], + "height": 0.22430961436694602, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_03_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": [ + 6.159257488427338, + -2.0932786432849873, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3a8655308e8e0778cfe1ece5973df9e17976a5b --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,356 @@ +{ + "layout_id": 40, + "style_id": 41, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.0770555522, + 0.1110600634, + 0.0960879095 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_16/model.xml" + }, + "reset_region": { + "size": [ + 0.7313769814390089, + 0.65 + ], + "offset": [ + 0.8518115092804959, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup010/model.xml" + }, + "reset_region": { + "offset": [ + -0.2743378307648673, + -0.00032859913629010307, + -0.2378779518881799 + ], + "size": [ + 0.2846096953416748, + 0.40586402736016364 + ], + "height": 0.19603346130024896, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_right_group_1", + "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": [ + 2.9914197814840358, + -1.965579533008039, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0593094b38757ba976fe808eb2f9ee208b3a677b --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,416 @@ +{ + "layout_id": 14, + "style_id": 23, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.7397222958889069, + 0.65 + ], + "offset": [ + 0.4801388520555464, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "sink_1_island_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup004/model.xml" + }, + "reset_region": { + "offset": [ + -0.18176103991038203, + -0.0020639937960802573, + -0.22482984587615992 + ], + "size": [ + 0.36067763254884516, + 0.40807410857339144 + ], + "height": 0.1631134240516747, + "name": "basin_left" + } + } + ], + "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" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "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": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "counter": "counter_1_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": [ + 2.8557564248455756, + -1.4950015540708232, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d5136d388dc650504b1d4ab9adfd7d4055ed38e --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,385 @@ +{ + "layout_id": 52, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.268175095546885, + 0.65 + ], + "offset": [ + 0.4934124522265575, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_right_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup001/model.xml" + }, + "reset_region": { + "offset": [ + 0.19388016231908867, + -0.002682803526246197, + -0.2138930795623537 + ], + "size": [ + 0.43329073200660473, + 0.41896811018702423 + ], + "height": 0.17810293712910438, + "name": "basin_right" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_right_group_1", + "counter": "counter_4_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": [ + 2.4728896260920514, + -1.6820468450864876, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e97ccc6e34291fe0d728c42b02165fd250707cf8 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,421 @@ +{ + "layout_id": 32, + "style_id": 15, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.050129952000000005, + 0.1410848, + 0.0501184 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml" + }, + "reset_region": { + "size": [ + 1.2099796803869256, + 0.65 + ], + "offset": [ + -0.49500515980653725, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup013/model.xml" + }, + "reset_region": { + "offset": [ + 0.27964325197453305, + -0.024715005115716268, + -0.22885473673370343 + ], + "size": [ + 0.24005096645558588, + 0.40076461774204786 + ], + "height": 0.1355223112930033, + "name": "basin_right" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_main_group_1", + "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": [ + 2.5093396198049387, + -0.7613451087159119, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c10b349cd2118077d15eb45b1023f50d4da9ae8 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,472 @@ +{ + "layout_id": 18, + "style_id": 41, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_1_right_group", + "loc": "left_right", + "min_size": [ + 0.082699376, + 0.190864, + 0.06475840000000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml" + }, + "reset_region": { + "size": [ + 2.119551981439009, + 0.65 + ], + "offset": [ + -0.8902240092804954, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "sink_1_right_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup007/model.xml" + }, + "reset_region": { + "offset": [ + -0.2743378307648673, + -0.00032859913629010307, + -0.2378779518881799 + ], + "size": [ + 0.2846096953416748, + 0.40586402736016364 + ], + "height": 0.19603346130024896, + "name": "basin_left" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_1_right_group", + "counter": "counter_1_right_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": [ + 2.2649214033391565, + -2.5990586277875782, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78aecc2333f730b7fba5529730ee92430550af53 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,466 @@ +{ + "layout_id": 51, + "style_id": 15, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8937400203869255, + 0.65 + ], + "offset": [ + -1.1409309898065372, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup005/model.xml" + }, + "reset_region": { + "offset": [ + -0.05161345180690153, + -0.024715005115716268, + -0.22885473673370343 + ], + "size": [ + 0.3490566762242678, + 0.40076461774204786 + ], + "height": 0.1355223112930033, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_main_group_1", + "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": [ + 4.362833562151919, + -0.8411600411363372, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd0798e58c63952a531d5ed8d91d5a8be277b0e6 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,538 @@ +{ + "layout_id": 12, + "style_id": 55, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.082699376, + 0.190864, + 0.06475840000000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml" + }, + "reset_region": { + "size": [ + 1.7140803019160478, + 0.65 + ], + "offset": [ + 1.0799598490419762, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "sink_1_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup010/model.xml" + }, + "reset_region": { + "offset": [ + -0.16428449956722066, + -0.03902629220261322, + -0.22800612393871678 + ], + "size": [ + 0.384537337814347, + 0.37019680339105854 + ], + "height": 0.12750776516385834, + "name": "basin_left" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_1_main_group", + "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": [ + 2.5689919577239677, + -0.7631079867582484, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a29423053475f8970056c5f994ddd069ee85fb45 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 14, + "style_id": 39, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "counter_1_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.09524634, + 0.09524519000000001, + 0.107742 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup006/model.xml" + }, + "reset_region": { + "size": [ + 0.7626243019160477, + 0.65 + ], + "offset": [ + 0.468687849041976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_1_island_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml" + }, + "reset_region": { + "offset": [ + -0.16428449956722066, + -0.03902629220261322, + -0.22800612393871678 + ], + "size": [ + 0.384537337814347, + 0.37019680339105854 + ], + "height": 0.12750776516385834, + "name": "basin_left" + } + } + ], + "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" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "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": "Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "counter": "counter_1_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": [ + 2.796813892884848, + -1.5085541390876036, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000107/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000107/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d0c03fbbd368b916c1e10b426d3debe2060465fe --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000107/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 59, + "style_id": 29, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.0631424, + 0.151942576, + 0.059472000000000004 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup003/model.xml" + }, + "reset_region": { + "size": [ + 0.7161305000000001, + 1.075989 + ], + "offset": [ + 0.84306525, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml" + }, + "reset_region": { + "offset": [ + -0.24067113244911043, + -1.2644340438947022e-05, + -0.20018010693413738 + ], + "size": [ + 0.3661999458012797, + 0.40747079991915935 + ], + "height": 0.22430961436694602, + "name": "basin_left" + } + } + ], + "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" + }, + "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": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_island_group_1", + "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": [ + 3.79468871240725, + -2.1132862852612275, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.570796175799094 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000111/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000111/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f9ae7d1f04f33c48c1fd5f7b0ff5ffd24ec65abe --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000111/ep_meta.json @@ -0,0 +1,454 @@ +{ + "layout_id": 42, + "style_id": 39, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.10449502399999999, + 0.21293171200000002, + 0.07461724800000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup004/model.xml" + }, + "reset_region": { + "size": [ + 1.1500643019160477, + 1.242 + ], + "offset": [ + -0.7329678490419762, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_16/model.xml" + }, + "reset_region": { + "offset": [ + -0.16428449956722066, + -0.03902629220261322, + -0.22800612393871678 + ], + "size": [ + 0.384537337814347, + 0.37019680339105854 + ], + "height": 0.12750776516385834, + "name": "basin_left" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_island_group_1", + "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": [ + 3.413856466815718, + -4.349951950115374, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000115/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000115/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8576793392d7a367437969d3f9ff7b41288172d3 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000115/ep_meta.json @@ -0,0 +1,406 @@ +{ + "layout_id": 58, + "style_id": 15, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.07693444709999998, + 0.105, + 0.0893758425 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_11/model.xml" + }, + "reset_region": { + "size": [ + 0.7022471803869252, + 0.65 + ], + "offset": [ + 1.280676409806537, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_main_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup001/model.xml" + }, + "reset_region": { + "offset": [ + -0.05161345180690153, + -0.024715005115716268, + -0.22885473673370343 + ], + "size": [ + 0.3490566762242678, + 0.40076461774204786 + ], + "height": 0.1355223112930033, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_main_group_1", + "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": [ + 3.781834277401002, + -0.8282292216864443, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000136/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000136/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..03cfa91043ac94acf2e8b0a51fb54e4d6c766926 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000136/ep_meta.json @@ -0,0 +1,451 @@ +{ + "layout_id": 21, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.2185875477734425, + 0.65 + ], + "offset": [ + 0.5407062261132787, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml" + }, + "reset_region": { + "offset": [ + 0.19388016231908867, + -0.002682803526246197, + -0.2138930795623537 + ], + "size": [ + 0.43329073200660473, + 0.41896811018702423 + ], + "height": 0.17810293712910438, + "name": "basin_right" + } + } + ], + "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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_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" + }, + "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" + }, + "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" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_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" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_main_group", + "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": [ + 1.8239255813351598, + -0.7955634029151628, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000138/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000138/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d94393a47be951febb3caec94f4429990111580e --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000138/ep_meta.json @@ -0,0 +1,461 @@ +{ + "layout_id": 46, + "style_id": 38, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "counter_2_front_group_1", + "sample_region_kwargs": { + "ref": "sink_front_group_1", + "loc": "left_right", + "min_size": [ + 0.10691076999999999, + 0.10691487, + 0.10324559999999999 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup008/model.xml" + }, + "reset_region": { + "size": [ + 1.941898842748429, + 1.300035 + ], + "offset": [ + 1.1812665786257854, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "sink_front_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.22636847405539381, + -0.037331545695421964, + -0.10636635913346226 + ], + "size": [ + 0.3486870917034634, + 0.37482594342604536 + ], + "height": 0.1200625960861264, + "name": "basin_right" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_front_group_1", + "counter": "counter_2_front_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": [ + 4.118790503954867, + -2.6947341380331458, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712230463812298 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000139/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000139/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bdd0aad7fd78797e1356b0330c51fdfc2dd575fe --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000139/ep_meta.json @@ -0,0 +1,376 @@ +{ + "layout_id": 37, + "style_id": 15, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.09607590399999999, + 0.2092256, + 0.072 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup002/model.xml" + }, + "reset_region": { + "size": [ + 0.7351871803869254, + 1.045 + ], + "offset": [ + 0.7624064098065371, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "offset": [ + 0.27964325197453305, + -0.024715005115716268, + -0.22885473673370343 + ], + "size": [ + 0.24005096645558588, + 0.40076461774204786 + ], + "height": 0.1355223112930033, + "name": "basin_right" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_island_group_1", + "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": [ + 2.500356404936125, + -2.6957176489864576, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -4.7153339388650295e-07 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000140/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000140/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c924a3eb149a4e41e3a705e9607d00abe9c720bf --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000140/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 30, + "style_id": 42, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "sink_right_group", + "loc": "left_right", + "min_size": [ + 0.0942861, + 0.09428038, + 0.121362 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup010/model.xml" + }, + "reset_region": { + "size": [ + 1.10235, + 0.65 + ], + "offset": [ + -0.9463250000000001, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_right_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup001/model.xml" + }, + "reset_region": { + "offset": [ + -0.3155123874781437, + -0.0013502197326741155, + -0.14169635611952472 + ], + "size": [ + 0.22385068813074951, + 0.2986569638876845 + ], + "height": 0.08740352238851351, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_right_group", + "counter": "counter_1_right_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": [ + 2.9729255085921427, + -1.437236492037994, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.3435886114798734e-07 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000141/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000141/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..06a988299c679695a8b6bf4c5747f3871cd75ec5 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000141/ep_meta.json @@ -0,0 +1,457 @@ +{ + "layout_id": 31, + "style_id": 39, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "glass_cup", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.09448176999999999, + 0.09448518, + 0.15200603000000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "receptacle", + "stackable" + ], + "groups": [ + "glass_cup" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup002/model.xml" + }, + "reset_region": { + "size": [ + 1.5746065419160475, + 1.3 + ], + "offset": [ + 1.2626782290419758, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml" + }, + "reset_region": { + "offset": [ + -0.16428449956722066, + -0.03902629220261322, + -0.22800612393871678 + ], + "size": [ + 0.384537337814347, + 0.37019680339105854 + ], + "height": 0.12750776516385834, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_island_group_1", + "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": [ + 3.1061251394253095, + -4.303885789620108, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000143/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000143/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9fbca9555e679b727cf74792f1960e025f1eae7b --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000143/ep_meta.json @@ -0,0 +1,460 @@ +{ + "layout_id": 33, + "style_id": 24, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.10449502399999999, + 0.21293171200000002, + 0.07461724800000001 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup004/model.xml" + }, + "reset_region": { + "size": [ + 1.6966243019160476, + 1.1661 + ], + "offset": [ + -1.051687849041976, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "offset": [ + -0.16428449956722066, + -0.03902629220261322, + -0.22800612393871678 + ], + "size": [ + 0.384537337814347, + 0.37019680339105854 + ], + "height": 0.12750776516385834, + "name": "basin_left" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_island_group_1", + "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": [ + 2.553567666666561, + -1.7593964221515457, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5706453736350774 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000145/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000145/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6d4947bdbe1dff16121a2f0e442f693f7bd2f69b --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000145/ep_meta.json @@ -0,0 +1,452 @@ +{ + "layout_id": 21, + "style_id": 12, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_main_group", + "loc": "left_right", + "min_size": [ + 0.07856355179999999, + 0.115, + 0.09038899835 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_1/model.xml" + }, + "reset_region": { + "size": [ + 1.2185875477734425, + 0.65 + ], + "offset": [ + 0.5407062261132787, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "sink_main_group", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "offset": [ + -0.2537734798603006, + -0.004087814906791873, + -0.21525345944628485 + ], + "size": [ + 0.32479491990653453, + 0.4007205589538012 + ], + "height": 0.17946331701303553, + "name": "basin_left" + } + } + ], + "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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_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" + }, + "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" + }, + "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" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_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" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "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" + } + }, + "gen_textures": {}, + "lang": "Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_main_group", + "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": [ + 1.9053259934257383, + -0.7624863693920969, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000148/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000148/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23694eeeb3bff0faf98ec7ab458dd1f20e80594a --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000148/ep_meta.json @@ -0,0 +1,442 @@ +{ + "layout_id": 19, + "style_id": 55, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8566243019160478, + 0.65 + ], + "offset": [ + -0.8216878490419761, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_left_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup006/model.xml" + }, + "reset_region": { + "offset": [ + -0.16428449956722066, + -0.03902629220261322, + -0.22800612393871678 + ], + "size": [ + 0.384537337814347, + 0.37019680339105854 + ], + "height": 0.12750776516385834, + "name": "basin_left" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_left_group_1", + "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": [ + 0.7751870101470866, + -2.10230109084311, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000149/ep_meta.json b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000149/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..847659afa2019c9167852fa3839ea208317d9774 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/extras/episode_000149/ep_meta.json @@ -0,0 +1,457 @@ +{ + "layout_id": 31, + "style_id": 35, + "object_cfgs": [ + { + "name": "obj_to_wash", + "obj_groups": "mug", + "graspable": true, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "sink_island_group_1", + "loc": "left_right", + "min_size": [ + 0.0770555522, + 0.1110600634, + 0.0960879095 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + -0.5 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "receptacle", + "stackable" + ], + "groups": [ + "mug" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_16/model.xml" + }, + "reset_region": { + "size": [ + 1.787470791212, + 1.3 + ], + "offset": [ + -1.156246104394, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "obj_drying", + "obj_groups": "measuring_cup", + "graspable": true, + "placement": { + "fixture": "sink_island_group_1", + "size": [ + 0.4, + 0.4 + ], + "pos": [ + 0, + 1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "measuring_cup", + "tool" + ], + "groups": [ + "measuring_cup" + ], + "cat": "measuring_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup001/model.xml" + }, + "reset_region": { + "offset": [ + 0.09924350770594688, + 0.0014518934752891371, + -0.15147224954333016 + ], + "size": [ + 0.2945765662544736, + 0.31059970897591727 + ], + "height": 0.12093295935985701, + "name": "basin_right" + } + } + ], + "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": "Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing.", + "fixture_refs": { + "sink": "sink_island_group_1", + "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": [ + 3.1060915330105345, + -4.469058669592845, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.14159329371052 + ], + "obj_to_wash_basin": "left", + "obj_drying_basin": "right" +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/meta/embodiment.json b/pretrain/composite/DivideBasins/20250718/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/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/composite/DivideBasins/20250718/lerobot/meta/episodes.jsonl b/pretrain/composite/DivideBasins/20250718/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd438c3c00af9c3b0a36645ed380ee464e698aa9 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/meta/episodes.jsonl @@ -0,0 +1,152 @@ +{"episode_index": 0, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 627} +{"episode_index": 1, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 919} +{"episode_index": 2, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 297} +{"episode_index": 3, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 333} +{"episode_index": 4, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 414} +{"episode_index": 5, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 861} +{"episode_index": 6, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 534} +{"episode_index": 7, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 392} +{"episode_index": 8, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 288} +{"episode_index": 9, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 374} +{"episode_index": 10, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 525} +{"episode_index": 11, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 1005} +{"episode_index": 12, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 1130} +{"episode_index": 13, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 1173} +{"episode_index": 14, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 443} +{"episode_index": 15, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 362} +{"episode_index": 16, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 804} +{"episode_index": 17, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 907} +{"episode_index": 18, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 398} +{"episode_index": 19, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 910} +{"episode_index": 20, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 841} +{"episode_index": 21, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 505} +{"episode_index": 22, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 252} +{"episode_index": 23, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 458} +{"episode_index": 24, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 1084} +{"episode_index": 25, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 792} +{"episode_index": 26, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 821} +{"episode_index": 27, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 1178} +{"episode_index": 28, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 320} +{"episode_index": 29, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 1117} +{"episode_index": 30, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 1066} +{"episode_index": 31, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 326} +{"episode_index": 32, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 306} +{"episode_index": 33, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 1260} +{"episode_index": 34, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 711} +{"episode_index": 35, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 1147} +{"episode_index": 36, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 1100} +{"episode_index": 37, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 589} +{"episode_index": 38, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 327} +{"episode_index": 39, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 820} +{"episode_index": 40, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 933} +{"episode_index": 41, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 292} +{"episode_index": 42, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 812} +{"episode_index": 43, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 673} +{"episode_index": 44, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 403} +{"episode_index": 45, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 798} +{"episode_index": 46, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 311} +{"episode_index": 47, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 919} +{"episode_index": 48, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 911} +{"episode_index": 49, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 981} +{"episode_index": 50, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 328} +{"episode_index": 51, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 563} +{"episode_index": 52, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 915} +{"episode_index": 53, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 1224} +{"episode_index": 54, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 479} +{"episode_index": 55, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 289} +{"episode_index": 56, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 1175} +{"episode_index": 57, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 1084} +{"episode_index": 58, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 918} +{"episode_index": 59, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 191} +{"episode_index": 60, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 917} +{"episode_index": 61, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 1071} +{"episode_index": 62, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 1169} +{"episode_index": 63, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 738} +{"episode_index": 64, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 966} +{"episode_index": 65, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 381} +{"episode_index": 66, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 367} +{"episode_index": 67, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 719} +{"episode_index": 68, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 1144} +{"episode_index": 69, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 254} +{"episode_index": 70, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 517} +{"episode_index": 71, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 715} +{"episode_index": 72, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 1105} +{"episode_index": 73, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 889} +{"episode_index": 74, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 803} +{"episode_index": 75, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 997} +{"episode_index": 76, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 687} +{"episode_index": 77, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 604} +{"episode_index": 78, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 1313} +{"episode_index": 79, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 360} +{"episode_index": 80, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 281} +{"episode_index": 81, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 231} +{"episode_index": 82, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 203} +{"episode_index": 83, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 311} +{"episode_index": 84, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 718} +{"episode_index": 85, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 380} +{"episode_index": 86, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 280} +{"episode_index": 87, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 1122} +{"episode_index": 88, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 316} +{"episode_index": 89, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 849} +{"episode_index": 90, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 981} +{"episode_index": 91, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 805} +{"episode_index": 92, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 620} +{"episode_index": 93, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 941} +{"episode_index": 94, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 241} +{"episode_index": 95, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 256} +{"episode_index": 96, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 800} +{"episode_index": 97, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 1017} +{"episode_index": 98, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 755} +{"episode_index": 99, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 263} +{"episode_index": 100, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 1108} +{"episode_index": 101, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 350} +{"episode_index": 102, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 885} +{"episode_index": 103, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 1495} +{"episode_index": 104, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 1170} +{"episode_index": 105, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 849} +{"episode_index": 106, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 385} +{"episode_index": 107, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 1091} +{"episode_index": 108, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 840} +{"episode_index": 109, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 981} +{"episode_index": 110, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 827} +{"episode_index": 111, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 914} +{"episode_index": 112, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 1030} +{"episode_index": 113, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 780} +{"episode_index": 114, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 997} +{"episode_index": 115, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 870} +{"episode_index": 116, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 1111} +{"episode_index": 117, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 352} +{"episode_index": 118, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 326} +{"episode_index": 119, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 772} +{"episode_index": 120, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 404} +{"episode_index": 121, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 317} +{"episode_index": 122, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 971} +{"episode_index": 123, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 631} +{"episode_index": 124, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 1178} +{"episode_index": 125, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 233} +{"episode_index": 126, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 287} +{"episode_index": 127, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 754} +{"episode_index": 128, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 1034} +{"episode_index": 129, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 985} +{"episode_index": 130, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 260} +{"episode_index": 131, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 661} +{"episode_index": 132, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 931} +{"episode_index": 133, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 1060} +{"episode_index": 134, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 239} +{"episode_index": 135, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 956} +{"episode_index": 136, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 366} +{"episode_index": 137, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 1006} +{"episode_index": 138, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 312} +{"episode_index": 139, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 331} +{"episode_index": 140, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 906} +{"episode_index": 141, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 718} +{"episode_index": 142, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 944} +{"episode_index": 143, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 842} +{"episode_index": 144, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 893} +{"episode_index": 145, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 821} +{"episode_index": 146, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 1059} +{"episode_index": 147, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."], "length": 350} +{"episode_index": 148, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 680} +{"episode_index": 149, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."], "length": 311} +{"episode_index": 150, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."], "length": 877} +{"episode_index": 151, "tasks": ["Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."], "length": 847} diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/DivideBasins/20250718/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef65ddeb1a38cfe94af8cb3af756cbcff8c091d5 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,152 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.07058823529411765]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6822372678270526]], [[0.6258845894607843]], [[0.5652073840571386]]], "std": [[[0.20808824667710657]], [[0.1932575058754873]], [[0.2291463987866491]]], "count": [125]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7064431458716298]], [[0.6067394215303309]], [[0.5128646249808517]]], "std": [[[0.13781812190976603]], [[0.15040579723447495]], [[0.19880598188896903]]], "count": [125]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6951140907437193]], [[0.5987740545534621]], [[0.510682262465533]]], "std": [[[0.15210072337719918]], [[0.15921554882015743]], [[0.19865750192933393]]], "count": [125]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [627]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [627]}, "observation.state": {"min": [3.718304944659735, -2.1256606136587135, 0.6999966713881351, 0.0, 0.0, -0.7071616649627686, 0.7070518732070923, 0.09843598866310854, -0.2294480079409369, 0.12009130682530123, -0.9948524832725525, -0.9729915261268616, -0.3121150732040405, 1.0663177818059921e-05, -0.0006101006029278106, -0.04001630196802058], "max": [3.7185282812803573, -2.125567752143043, 0.7032493693328032, 0.0, 0.0, -0.707023561000824, 0.7071900367736816, 0.48674992442366216, 0.7671736829807774, 0.5751379257923259, 0.9954349398612976, 0.9945046901702881, 0.28709089756011963, 0.36869463324546814, 0.04000378341428898, -0.004933645692166772], "mean": [3.718376216326611, -2.125649672515168, 0.7023895796007427, 0.0, 0.0, -0.7071079573752967, 0.7071055549373657, 0.329990140624682, 0.30077816855745293, 0.3621017942564882, -0.003308424035063462, 0.23587448793972887, -0.030974560792892472, 0.09597100708629948, 0.028313285036344775, -0.027921443292496233], "std": [1.4797212103530498e-05, 1.2288583929581204e-05, 0.0010693086418968746, 0.0, 0.0, 1.0392773713381007e-05, 1.0395510483786769e-05, 0.11408412916162866, 0.30177465363635164, 0.13275422254474542, 0.6300171382765142, 0.7131476770711327, 0.1483609793758348, 0.08167153687680177, 0.014860104170023647, 0.015027080894229569], "count": [627]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2714285714285714, -0.18285714285714286, -0.12571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 0.8857142857142857, 0.23428571428571432, 0.26285714285714284, 0.38857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.029118250170881703, -0.005228981544770997, -0.0272727272727273, 0.011624515835042143, -0.0052768284347231706, 0.048370927318295766, -0.26953748006379585], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.34890969496878255, 0.44698727724267684, 0.3674962364003923, 0.06538188998310178, 0.0692391073366228, 0.09428280837300673, 0.9629898996567183], "count": [627]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02551834098994732], "std": [0.15769322216510773], "count": [627]}, "next.done": {"min": [false], "max": [true], "mean": [0.001594896331738437], "std": [0.039904293471122176], "count": [627]}, "timestamp": {"min": [0.0], "max": [31.3], "mean": [15.649999999999999], "std": [9.049953959367233], "count": [627]}, "frame_index": {"min": [0], "max": [626], "mean": [313.0], "std": [180.99907918734468], "count": [627]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [627]}, "index": {"min": [0], "max": [626], "mean": [313.0], "std": [180.99907918734468], "count": [627]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [627]}}} +{"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": [[[0.5245410024317168]], [[0.541632941246258]], [[0.4927960985860953]]], "std": [[[0.3107352210298838]], [[0.2820729279540574]], [[0.30789910607812415]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.03529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7324518176249345]], [[0.6900961263338049]], [[0.6396441785207235]]], "std": [[[0.3242772638428826]], [[0.3398758530353512]], [[0.3069393706107475]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7072625538487821]], [[0.6694757664764066]], [[0.6224510111764844]]], "std": [[[0.33979490772511184]], [[0.34747182591677894]], [[0.307986201383837]]], "count": [166]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [919]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [919]}, "observation.state": {"min": [1.977457499708062, -0.7681298481661356, 0.699997890882596, 0.0, 0.0, 0.7070821523666382, 0.7070859670639038, 0.17999325417874057, -0.02208609687563068, 0.09928499264737367, -0.9944677352905273, -0.7004865407943726, -0.43712106347084045, 7.310877845156938e-05, 0.0030372273430900824, -0.040001789068057], "max": [1.9774993133690009, -0.7680898576779681, 0.701197619541669, 0.0, 0.0, 0.7071275115013123, 0.7071313858032227, 0.4793089592902551, 0.6665338694763718, 0.7445235971148467, 0.9996026754379272, 0.7033082842826843, 0.1557384729385376, 0.44098368287086487, 0.04004397770828068, -0.0016902354794956231], "mean": [1.9774788188617693, -0.7680953846674937, 0.7005582249450771, 0.0, 0.0, 0.7071064158025582, 0.707107097461771, 0.3139440793679091, 0.2839538266806975, 0.3510038274711922, -0.11964437699551421, 0.178761574205607, -0.045870038730042896, 0.08909804583861256, 0.029417688490362214, -0.02954814715515907], "std": [3.554115051649638e-06, 3.8106863016578697e-06, 0.0004749061451357841, 0.0, 0.0, 3.922908590785306e-06, 3.92363261416253e-06, 0.07404776735360494, 0.213048513909089, 0.16725568555216072, 0.8920028829547196, 0.33479174096565884, 0.14962093214237418, 0.11638693599984487, 0.013553375280194006, 0.013151845393370797], "count": [919]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4821428571428571, -0.7392857142857142, -0.5142857142857143, -0.14357142857142857, -0.17357142857142857, -0.18642857142857147, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4821428571428571, 0.6535714285714286, 0.7339285714285714, 0.07071428571428573, 0.15214285714285716, 0.16928571428571426, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.005106482201150305, 0.02409839888077103, -0.010900823876884711, -0.006113788279185455, -0.0033087206591015084, -0.0063143168039794745, -0.2100108813928183], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16448580512447664, 0.2575166180583172, 0.2833313669152005, 0.033600715501082304, 0.04477776870519575, 0.05903144380711404, 0.977699048632355], "count": [919]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018498368561267853], "std": [0.13474486768245697], "count": [919]}, "next.done": {"min": [false], "max": [true], "mean": [0.001088139281828074], "std": [0.032969004151345196], "count": [919]}, "timestamp": {"min": [0.0], "max": [45.9], "mean": [22.95], "std": [13.264614581660487], "count": [919]}, "frame_index": {"min": [0], "max": [918], "mean": [459.0], "std": [265.29229163320974], "count": [919]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [919]}, "index": {"min": [627], "max": [1545], "mean": [1086.0], "std": [265.29229163320974], "count": [919]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [919]}}} +{"episode_index": 2, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2641486188103171]], [[0.2672291235830269]], [[0.27220853857900584]]], "std": [[[0.1637632804984961]], [[0.15728624035668212]], [[0.15229925802270403]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.06666666666666667]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4269727795170803]], [[0.4053843156403186]], [[0.393686112946155]]], "std": [[[0.23118290300970618]], [[0.22884872934755632]], [[0.2359646694558828]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.06274509803921569]], [[0.0784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4048095984365426]], [[0.39107104133157167]], [[0.38570052143171724]]], "std": [[[0.23384165336391086]], [[0.2279663704845799]], [[0.230095892653033]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [297]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [297]}, "observation.state": {"min": [4.26656035227372, -0.8489512543448379, 0.6999984699525955, 0.0, 0.0, 0.7070321440696716, 0.707137942314148, 0.24282036526421302, -0.32160879804451525, 0.10371950229277938, -0.9889664053916931, -0.28057101368904114, -0.21584124863147736, 0.0011001011589542031, 0.004357643175896607, -0.04001963621646504], "max": [4.266600066015042, -0.8489334740859307, 0.7001561204862442, 0.0, 0.0, 0.7070755362510681, 0.707181453704834, 0.5335008862026666, 0.39040246499669395, 0.6090618074402794, 0.9889294505119324, 0.6617130637168884, 0.18842695653438568, 0.2311437875032425, 0.03953705397653386, -0.006419835774192019], "mean": [4.2665810926948575, -0.8489415160269734, 0.7000416419801978, 0.0, 0.0, 0.707054341882969, 0.7071591718028291, 0.380506885674889, 0.08147190048357007, 0.3348216753199924, 0.7586882206727359, 0.31014539727859625, 0.06792461890572453, 0.12216994030634726, 0.02025943307867852, -0.021217157607680913], "std": [6.278404451144872e-06, 2.1585331762189367e-06, 4.02274938286433e-05, 0.0, 0.0, 7.136412306079207e-06, 7.149757415620955e-06, 0.09307149271787456, 0.2913410484355, 0.1348457741085727, 0.4835906401841289, 0.24183304471699663, 0.10319651174843822, 0.07530020897342059, 0.016154969107911695, 0.01586272055875103], "count": [297]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7714285714285714, -0.9928571428571428, -0.6357142857142857, -0.3142857142857143, -0.14857142857142858, -0.13428571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5571428571428572, 1.0, 0.7928571428571428, 0.15428571428571428, 0.20285714285714287, 0.3628571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.03852813852813854, 0.06943241943241953, -0.032178932178932196, 0.004377104377104381, 0.007638287638287637, 0.011034151034151054, 0.09764309764309764], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.27885861945661033, 0.4455317696958578, 0.35803789780514744, 0.07836997149782009, 0.03899349356996326, 0.1043980747781315, 0.995221495689608], "count": [297]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05387205258011818], "std": [0.22576504945755005], "count": [297]}, "next.done": {"min": [false], "max": [true], "mean": [0.003367003367003367], "std": [0.05792811627638133], "count": [297]}, "timestamp": {"min": [0.0], "max": [14.8], "mean": [7.4], "std": [4.286801449410349], "count": [297]}, "frame_index": {"min": [0], "max": [296], "mean": [148.0], "std": [85.73602898820698], "count": [297]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [297]}, "index": {"min": [1546], "max": [1842], "mean": [1694.0], "std": [85.73602898820698], "count": [297]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [297]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0784313725490196]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5584596108829274]], [[0.4550682331160003]], [[0.42280739099839154]]], "std": [[[0.2713457368906039]], [[0.2867799792171527]], [[0.2784827162030587]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.67348267140108]], [[0.6059455434761795]], [[0.5413325901405484]]], "std": [[[0.22370089309777808]], [[0.2217048037045587]], [[0.24291814716864826]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6853002995509727]], [[0.6239784707462086]], [[0.5650121711282169]]], "std": [[[0.19920887759916153]], [[0.20458968766057067]], [[0.23973051733167663]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [333]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [333]}, "observation.state": {"min": [6.1169135334142775, -2.168001084943551, 0.6999978482517907, 0.0, 0.0, -0.00011340220225974917, 1.0, 0.22091571798959198, 0.001014294031555174, 0.1353898541360764, -0.9985721111297607, -0.19581574201583862, -0.2601529061794281, 8.324062946485355e-06, 0.002744487223193638, -0.04000531589080087], "max": [6.116953442558902, -2.1679254695513643, 0.7014431348750353, 0.0, 0.0, -1.7074449715437368e-05, 1.0, 0.5326538216285845, 0.35976860502369634, 0.5891044105999538, 0.9950048327445984, 0.195517435669899, 0.2111731320619583, 0.07151427865028381, 0.03995005644697352, -0.0033767878498722195], "mean": [6.11694806884607, -2.16796687935781, 0.7002848658529799, 0.0, 0.0, -7.116539922202714e-05, 1.0, 0.4151208104217492, 0.20449100556012423, 0.3225602106378127, 0.5674631917798841, 0.03157669538492197, -0.003595350130339497, 0.024464276606659178, 0.028546318246493674, -0.02871300547351056], "std": [5.925304199652674e-06, 7.998789053328858e-06, 0.0005105187243815132, 0.0, 0.0, 1.1128952564518e-05, 0.0, 0.10110968652285535, 0.13785790442488804, 0.11026875199280256, 0.8015384844708553, 0.1422186528106091, 0.1150459576693311, 0.02124518874123294, 0.015955915894249714, 0.015743202748617655], "count": [333]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.37142857142857144, -0.8928571428571429, -0.5142857142857143, -0.13714285714285715, -0.1657142857142857, -0.20285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4, 1.0, 0.9142857142857143, 0.022857142857142857, 0.2485714285714286, 0.14, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.02807807807807805, 0.025482625482625504, -0.04062634062634056, -0.00851136851136851, 0.010253110253110247, -0.008151008151008148, -0.38738738738738737], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1518508573518856, 0.3481734550701536, 0.29855310813091135, 0.028815284044096428, 0.07313443696114712, 0.05950579697391684, 0.9219170310245803], "count": [333]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.048048049211502075], "std": [0.21386779844760895], "count": [333]}, "next.done": {"min": [false], "max": [true], "mean": [0.003003003003003003], "std": [0.05471731879365945], "count": [333]}, "timestamp": {"min": [0.0], "max": [16.6], "mean": [8.299999999999999], "std": [4.8064193186473725], "count": [333]}, "frame_index": {"min": [0], "max": [332], "mean": [166.0], "std": [96.12838637294743], "count": [333]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [333]}, "index": {"min": [1843], "max": [2175], "mean": [2009.0], "std": [96.12838637294743], "count": [333]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [333]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22546304680319393]], [[0.2257665106081495]], [[0.227197379916322]]], "std": [[[0.14455289083134013]], [[0.12772435159977996]], [[0.11111191858453733]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.06274509803921569]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.379118288526348]], [[0.3615278344247856]], [[0.35263548069374234]]], "std": [[[0.22361410946351792]], [[0.2157458280146544]], [[0.2175473714356984]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.06666666666666667]], [[0.07450980392156863]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40951950970818013]], [[0.3870116487390855]], [[0.37377434046128216]]], "std": [[[0.23581084747932882]], [[0.23093184718304563]], [[0.23542472639075637]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [414]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [414]}, "observation.state": {"min": [2.9889736510453937, -1.5549681857770783, 0.6999983380232224, 0.0, 0.0, -5.1091868954245e-05, 1.0, 0.15868125070426675, -0.689536321424435, 0.12256773049372705, -0.9899390339851379, -0.0538400262594223, -0.13726630806922913, 0.0032333398703485727, 0.007986005621801375, -0.04035921369561145], "max": [2.98902681190614, -1.5548677913213511, 0.701244957110617, 0.0, 0.0, 3.6721663491334766e-05, 1.0, 0.5274986905413543, 0.24065281593344667, 0.5949190143635703, 0.9887332916259766, 0.9804031848907471, 0.23362526297569275, 0.3214736580848694, 0.039469647302242554, -0.01616370320336833], "mean": [2.9890195521176026, -1.5549199838335568, 0.7003060999855925, 0.0, 0.0, -2.7335217030372515e-06, 1.0, 0.30518439072918496, -0.21239084489512666, 0.39426327744406914, 0.6577332057238777, 0.417415930957034, 0.043834860759431826, 0.18841142551962214, 0.027724535413314867, -0.0321843380208564], "std": [6.291098730826692e-06, 1.2213470627201806e-05, 0.0003724555710293846, 0.0, 0.0, 1.57105321437615e-05, 0.0, 0.1030368730328166, 0.35131248728394776, 0.1353162343448944, 0.4319469698769382, 0.39103499593403246, 0.07709728765366931, 0.10148921639717741, 0.012904006185650073, 0.00920281048567407], "count": [414]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8571428571428572, -0.8785714285714286, -0.7071428571428572, -0.32571428571428573, -0.16857142857142857, -0.1142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6714285714285714, 1.0, 1.0, 0.09142857142857143, 0.19428571428571428, 0.4542857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0006556245686680446, 0.016873706004140766, -0.023412698412698434, -0.017715665976535545, 0.0015251897860593504, 0.056542443064182185, -0.1497584541062802], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.28429740814313115, 0.4704312248754425, 0.34880873867652973, 0.06137604442138353, 0.04933133215963421, 0.1199372734765534, 0.9887226129828817], "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": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [414]}, "index": {"min": [2176], "max": [2589], "mean": [2382.5], "std": [119.5111570802771], "count": [414]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [414]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2701671945927427]], [[0.2728831878457599]], [[0.2490744603304509]]], "std": [[[0.17672320521384152]], [[0.16302751231828194]], [[0.13512595004324832]]], "count": [158]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5729820200337107]], [[0.5319653808108984]], [[0.5232185592897537]]], "std": [[[0.2740134346645276]], [[0.29459333979256525]], [[0.30515254698582017]]], "count": [158]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5831487334197673]], [[0.5376941513322843]], [[0.5266374509900874]]], "std": [[[0.2769170072915482]], [[0.29940500023725275]], [[0.31137347943697224]]], "count": [158]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [861]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [861]}, "observation.state": {"min": [0.7688845448746484, -2.446966509997475, 0.6999993314753231, 0.0, 0.0, -1.0, 8.4953590828718e-08, 0.18905957581097066, -0.39310902248879254, 0.1329898821739781, -0.9984956979751587, -0.3028205633163452, -0.14088062942028046, 3.286916762590408e-05, 0.00272455409722367, -0.040036193267902566], "max": [0.8011735180466415, -1.612782148941754, 0.7013648222780513, 0.0, 0.0, 1.0, 0.004845569375902414, 0.4498769711030498, 0.36452907470834073, 0.5991194505767221, 0.9990307092666626, 0.29627102613449097, 0.16646580398082733, 0.07398728281259537, 0.0400163651085321, -0.0011241922708709214], "mean": [0.7731830163557624, -1.6341804233229513, 0.7008324808078653, 0.0, 0.0, 0.9117278042016821, 0.002299611867159231, 0.32409177398138905, -0.02311466620900511, 0.342589297608334, 0.23014710153021464, -0.05820618081366282, -0.00455512745671274, 0.025916843912073745, 0.026239656147175258, -0.025873059897071657], "std": [0.006154078450748859, 0.11098854174505171, 0.000498142966056445, 0.0, 0.0, 0.4107881341421259, 0.0004659974939106963, 0.07229188255420153, 0.2508643052092189, 0.1281057737507996, 0.9534438467677185, 0.16487000367506907, 0.0785554084254106, 0.023316938280861458, 0.01712896672440374, 0.017452074335703067], "count": [861]}, "action": {"min": [-0.28928571428571426, -0.8303571428571429, -0.047142857142857146, 0.0, -1.0, -0.44464285714285723, -0.6160714285714286, -0.4714285714285715, -0.0642857142857143, -0.12428571428571428, -0.12214285714285715, -1.0], "max": [0.6428571428571429, 0.0, 0.0, 0.0, 1.0, 0.5625000000000001, 0.7982142857142857, 0.5571428571428572, 0.060000000000000005, 0.09214285714285715, 0.15, 1.0], "mean": [0.003285216525634644, -0.0324975111996018, -0.0004902936784469885, 0.0, -0.8397212543554007, 0.01094449975111996, 0.03982080637132895, -0.014820806371328968, -0.0016998506719761073, 0.002521154803384777, -0.00010950721752115581, -0.25203252032520324], "std": [0.06722980189615606, 0.14285814146313405, 0.003861485904448214, 0.0, 0.5430176930669817, 0.1642409446069302, 0.2566350948749994, 0.24120890089567065, 0.010210714861338134, 0.02682867794642728, 0.03396861759567738, 0.9677187652921371], "count": [861]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018583042547106743], "std": [0.1350470930337906], "count": [861]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011614401858304297], "std": [0.03406011219190518], "count": [861]}, "timestamp": {"min": [0.0], "max": [43.0], "mean": [21.5], "std": [12.42745616233132], "count": [861]}, "frame_index": {"min": [0], "max": [860], "mean": [430.0], "std": [248.54912324662638], "count": [861]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [861]}, "index": {"min": [2590], "max": [3450], "mean": [3020.0], "std": [248.54912324662638], "count": [861]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [861]}}} +{"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": [[[0.5414113017616076]], [[0.5280944069500336]], [[0.4875852988141519]]], "std": [[[0.22409945299393894]], [[0.2112862123886484]], [[0.20904211736074335]]], "count": [111]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5390909253908666]], [[0.48181917789946427]], [[0.4510846839989691]]], "std": [[[0.18977498078671615]], [[0.21590452627877124]], [[0.22378729455529484]]], "count": [111]}, "observation.images.robot0_agentview_right": {"min": [[[0.07058823529411765]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5544166277878866]], [[0.49874036580382086]], [[0.4672868198650167]]], "std": [[[0.194478278367133]], [[0.21992743341066634]], [[0.22551530634481534]]], "count": [111]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [534]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [534]}, "observation.state": {"min": [1.892115649876124, -0.8088045653079875, 0.6999956453309855, 0.0, 0.0, 0.7069560289382935, 0.7062519192695618, 0.07586339966572953, -0.4840518425031144, 0.09784183680845693, -0.9910272359848022, -0.11744913458824158, -0.19730862975120544, 0.0027428169269114733, 0.0009392427756151486, -0.0400284595731494], "max": [1.8935786622583068, -0.8074104532632123, 0.702199406266765, 0.0, 0.0, 0.7079606652259827, 0.7072574496269226, 0.5290741207740545, 0.17039217568020515, 0.5920457396604333, 0.9974351525306702, 0.8588295578956604, 0.21340535581111908, 0.3693612217903137, 0.0402775981616572, -0.002685770906769978], "mean": [1.8927305139047077, -0.8082722168993787, 0.7012749652547554, 0.0, 0.0, 0.7074894132685572, 0.7067238079028183, 0.3640867700942577, -0.12496973464731716, 0.3100227794512421, 0.8086468521575356, 0.3264051213832607, 0.03130066903327219, 0.161003841574248, 0.02812745047057102, -0.028777488868163115], "std": [0.0004980029337930992, 0.0005358864089470112, 0.0008999118786288369, 0.0, 0.0, 0.00030220035605300037, 0.00030251321298605487, 0.11513557233433566, 0.2506381783434836, 0.12143178033861439, 0.32440848942990386, 0.2902092968713504, 0.09625857069463824, 0.11798300998499255, 0.01411970105680032, 0.014059488408839598], "count": [534]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.8642857142857142, -0.2914285714285714, -0.2571428571428571, -0.22285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.18285714285714286, 0.2857142857142857, 0.4657142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.025628678437667238, 0.016599785981808435, 0.0143124665596576, -0.003868378812199038, 0.011787051899411448, 0.028325307651150336, -0.09737827715355805], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.42519934348839417, 0.3937517118304312, 0.4773568506265257, 0.0619951729056604, 0.0888234555850238, 0.10290127742360176, 0.99524744216632], "count": [534]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02996254712343216], "std": [0.17048399150371552], "count": [534]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018726591760299626], "std": [0.04323369430942021], "count": [534]}, "timestamp": {"min": [0.0], "max": [26.65], "mean": [13.325000000000001], "std": [7.707612578916163], "count": [534]}, "frame_index": {"min": [0], "max": [533], "mean": [266.5], "std": [154.15225157832327], "count": [534]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [534]}, "index": {"min": [3451], "max": [3984], "mean": [3717.5], "std": [154.15225157832327], "count": [534]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [534]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.0]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5435805281096814]], [[0.5295144575530407]], [[0.5197744840734145]]], "std": [[[0.15256631825683942]], [[0.162559389557944]], [[0.16542593867206826]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5740901040469899]], [[0.5157376535453049]], [[0.4941711485619638]]], "std": [[[0.16352082500974108]], [[0.19920188288849747]], [[0.20505114099256663]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5859268475700827]], [[0.5238616781795726]], [[0.5008297711540671]]], "std": [[[0.18122941191290406]], [[0.21458373078215193]], [[0.21640206930166386]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [392]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [392]}, "observation.state": {"min": [3.7605130473007584, -0.8425178515785414, 0.6999987783557666, 0.0, 0.0, 0.7070057392120361, 0.7071386575698853, 0.22114163324957303, -0.15957306821617134, 0.2252938510532997, -0.9932214617729187, -0.5989627242088318, -0.2702537775039673, 7.206857117125764e-05, 0.00608526870183817, -0.040021347272322864], "max": [3.760654606403986, -0.8424610965016874, 0.70178482662341, 0.0, 0.0, 0.7070748805999756, 0.7072077989578247, 0.46329698782186296, 0.3822498645480428, 0.5945237419593911, 0.993513822555542, 0.6339218616485596, 0.379282683134079, 0.24462531507015228, 0.04006923661305692, -0.0054242542312382], "mean": [3.7605375143152755, -0.8424687941591338, 0.7007868464812057, 0.0, 0.0, 0.7070509531364149, 0.7071625658748101, 0.3536454055361335, 0.038758014655566185, 0.36258134960217686, 0.7958307608353848, 0.27289987615860845, 0.13508850282856397, 0.1435223158725087, 0.02742964113651634, -0.027308823301152946], "std": [1.263186472085379e-05, 5.147488971234632e-06, 0.0006982033250646104, 0.0, 0.0, 7.98832178031786e-06, 8.005850106272876e-06, 0.06731473227600016, 0.23334373480194118, 0.08429232256295384, 0.40554868305405345, 0.26229518368482646, 0.11060583173761104, 0.08848368177666706, 0.015073831963469782, 0.015996666173746923], "count": [392]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5214285714285715, -0.7428571428571429, -0.5642857142857142, -0.2542857142857143, -0.07428571428571429, -0.12285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5785714285714286, 1.0, 1.0, 0.10571428571428572, 0.14285714285714285, 0.30285714285714294, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.005083819241982539, 0.06603498542274046, -0.011224489795918405, -0.0052696793002915444, -0.0007142857142857145, 0.021413994169096222, -0.28061224489795916], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20019592457885643, 0.3202432976735028, 0.35244689681858643, 0.050046106949126826, 0.01934232055446008, 0.07386965650061247, 0.9598212166926338], "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": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [392]}, "index": {"min": [3985], "max": [4376], "mean": [4180.5], "std": [113.16028455248777], "count": [392]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [392]}}} +{"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": [[[0.572058869006587]], [[0.5862009708180147]], [[0.5339139129040289]]], "std": [[[0.23395880831882226]], [[0.2201719329273617]], [[0.20188702011754012]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.530304526534735]], [[0.49827918976428465]], [[0.47351929668351717]]], "std": [[[0.20224656773198724]], [[0.2173704351885507]], [[0.22918460080299624]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5619860109815411]], [[0.5300811115339691]], [[0.5047829625746783]]], "std": [[[0.2148763254178675]], [[0.22884183273534314]], [[0.2326735245182503]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [288]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [288]}, "observation.state": {"min": [4.293560292859748, -0.8402213483588368, 0.6999984204224479, 0.0, 0.0, 0.7070260047912598, 0.7071459293365479, 0.20947625297176575, -0.2426223355747501, 0.1589881109108462, -0.9896289706230164, -0.0866016149520874, -0.14458850026130676, 0.0042721484787762165, 0.0017542857585528464, -0.04001801232168009], "max": [4.293597746253259, -0.8401939849958178, 0.7005689262076861, 0.0, 0.0, 0.707067608833313, 0.7071875929832458, 0.49972801030261227, 0.28552502840869654, 0.5886911654566116, 0.9900128245353699, 0.89862459897995, 0.23931482434272766, 0.26956525444984436, 0.0396841945691091, -0.003765925174711688], "mean": [4.293577678954054, -0.8402003805659435, 0.7001155953723763, 0.0, 0.0, 0.7070522993389103, 0.7071612239297893, 0.36964154266996624, 0.021166289168680852, 0.35652507053898214, 0.6602852950907416, 0.43943604718272883, -0.018843018995842915, 0.10792288133557627, 0.022389131068483975, -0.02320845217119853], "std": [6.694996847032541e-06, 3.8050285068267108e-06, 0.00019062100583122887, 0.0, 0.0, 8.413006242188944e-06, 8.4444596063901e-06, 0.08140284772141004, 0.22353868122766546, 0.1135060608723257, 0.45206638853028347, 0.37449041704014724, 0.10508653213099461, 0.05715418003176606, 0.017418171842922953, 0.017005621892005777], "count": [288]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6500000000000001, -0.9285714285714287, -0.5571428571428572, -0.2542857142857143, -0.23142857142857146, -0.08857142857142856, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6428571428571428, 1.0, 0.9571428571428572, 0.08, 0.2714285714285714, 0.44285714285714284, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.008953373015873005, 0.05223214285714279, -0.016096230158730275, -0.0035813492063492113, -0.0001587301587301532, 0.06637896825396827, -0.08333333333333333], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3097327867476554, 0.37571310575098354, 0.3978066852425394, 0.0513006832865083, 0.07914385835262774, 0.12077783304270315, 0.9965217285917831], "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": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [288]}, "index": {"min": [4377], "max": [4664], "mean": [4520.5], "std": [83.13793758968686], "count": [288]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [288]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.0]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5151813731474035]], [[0.5428150461234298]], [[0.5313165534524357]]], "std": [[[0.33178262234924705]], [[0.28612134206452305]], [[0.2885222663497061]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.09411764705882353]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6292523055731082]], [[0.6143965041216681]], [[0.5993514811197916]]], "std": [[[0.18379220330408558]], [[0.1875185651622875]], [[0.19184436141263558]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.0784313725490196]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6473321287865733]], [[0.6309373587814032]], [[0.6148240930893842]]], "std": [[[0.20473193659645908]], [[0.21035355991313745]], [[0.21647475257907223]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [374]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [374]}, "observation.state": {"min": [2.66605927878124, -1.5466462452083711, 0.6999953893337245, 0.0, 0.0, -0.7071501612663269, 0.7070633769035339, 0.1514317580971014, -0.33434562833662307, 0.14064060047041904, -0.9953677654266357, -0.5039453506469727, -0.15932931005954742, 0.000611520663369447, 0.004418798277221429, -0.04000795360278036], "max": [2.6661936284447676, -1.5465767432180384, 0.7009867592508088, 0.0, 0.0, -0.707065761089325, 0.7071477174758911, 0.4236462544630113, 0.46151382004609687, 0.6120522613111744, 0.9893932342529297, 0.1716507524251938, 0.1457674652338028, 0.12629710137844086, 0.04000367321315649, -0.0040553625222095385], "mean": [2.6661689880410178, -1.5466382884535728, 0.7001471495934803, 0.0, 0.0, -0.7071072135698349, 0.7071062991007127, 0.25666659711018913, 0.025898833575941232, 0.33770070114620215, -0.5468785079086528, -0.15637246276286834, -0.039324823072948836, 0.06283980052274488, 0.023034421284261693, -0.022953779522877058], "std": [1.5057387525088088e-05, 7.806823814713566e-06, 0.00032553059921819116, 0.0, 0.0, 9.584738805061777e-06, 9.585057550944164e-06, 0.07704753645667946, 0.31396491641766167, 0.10276550933158439, 0.7884146610839692, 0.20832834260005081, 0.068032352405433, 0.03673543966049792, 0.016999064866337725, 0.01716488204631744], "count": [374]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.44285714285714284, -0.7214285714285715, -0.6500000000000001, -0.08857142857142856, -0.15142857142857147, -0.36, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.37142857142857144, 1.0, 0.7714285714285714, 0.1142857142857143, 0.2285714285714286, 0.30285714285714294, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.019595110771581357, 0.0444232238349886, -0.02410236822001537, 0.006631016042780752, 0.002559205500381969, -0.000206264323911386, -0.06951871657754011], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1891457957176086, 0.38979990035911904, 0.3000694728352469, 0.03246687457204292, 0.053940224464094945, 0.12064842189979623, 0.997580647389176], "count": [374]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04278074949979782], "std": [0.20236243307590485], "count": [374]}, "next.done": {"min": [false], "max": [true], "mean": [0.00267379679144385], "std": [0.05163959335782878], "count": [374]}, "timestamp": {"min": [0.0], "max": [18.65], "mean": [9.325000000000001], "std": [5.398205720422296], "count": [374]}, "frame_index": {"min": [0], "max": [373], "mean": [186.5], "std": [107.96411440844592], "count": [374]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [374]}, "index": {"min": [4665], "max": [5038], "mean": [4851.5], "std": [107.96411440844592], "count": [374]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [374]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.582302595132717]], [[0.5739959557593823]], [[0.5483676998922777]]], "std": [[[0.21644030681496013]], [[0.21321579167426224]], [[0.2391591264362382]]], "count": [109]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6027524066670461]], [[0.5940831598349453]], [[0.5823466998678593]]], "std": [[[0.2141071644219783]], [[0.21388494468534272]], [[0.21814447187528005]]], "count": [109]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5919776742204014]], [[0.5835237368895737]], [[0.5700170751311922]]], "std": [[[0.20760759291885314]], [[0.2075575879706005]], [[0.2155398233629165]]], "count": [109]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [525]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [525]}, "observation.state": {"min": [4.241239235806599, -0.8230791339079193, 0.6999988914030493, 0.0, 0.0, 0.7070308923721313, 0.7070412635803223, 0.14303580796895032, -0.6621378474297357, 0.17066097122928214, -0.9945247769355774, -0.3553926944732666, -0.15683786571025848, 2.6232302843709476e-05, 0.008510836891417302, -0.04000719234127843], "max": [4.2414446455569355, -0.8230244551063086, 0.7022287305002628, 0.0, 0.0, 0.7071723341941833, 0.7071827054023743, 0.5710602895361288, 0.06611771966774782, 0.6163828214958144, 0.9947853088378906, 0.38415494561195374, 0.21168126165866852, 0.17283135652542114, 0.040068950138063254, -0.0005090962154124706], "mean": [4.24136401341243, -0.8230333816343097, 0.701301606509795, 0.0, 0.0, 0.7071070706276666, 0.7071064418838138, 0.3641312057529262, -0.21737781875510281, 0.3565035718647736, 0.1309718139966329, 0.024465139990761168, 0.0251447609989416, 0.07754590712761066, 0.026845858298438316, -0.024840239080192998], "std": [1.3569204666067473e-05, 6.056005281493951e-06, 0.0007845530063396905, 0.0, 0.0, 1.2334916906430404e-05, 1.2339731682197798e-05, 0.11464845280377679, 0.2598504100594227, 0.12819166709008462, 0.9519153008889261, 0.2334199872595936, 0.11118534195378309, 0.051111688198396225, 0.01337526212815828, 0.015597866037801715], "count": [525]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.7642857142857143, -0.2571428571428571, -0.12, -0.46857142857142864, -1.0], "max": [0.0, 0.0, 0.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.12857142857142856, 0.1657142857142857, 0.2885714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -0.900952380952381, 0.021755102040816283, 0.01323809523809522, -0.016108843537414923, -0.004277551020408161, 0.01524897959183673, 0.0053823129251700675, -0.09714285714285714], "std": [0.0, 0.0, 0.0, 0.0, 0.43391797295828877, 0.3887078220576208, 0.3787065227659634, 0.4164641060316652, 0.0467636774338961, 0.03852546028049088, 0.11125518779179785, 0.9952704483235313], "count": [525]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.030476190149784088], "std": [0.17189355194568634], "count": [525]}, "next.done": {"min": [false], "max": [true], "mean": [0.0019047619047619048], "std": [0.043601992922893705], "count": [525]}, "timestamp": {"min": [0.0], "max": [26.2], "mean": [13.1], "std": [7.577708536666389], "count": [525]}, "frame_index": {"min": [0], "max": [524], "mean": [262.0], "std": [151.5541707333278], "count": [525]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [525]}, "index": {"min": [5039], "max": [5563], "mean": [5301.0], "std": [151.5541707333278], "count": [525]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [525]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.23515166900157403]], [[0.20836047878294797]], [[0.19214178111800592]]], "std": [[[0.1689088649914562]], [[0.17841375471093607]], [[0.155207780936685]]], "count": [178]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49217664168568587]], [[0.4511138576483196]], [[0.42143822044075047]]], "std": [[[0.2566737512862971]], [[0.2624576739833057]], [[0.2785327774107217]]], "count": [178]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46019648190347284]], [[0.4323668304060125]], [[0.41230430292069425]]], "std": [[[0.2588878771927916]], [[0.26442188039110015]], [[0.2759222861970011]]], "count": [178]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1005]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1005]}, "observation.state": {"min": [3.539750718490714, -0.779306141535647, 0.6999985809246753, 0.0, 0.0, 0.7071067690849304, 0.7061298489570618, 0.15037065124265414, -0.4490869911390858, 0.051018151058066064, -0.9996217489242554, -0.25753074884414673, -0.17932270467281342, 6.636239413637668e-05, 0.00257400885391892, -0.04053391159929481], "max": [3.763322623846634, -0.7460993586740516, 0.7057333276502805, 0.0, 0.0, 0.708082377910614, 0.7071067094802856, 0.49373496570796627, 0.31618680620651896, 0.6071615234284395, 0.9987818598747253, 0.21920904517173767, 0.1899186670780182, 0.16075991094112396, 0.04001097395822561, -0.0016421528190075883], "mean": [3.758296437961168, -0.7487933809964181, 0.7031962543594885, 0.0, 0.0, 0.708022220514307, 0.7061900905115688, 0.3026984219207396, -0.10078673524807748, 0.3177756325678381, -0.07413303472509432, -0.017404400056867456, -0.0356093073935976, 0.03643034764673255, 0.026471177689687722, -0.02642367578314459], "std": [0.02833536721707991, 0.006254089150815046, 0.002304476016892363, 0.0, 0.0, 0.00018414675450772506, 0.00018442822525382445, 0.09618432254456702, 0.22399091453640316, 0.1529039232730834, 0.986778846576777, 0.103701571370314, 0.08085860595241179, 0.024115609565334283, 0.017078402984877655, 0.01698378868088888], "count": [1005]}, "action": {"min": [0.0, -0.46071428571428574, 0.0, 0.0, -1.0, -0.594642857142857, -0.7928571428571429, -0.6696428571428571, -0.12428571428571428, -0.21000000000000002, -0.13071428571428573, -1.0], "max": [0.43392857142857144, 0.0, 0.0, 0.0, 1.0, 0.41785714285714287, 0.8035714285714287, 0.6321428571428571, 0.09214285714285715, 0.20785714285714288, 0.2014285714285714, 1.0], "mean": [0.007233475479744136, -0.01525053304904051, 0.0, 0.0, -0.882587064676617, 0.011609808102345418, 0.004888059701492572, -0.027148187633262103, -0.002776119402985074, 0.002780383795309166, -0.0026183368869936085, -0.2656716417910448], "std": [0.044996164560699145, 0.07188283098886653, 0.0, 0.0, 0.47014899049716874, 0.15875870600669786, 0.26737890647157225, 0.26327538754175667, 0.024829411581602973, 0.033333392177045854, 0.03244749162099383, 0.9640635760923844], "count": [1005]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015920398756861687], "std": [0.1251676231622696], "count": [1005]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009950248756218905], "std": [0.031528317448268374], "count": [1005]}, "timestamp": {"min": [0.0], "max": [50.2], "mean": [25.1], "std": [14.505918332414073], "count": [1005]}, "frame_index": {"min": [0], "max": [1004], "mean": [502.0], "std": [290.11836664828144], "count": [1005]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1005]}, "index": {"min": [5564], "max": [6568], "mean": [6066.0], "std": [290.11836664828144], "count": [1005]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1005]}}} +{"episode_index": 12, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2898538935321833]], [[0.2914169823542638]], [[0.23443848513727938]]], "std": [[[0.19709740492207037]], [[0.1818463593022702]], [[0.15446051812045322]]], "count": [194]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49594567867392403]], [[0.44481202436500733]], [[0.4340318061762298]]], "std": [[[0.3090683376528846]], [[0.320068777130161]], [[0.32889693314213075]]], "count": [194]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5097687378299821]], [[0.46006687889924214]], [[0.4492547727098652]]], "std": [[[0.31749580011462963]], [[0.3289899783646176]], [[0.33800383664910133]]], "count": [194]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1130]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1130]}, "observation.state": {"min": [3.4084733057497036, -4.34946557226625, 0.6999977451482329, 0.0, 0.0, -1.0, 4.1852868548630795e-07, 0.06321566344580454, -0.5914816765078847, 0.08367945598365212, -0.9999268054962158, -0.2900218069553375, -0.2873055338859558, 4.0775603338261135e-06, 0.0009896171524298824, -0.040032483605071424], "max": [3.4380849095949655, -3.813288850824344, 0.7015478749153324, 0.0, 0.0, 1.0, 0.019029462710022926, 0.47909916008365894, 0.3186931711240102, 0.620949694662795, 0.9974353313446045, 0.40242278575897217, 0.30999940633773804, 0.11371146142482758, 0.040006037219507885, -0.0012050289272773598], "mean": [3.4155641705881585, -3.9099231282647233, 0.7004773397613546, 0.0, 0.0, 0.953911812168307, 0.011679007273755438, 0.3326615233393293, -0.03864792418077059, 0.3623148044865275, 0.3020029892963646, -0.0008417411798001391, -0.024063034580023217, 0.04782706609341194, 0.024405696423539035, -0.024370456373903306], "std": [0.004350292117937567, 0.05010082114361009, 0.00044551771915429946, 0.0, 0.0, 0.29985209110286604, 0.0021571545611339003, 0.10356629650112162, 0.2908621380254785, 0.16248078328804869, 0.9202491579870847, 0.17114533444469274, 0.1704505018058235, 0.026915006944966253, 0.017018786685623937, 0.017107763928583195], "count": [1130]}, "action": {"min": [-0.048214285714285716, -0.8303571428571429, -0.08357142857142857, 0.0, -1.0, -0.567857142857143, -0.675, -0.46607142857142864, -0.09428571428571429, -0.13714285714285715, -0.1842857142857143, -1.0], "max": [0.6964285714285715, 0.5464285714285714, 0.0, 0.0, 1.0, 0.6321428571428571, 0.8464285714285713, 0.6375000000000001, 0.09857142857142857, 0.17357142857142857, 0.16714285714285715, 1.0], "mean": [0.0078365992414665, -0.010875474083438702, -0.0009557522123893806, 0.0, -0.8407079646017699, 0.016725663716814183, 0.027250316055625744, -0.005158027812894973, 0.002459544879898865, 0.00233628318584071, -0.0007888748419721987, -0.12035398230088495], "std": [0.0598533075058521, 0.11172104545411317, 0.007214084303205912, 0.0, 0.5414887979036619, 0.20266711110943536, 0.24646719078904356, 0.25748892439263643, 0.020615384402356, 0.038756970140357234, 0.049457850324963755, 0.9927310405866813], "count": [1130]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014159291982650757], "std": [0.11814738810062408], "count": [1130]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008849557522123894], "std": [0.0297350400290468], "count": [1130]}, "timestamp": {"min": [0.0], "max": [56.45], "mean": [28.225], "std": [16.310138717987655], "count": [1130]}, "frame_index": {"min": [0], "max": [1129], "mean": [564.5], "std": [326.2027743597531], "count": [1130]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1130]}, "index": {"min": [6569], "max": [7698], "mean": [7133.5], "std": [326.2027743597531], "count": [1130]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1130]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2292201663746553]], [[0.24457351774327896]], [[0.23339115187701057]]], "std": [[[0.14638687957723864]], [[0.17380414543172343]], [[0.14071596161299604]]], "count": [200]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3135067288267846]], [[0.3026890578924441]], [[0.2918605675790824]]], "std": [[[0.21522733741471464]], [[0.20978706023497595]], [[0.20573052259529387]]], "count": [200]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3224900692210478]], [[0.31067599307789523]], [[0.29776020693311506]]], "std": [[[0.2141194284165286]], [[0.2097992790753065]], [[0.2066361700280482]]], "count": [200]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1173]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1173]}, "observation.state": {"min": [3.204044265599357, -2.255633167591693, 0.6999988338699931, 0.0, 0.0, -0.7072574496269226, 0.7069560289382935, 0.23213596013479743, -0.3781050540585782, 0.056427280848974415, -0.9996957778930664, -0.37292972207069397, -0.21426865458488464, 0.00015714079199824482, 0.0012074755527201272, -0.04000642911020228], "max": [3.2042531715040097, -2.255594046456352, 0.704845643772382, 0.0, 0.0, -0.7071128487586975, 0.7071006894111633, 0.6632470594876367, 0.43631936209242506, 0.6138309384859885, 0.9996784925460815, 0.37297481298446655, 0.306819885969162, 0.12808004021644592, 0.04000327841226639, -0.0010995404995523706], "mean": [3.204174483524313, -2.255619800047413, 0.7019103129122493, 0.0, 0.0, -0.7071624046599672, 0.7070511100338954, 0.41494932129673534, 0.033628869174112015, 0.30238035548152176, -0.038574259604334526, 0.018865349438146252, -0.013461480910569439, 0.025811688272869122, 0.023819115735563744, -0.023865678253047546], "std": [1.625127748392356e-05, 4.1914188730393595e-06, 0.0013789813269423324, 0.0, 0.0, 1.1978540666786286e-05, 1.1968895355270739e-05, 0.11849083606894495, 0.26877175746468046, 0.13449583097204068, 0.9782797264018328, 0.13497713904572134, 0.1469328446398187, 0.021664668384281594, 0.01771863771360756, 0.017613894634097117], "count": [1173]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.43392857142857144, -0.6160714285714286, -0.43928571428571433, -0.1157142857142857, -0.21214285714285713, -0.14357142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.35892857142857143, 0.7607142857142858, 0.9160714285714286, 0.06214285714285714, 0.17785714285714288, 0.075, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.006243149433686509, 0.0016669711362805968, -0.02755297771282431, -0.0036956521739130417, 0.00044391669711363606, -0.0034873949579831936, -0.11679454390451834], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.12761889828900377, 0.20747425927918056, 0.2660942140177693, 0.016546777092004212, 0.036365850055914216, 0.03223596283265827, 0.9931560977581144], "count": [1173]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013640238903462887], "std": [0.11599215865135193], "count": [1173]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008525149190110827], "std": [0.029185409665172534], "count": [1173]}, "timestamp": {"min": [0.0], "max": [58.6], "mean": [29.299999999999994], "std": [16.93079049148818], "count": [1173]}, "frame_index": {"min": [0], "max": [1172], "mean": [586.0], "std": [338.6158098297637], "count": [1173]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1173]}, "index": {"min": [7699], "max": [8871], "mean": [8285.0], "std": [338.6158098297637], "count": [1173]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1173]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6647788157743566]], [[0.656841376211129]], [[0.6195874753465839]]], "std": [[[0.24535814461858033]], [[0.24194515270958655]], [[0.2685002942603041]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.00784313725490196]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6032737253226486]], [[0.59582406317019]], [[0.5859848112218521]]], "std": [[[0.20209650077158442]], [[0.20103942870871533]], [[0.202933674201949]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6154368752872242]], [[0.6070338535682828]], [[0.5945709276386336]]], "std": [[[0.20561846261324868]], [[0.20469384846317906]], [[0.20916595013202546]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [443]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [443]}, "observation.state": {"min": [0.7451462657572675, -2.7747977372568546, 0.6999966443613516, 0.0, 0.0, -1.0, 0.0, 0.2184372885098288, -0.5892687564522887, 0.19398519027111327, -0.993787944316864, -0.833393394947052, -0.11772714555263519, 1.6743550077080727e-05, 0.0065707878971852955, -0.0400699409683497], "max": [0.8086621506133874, -1.9496182297410118, 0.7000270025055425, 0.0, 0.0, 1.0, 0.01240535732358694, 0.3616753622487436, 0.12759235504714228, 0.5727844943865175, 0.9939717650413513, 0.8335039615631104, 0.18022683262825012, 0.23994967341423035, 0.03991327301770982, -0.006862958166272552], "mean": [0.7577011468816506, -2.0429444216920314, 0.7000052443741885, 0.0, 0.0, -0.923191402351345, 0.010109470668270122, 0.2755659355958444, -0.19254920177392046, 0.4255591838517752, 0.24666262211164555, 0.13586669702831294, 0.031911999062880975, 0.09978710773924437, 0.028743424649426464, -0.029559867107928146], "std": [0.023119714472635583, 0.2437866161225394, 7.022799299245371e-06, 0.0, 0.0, 0.3841865626368327, 0.004017905566639811, 0.04943237786302707, 0.26727804221713763, 0.11757371812335253, 0.8297661181045859, 0.4510265625719772, 0.10067972742730329, 0.08745724421450658, 0.014685800119451106, 0.014090882403695755], "count": [443]}, "action": {"min": [-0.25, -0.9785714285714284, 0.0, 0.0, -1.0, -0.4785714285714286, -0.95, -0.7785714285714286, -0.24285714285714288, -0.11714285714285716, -0.35428571428571426, -1.0], "max": [0.46428571428571436, 0.0, 0.07714285714285714, 0.0, 1.0, 0.6071428571428572, 1.0, 1.0, 0.09714285714285714, 0.2, 0.5028571428571429, 1.0], "mean": [0.015108029667849084, -0.07394388906804254, 0.0015994840374072882, 0.0, -0.6975169300225733, 0.007529829087391166, 0.0010964205095130262, -0.007803934214769424, -0.006455981941309251, 0.007500806191551115, 0.03691712350854563, -0.345372460496614], "std": [0.08454889297002438, 0.20385476061293556, 0.008487349405549205, 0.0, 0.7165683026284939, 0.10192028041082374, 0.40263213000092735, 0.29839700213371617, 0.038440878528751755, 0.03570578340322987, 0.12288288090215761, 0.9384656965124051], "count": [443]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03611738234758377], "std": [0.18658219277858734], "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": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [443]}, "index": {"min": [8872], "max": [9314], "mean": [9093.0], "std": [127.88275880665071], "count": [443]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [443]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6353478166168811]], [[0.6172724465762868]], [[0.594632594688266]]], "std": [[[0.2518809588217841]], [[0.24140388566109833]], [[0.24561983204851756]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.07058823529411765]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5164485365923713]], [[0.553702309402765]], [[0.5590208776137408]]], "std": [[[0.27259090085796267]], [[0.21412769291928918]], [[0.19468280878023467]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.08235294117647059]], [[0.08235294117647059]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5111966325348498]], [[0.5448143920898437]], [[0.5460119958017386]]], "std": [[[0.2851097295738519]], [[0.22463821313802712]], [[0.19661259089087588]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [362]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [362]}, "observation.state": {"min": [2.6640838337321866, -1.564565608804658, 0.6999994202507868, 0.0, 0.0, -0.707435667514801, 0.7067777514457703, 0.21623334414228523, -0.2533733870191006, 0.22012387297525216, -0.9910857081413269, -0.015817388892173767, -0.14199353754520416, 0.0016245442675426602, 0.0019651005809356898, -0.04002449208370264], "max": [3.1654712080395546, -1.5363221133813618, 0.7010775230257803, 0.0, 0.0, -0.7052910327911377, 0.7089179158210754, 0.45467864628238375, 0.20946208916015463, 0.594857479727554, 0.9918937683105469, 0.606578528881073, 0.13114134967327118, 0.30071741342544556, 0.039635990795375865, -0.003983704601177232], "mean": [2.8719425947053394, -1.5520436349904099, 0.7003488291794294, 0.0, 0.0, -0.7064623472111001, 0.7077497731256222, 0.3150747915266562, -0.08120308564365344, 0.39248303257926964, 0.8448697675986844, 0.30909629775345, 0.04802045032273234, 0.15027925944391854, 0.022529064088347334, -0.023487880830146315], "std": [0.2412024927241377, 0.013778524984426164, 0.0003520474000358344, 0.0, 0.0, 0.000771248764337177, 0.0007694396547556834, 0.08224466723551484, 0.1741611782573402, 0.09528666666702913, 0.3317916249656566, 0.20319778194861152, 0.04552218424032492, 0.11098400438853981, 0.016428058251874735, 0.016006526813806193], "count": [362]}, "action": {"min": [-0.35714285714285715, 0.0, 0.0, 0.0, -1.0, -0.6928571428571428, -0.7571428571428572, -0.5785714285714286, -0.23428571428571432, -0.08285714285714285, -0.06, -1.0], "max": [0.0, 0.7714285714285714, 0.028571428571428574, 0.0, 1.0, 0.8428571428571429, 1.0, 0.9071428571428573, 0.11142857142857143, 0.16857142857142857, 0.3057142857142857, 1.0], "mean": [-0.014226519337016566, 0.052505919494869796, 0.0003551696921862668, 0.0, -0.7845303867403315, 0.012016574585635336, 0.023184688239936843, -0.029123914759273898, -0.004530386740331491, 0.008224151539068664, 0.024506708760852414, -0.022099447513812154], "std": [0.05481003687616782, 0.16790161493842629, 0.0025101264179469497, 0.0, 0.6200903742851255, 0.24609375434992514, 0.30071726156614353, 0.31885884883008087, 0.051328905729594865, 0.0411708917284052, 0.060625211460334776, 0.9997557773874518], "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": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [362]}, "index": {"min": [9315], "max": [9676], "mean": [9495.5], "std": [104.5], "count": [362]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [362]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.03529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3563916207107843]], [[0.35012567178564136]], [[0.34671525384242236]]], "std": [[[0.21846645860939232]], [[0.21785089602292454]], [[0.2190275196036767]]], "count": [150]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49693086352379495]], [[0.3869975960924734]], [[0.3392422509286918]]], "std": [[[0.20775488742364773]], [[0.24603262620768487]], [[0.26854094667143397]]], "count": [150]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4820462367238562]], [[0.3735951326656965]], [[0.3262388748468137]]], "std": [[[0.20419598768726407]], [[0.23631151213142174]], [[0.2569273153612215]]], "count": [150]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [804]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [804]}, "observation.state": {"min": [3.745942211396517, -2.4606177701824916, 0.6999992720801548, 0.0, 0.0, -0.00016562265227548778, 1.0, 0.23816384188842354, -0.14982190306737486, 0.07352977285888496, -0.9890937805175781, -0.4858839511871338, -0.4006201922893524, 0.00011189932411070913, 0.0008992900510619641, -0.04000719254382632], "max": [3.746032532345413, -2.4605243226114313, 0.7033234032039007, 0.0, 0.0, -6.694157832498604e-07, 1.0, 0.5248651025908133, 0.6412989907217692, 0.5979728235823357, 0.9975922703742981, 0.4106208086013794, 0.3261411190032959, 0.09006059169769287, 0.04009853184620455, -0.0007427226437574453], "mean": [3.7460164174151402, -2.460579558756568, 0.7017192032307071, 0.0, 0.0, -7.272670192296697e-05, 1.0, 0.401977257185415, 0.21239139715795283, 0.2902674615833607, -0.07072864828714684, -0.03422609452547422, -0.08848273024033634, 0.039122587661918416, 0.02600289268392179, -0.024870241657375235], "std": [7.430046391761265e-06, 7.854178117583743e-06, 0.0009991993334580941, 0.0, 0.0, 1.3464168354362674e-05, 0.0, 0.0802757284542297, 0.24065463112794044, 0.12380696250884585, 0.9491817151049916, 0.21995292257474794, 0.18659939183034954, 0.01793636445367412, 0.01681218448379729, 0.017773603755663774], "count": [804]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4982142857142858, -0.5196428571428572, -0.46071428571428574, -0.07285714285714286, -0.1907142857142857, -0.16714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46071428571428574, 1.0, 0.9696428571428571, 0.06214285714285714, 0.22500000000000003, 0.23785714285714282, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.013266257995735593, 0.02524875621890552, -0.03294243070362483, -0.0018923240938166304, -0.0007169509594882701, -0.007579957356076736, -0.21144278606965175], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1737454779604513, 0.27161564690354917, 0.2872153372914658, 0.018971469967515562, 0.04874008479243635, 0.05207614028128232, 0.9773903765738089], "count": [804]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019900497049093246], "std": [0.1396583914756775], "count": [804]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012437810945273632], "std": [0.035245341580360086], "count": [804]}, "timestamp": {"min": [0.0], "max": [40.15], "mean": [20.075], "std": [11.604731434491134], "count": [804]}, "frame_index": {"min": [0], "max": [803], "mean": [401.5], "std": [232.09462868982268], "count": [804]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [804]}, "index": {"min": [9677], "max": [10480], "mean": [10078.5], "std": [232.09462868982268], "count": [804]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [804]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.10196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6041225106505078]], [[0.5773469823609486]], [[0.5648191981278781]]], "std": [[[0.22652834233034533]], [[0.21142160015979158]], [[0.2128837085409397]]], "count": [165]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7023129219875687]], [[0.6142908733909639]], [[0.5268495411229714]]], "std": [[[0.17080330472369742]], [[0.18337424172823663]], [[0.23989722082132223]]], "count": [165]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7128230903067903]], [[0.5918894420857239]], [[0.47473000375132296]]], "std": [[[0.18398587363411767]], [[0.18543310163335558]], [[0.24357536326091006]]], "count": [165]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [907]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [907]}, "observation.state": {"min": [3.270770998982181, -4.383700326469666, 0.699995355471966, 0.0, 0.0, -0.7235275506973267, 0.6902955174446106, 0.11007453060336925, -0.34148703120532975, 0.11836176255767883, -0.9995428323745728, -0.5664699077606201, -0.3979228436946869, 6.77657953929156e-05, 0.0046066942202287065, -0.040012273348286755], "max": [3.608339583477934, -4.329696188481149, 0.7021789775138738, 0.0, 0.0, -0.7071051597595215, 0.7071083188056946, 0.44352767949866134, 0.5068790301735517, 0.5847633125823698, 0.9965141415596008, 0.5663699507713318, 0.37825387716293335, 0.18870458006858826, 0.0400061537897031, -0.004657658599079685], "mean": [3.600733177526138, -4.378025324205123, 0.7006028454924421, 0.0, 0.0, -0.7214776546321604, 0.692429870334192, 0.2890902922665787, 0.13478513470142037, 0.34732513775432583, -0.3011846305122712, 0.04371323466892411, -0.0010064509843740266, 0.056079896533205366, 0.02716233240488425, -0.026910478103374845], "std": [0.04194896147831398, 0.01054306922754308, 0.0005077344373249037, 0.0, 0.0, 0.0023015629675523872, 0.0023583124720592532, 0.08346354389841756, 0.2957566924658443, 0.12830490968376307, 0.8933972047804001, 0.29082041598836134, 0.14147758912702055, 0.0384709774138194, 0.014681353031945055, 0.014921254033085881], "count": [907]}, "action": {"min": [-0.08035714285714286, 0.0, -0.08142857142857143, 0.0, -1.0, -0.7017857142857142, -0.6482142857142857, -0.5089285714285714, -0.21214285714285713, -0.26785714285714285, -0.09214285714285715, -1.0], "max": [0.4982142857142858, 0.5839285714285714, 0.0, 0.0, 1.0, 0.5035714285714286, 0.8303571428571429, 0.75, 0.1392857142857143, 0.15857142857142859, 0.16928571428571426, 1.0], "mean": [0.009349897621672707, 0.02341313592691762, -0.0013939203024098286, 0.0, -0.834619625137817, -0.008647031028508428, 0.042957552370452116, -0.01666797920932433, 0.004047094030555995, 0.0016443534414868437, 0.011493936052921724, -0.17750826901874311], "std": [0.05376721417082432, 0.09410653993921506, 0.008093943938288386, 0.0, 0.5508267253273023, 0.2275544459828144, 0.29070963727044113, 0.25173850564071826, 0.02999626630839444, 0.0587318986693228, 0.04415360291273925, 0.9841193090423381], "count": [907]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017640573903918266], "std": [0.13164110481739044], "count": [907]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011025358324145535], "std": [0.033186145409685584], "count": [907]}, "timestamp": {"min": [0.0], "max": [45.3], "mean": [22.65], "std": [13.091409397005352], "count": [907]}, "frame_index": {"min": [0], "max": [906], "mean": [453.0], "std": [261.828187940107], "count": [907]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [907]}, "index": {"min": [10481], "max": [11387], "mean": [10934.0], "std": [261.828187940107], "count": [907]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [907]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30111588003121176]], [[0.2776394186580882]], [[0.18445142738491882]]], "std": [[[0.240932388680482]], [[0.19537057818204598]], [[0.1627493848370973]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2929788519167433]], [[0.2854466355267693]], [[0.2782024811389399]]], "std": [[[0.22528335770995755]], [[0.21910269192891224]], [[0.2141512386900731]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3024478987151501]], [[0.2938709920247396]], [[0.28516129317938116]]], "std": [[[0.2214854258544638]], [[0.21604888755157434]], [[0.21224458885421982]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [398]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [398]}, "observation.state": {"min": [3.389121901888659, -1.8544174811990106, 0.6999976012978614, 0.0, 0.0, -0.7074070572853088, 0.7068064212799072, 0.21502814119710245, -0.30995705864156653, 0.034641979295534586, -0.9976664781570435, -0.3895270824432373, -0.1874600648880005, 0.00013440940529108047, 0.005382453559831766, -0.03998688685633693], "max": [3.8351139271633885, -1.7381308716698494, 0.701063884866864, 0.0, 0.0, -0.7062511444091797, 0.7079614400863647, 0.7572935750709386, 0.1433812180008256, 0.6111088553036316, 0.985599160194397, 0.18850547075271606, 0.1933261603116989, 0.0914967879652977, 0.04000363697172489, -0.004529273639470026], "mean": [3.7825926675625055, -1.8275302599057894, 0.7001499349670623, 0.0, 0.0, -0.7066456627606148, 0.7075674252294416, 0.4202425773874255, -0.03887423440304749, 0.3610001806537583, 0.11644716568328628, -0.1798000021945292, 0.012486047169439912, 0.04341512750050325, 0.02743880073178048, -0.027361880622264967], "std": [0.12935000516833062, 0.04368459654902039, 0.0003505162215961689, 0.0, 0.0, 0.0003445844019047861, 0.0003442942535181659, 0.17308229493582883, 0.16369820904512902, 0.18058053191332477, 0.954122202336472, 0.15787236930509613, 0.1262451976845942, 0.029334713383156172, 0.01594903278258886, 0.01599809060907399], "count": [398]}, "action": {"min": [-0.18571428571428572, 0.0, 0.0, 0.0, -1.0, -0.7785714285714286, -0.8142857142857143, -0.6571428571428571, -0.06285714285714286, -0.21142857142857144, -0.42, -1.0], "max": [0.5142857142857143, 0.55, 0.0, 0.0, 1.0, 1.0, 0.6285714285714287, 1.0, 0.037142857142857144, 0.11714285714285716, 0.21714285714285717, 1.0], "mean": [0.014393395549174444, 0.05463029432878679, 0.0, 0.0, -0.5778894472361809, 0.04048815506101942, -0.037580760947595125, -0.0159727207465901, -0.000710696338837042, 0.005125628140703516, -0.015340990667623842, -0.2964824120603015], "std": [0.10541555108177007, 0.1448642004490477, 0.0, 0.0, 0.8161150573130326, 0.32867874529180513, 0.24544899411487545, 0.34477281712831376, 0.009083049146850838, 0.03131517280395436, 0.1104753070971538, 0.9550383130214763], "count": [398]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04020100459456444], "std": [0.19643035531044006], "count": [398]}, "next.done": {"min": [false], "max": [true], "mean": [0.002512562814070352], "std": [0.05006245940997808], "count": [398]}, "timestamp": {"min": [0.0], "max": [19.85], "mean": [9.924999999999999], "std": [5.744617045547946], "count": [398]}, "frame_index": {"min": [0], "max": [397], "mean": [198.5], "std": [114.8923409109589], "count": [398]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [398]}, "index": {"min": [11388], "max": [11785], "mean": [11586.5], "std": [114.8923409109589], "count": [398]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [398]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2793065202229092]], [[0.272199837587734]], [[0.2690334682271938]]], "std": [[[0.20374921421340939]], [[0.19587049847703644]], [[0.1879890625758616]]], "count": [165]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49512799249967504]], [[0.4730288970095022]], [[0.4578334702725787]]], "std": [[[0.27092761668550897]], [[0.27501713447174325]], [[0.2847472255593115]]], "count": [165]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4891097962622549]], [[0.4655774049084596]], [[0.45009717826820594]]], "std": [[[0.26846455139093645]], [[0.27294095444090555]], [[0.2829861389868945]]], "count": [165]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [910]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [910]}, "observation.state": {"min": [2.7431489984444477, -0.7686092390693723, 0.6999992582045516, 0.0, 0.0, 0.7070635557174683, 0.7070487141609192, 0.2003603013976495, -0.6592044914831634, 0.06295381170688585, -0.991493821144104, -0.320200115442276, -0.21341587603092194, 5.78877552470658e-06, 0.0034107129495694515, -0.040006780752947446], "max": [2.7432960464084766, -0.7685634472736129, 0.7018227635565962, 0.0, 0.0, 0.7071648240089417, 0.7071499824523926, 0.5784080059219054, 0.4046098862952161, 0.6083503464227081, 0.9934000372886658, 0.31210488080978394, 0.21107007563114166, 0.11170809715986252, 0.0400008023995605, -0.003028426999860067], "mean": [2.7432296177768825, -0.7685690082963192, 0.7009834440020821, 0.0, 0.0, 0.7071074095401135, 0.7071061038053953, 0.40463500875099806, -0.028876996451397127, 0.2809298887869606, 0.35004170943092516, -0.12772874277862872, 0.02203869010519446, 0.03351234542081799, 0.024037466499502717, -0.023692957496560134], "std": [9.50765473949802e-06, 4.610354961854627e-06, 0.0008157562686559016, 0.0, 0.0, 7.112170603418723e-06, 7.112638386142243e-06, 0.10126510044810047, 0.3521827365960345, 0.1393620714023576, 0.9016507361875525, 0.15955377167483314, 0.1428121361048705, 0.026844469144066716, 0.016830295865357756, 0.017244647141660664], "count": [910]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4821428571428571, -0.6589285714285714, -0.5089285714285714, -0.11785714285714285, -0.07714285714285715, -0.08571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7071428571428573, 0.7607142857142858, 0.6589285714285714, 0.05785714285714285, 0.24642857142857144, 0.18857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.037040816326530654, 0.03586930926216645, -0.004273940345368867, -0.0035439560439560437, 0.009635792778649921, 0.0017566718995290463, -0.0945054945054945], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2144736700924219, 0.3018250170741601, 0.24194822208288005, 0.0247705511669947, 0.03789007639335856, 0.044497442893817914, 0.9955243399878629], "count": [910]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017582418397068977], "std": [0.1314278393983841], "count": [910]}, "next.done": {"min": [false], "max": [true], "mean": [0.001098901098901099], "std": [0.03313145809160733], "count": [910]}, "timestamp": {"min": [0.0], "max": [45.45], "mean": [22.725], "std": [13.134710693426026], "count": [910]}, "frame_index": {"min": [0], "max": [909], "mean": [454.5], "std": [262.69421386852054], "count": [910]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [910]}, "index": {"min": [11786], "max": [12695], "mean": [12240.5], "std": [262.69421386852054], "count": [910]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [910]}}} +{"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": [[[0.6562977936113222]], [[0.6211431166704964]], [[0.6030335209128723]]], "std": [[[0.21669575810706168]], [[0.214457304457931]], [[0.2241831580027981]]], "count": [156]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7290909032116828]], [[0.6534450605803845]], [[0.5825011493573541]]], "std": [[[0.14536494232189132]], [[0.15236800711512277]], [[0.19329692336187965]]], "count": [156]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7216093958053474]], [[0.6541101025120585]], [[0.5888379610501803]]], "std": [[[0.159997621079385]], [[0.16501352354589782]], [[0.2006934176442247]]], "count": [156]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [841]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [841]}, "observation.state": {"min": [2.2489034079374406, -0.7553135350738771, 0.6999991630171304, 0.0, 0.0, 0.7040041089057922, 0.7071066498756409, 0.14747632911175756, -0.3263927145742831, 0.12216326196243643, -0.9934503436088562, -0.42611458897590637, -0.28705400228500366, 7.103969983290881e-05, 0.0042226498621521875, -0.0400271847296296], "max": [2.6925573238916303, -0.7539570503612585, 0.7004860097491588, 0.0, 0.0, 0.70710688829422, 0.7101959586143494, 0.4972844853484173, 0.4650797213157343, 0.5927132299128139, 0.9957301020622253, 0.43032360076904297, 0.29357007145881653, 0.15936563909053802, 0.04001660322258078, -0.002949808028758577], "mean": [2.2596705269440873, -0.7540198562702138, 0.700247793631493, 0.0, 0.0, 0.7043529692926531, 0.7098497832005712, 0.3177609363542469, 0.0799304261882825, 0.34108858767511396, 0.10668277449897014, -0.04700955510245776, 0.011426851742786846, 0.025667862827011938, 0.027762988278080245, -0.02703845654378809], "std": [0.05914660392578588, 0.00025288738320962737, 0.0001430135436098458, 0.0, 0.0, 0.00030682025477062205, 0.00030548037277214807, 0.07818918481231868, 0.24700242865565672, 0.12914466653540282, 0.9567107356856543, 0.22122477313859343, 0.14300523027910358, 0.030547422877782244, 0.01590387125126194, 0.01654432559754589], "count": [841]}, "action": {"min": [0.0, 0.0, -0.027857142857142858, 0.0, -1.0, -0.6107142857142858, -0.7125, -0.44464285714285723, -0.1157142857142857, -0.15, -0.12428571428571428, -1.0], "max": [0.16607142857142856, 0.6107142857142858, 0.0, 0.0, 1.0, 0.38571428571428573, 0.8571428571428572, 0.6964285714285715, 0.05142857142857143, 0.13285714285714284, 0.22071428571428572, 1.0], "mean": [0.0014459826736877867, 0.02187446916935621, -0.0002522507219296756, 0.0, -0.8834720570749108, 0.0076248513674197415, 0.001611601834550667, -0.004974944793613061, -0.0019237302531000522, -1.0191948360796099e-05, 0.0032512315270935995, -0.29369797859690844], "std": [0.011458755745922757, 0.10331891326642698, 0.002163581644725204, 0.0, 0.46848385710484874, 0.1899355547006624, 0.2825907243522793, 0.26637391185748355, 0.021289664316217306, 0.03173711821748551, 0.05707753825791194, 0.9558982672691109], "count": [841]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01902497000992298], "std": [0.136612668633461], "count": [841]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011890606420927466], "std": [0.034462251477263825], "count": [841]}, "timestamp": {"min": [0.0], "max": [42.0], "mean": [21.0], "std": [12.138780828402826], "count": [841]}, "frame_index": {"min": [0], "max": [840], "mean": [420.0], "std": [242.77561656805653], "count": [841]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [841]}, "index": {"min": [12696], "max": [13536], "mean": [13116.0], "std": [242.77561656805653], "count": [841]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [841]}}} +{"episode_index": 21, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22482064910787058]], [[0.22240829834706952]], [[0.22420481330061506]]], "std": [[[0.15792885756121244]], [[0.14878729312269648]], [[0.1435085920193833]]], "count": [106]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32070254976115226]], [[0.307775016894748]], [[0.29306069111938704]]], "std": [[[0.22560171264199697]], [[0.22068972051612706]], [[0.21790731945435232]]], "count": [106]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33122808221442324]], [[0.31444509536568166]], [[0.298840132193613]]], "std": [[[0.2218671944690128]], [[0.215602743645139]], [[0.21307476120693752]]], "count": [106]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [505]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [505]}, "observation.state": {"min": [2.1996767947436986, -2.3107727569202274, 0.6999981451264488, 0.0, 0.0, -0.7301679849624634, 0.6832675933837891, 0.2505728795306945, -0.3695096771160564, 0.07724116426942829, -0.9903264045715332, -0.8949159979820251, -0.15191517770290375, 0.0007769375806674361, 0.0013499238236594816, -0.04006545837682141], "max": [3.186098301670517, -2.0796716434281253, 0.7013538635569216, 0.0, 0.0, -0.7071605324745178, 0.707053005695343, 0.73806548587104, 0.6498785012224384, 0.5934190713674626, 0.9897096753120422, 0.8874188661575317, 0.1564408838748932, 0.219258114695549, 0.04014596841873235, -0.0035823451260578384], "mean": [2.552954682516644, -2.2614283365994665, 0.700493056965979, 0.0, 0.0, -0.7191489337694527, 0.6948265063880694, 0.40220603969319657, 0.1139487630890681, 0.40991822531909666, -0.012486807721676213, -0.057655842971093586, -0.024722650247259472, 0.06902111848876212, 0.024055512708149998, -0.024662825871299074], "std": [0.16541060951754064, 0.07645271966811132, 0.0004759610341415487, 0.0, 0.0, 0.004441128753831755, 0.004606242658283916, 0.14885528644160576, 0.36294855430171247, 0.1676932567128142, 0.8704233763714284, 0.46941229112498595, 0.08794396635425344, 0.07366048003492037, 0.017591025834508577, 0.017226191159572975], "count": [505]}, "action": {"min": [-0.7000000000000001, -0.9071428571428573, -0.06285714285714286, 0.0, -1.0, -0.8357142857142857, -0.8642857142857142, -0.6500000000000001, -0.19142857142857142, -0.10857142857142858, -0.27714285714285714, -1.0], "max": [0.807142857142857, 0.7071428571428572, 0.0, 0.0, 1.0, 0.8714285714285716, 1.0, 0.8357142857142857, 0.12285714285714287, 0.1457142857142857, 0.4542857142857143, 1.0], "mean": [0.018670438472418668, -0.02773691654879774, -0.0036548797736916565, 0.0, -0.497029702970297, 0.0111032531824611, 0.0695049504950495, -0.06026874115983025, -0.0014427157001414424, 0.005210749646393212, 0.023422913719943435, -0.15643564356435644], "std": [0.1528809030464418, 0.2452997446662926, 0.01140423978697865, 0.0, 0.867733527279692, 0.267259872048613, 0.39234097172523735, 0.3135374732558054, 0.03922429044072185, 0.02947354190254428, 0.11700127353152384, 0.9876881539345325], "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": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [505]}, "index": {"min": [13537], "max": [14041], "mean": [13789.0], "std": [145.78065715313537], "count": [505]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [505]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.27829573866900276]], [[0.2684108593510646]], [[0.2231518117867264]]], "std": [[[0.22152730725262318]], [[0.19819770315903293]], [[0.1442348655181104]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4666956164790135]], [[0.4341023619408701]], [[0.41006922583486516]]], "std": [[[0.24479239128483807]], [[0.24252434925453698]], [[0.2497835140456934]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4520829030953201]], [[0.4234979242063036]], [[0.40199605784696696]]], "std": [[[0.24724077253841423]], [[0.2430164501876945]], [[0.2481885129436832]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [252]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [252]}, "observation.state": {"min": [2.290768097574031, -1.7559600061121192, 0.6999960875158833, 0.0, 0.0, -0.7071377038955688, 0.707075834274292, 0.22225813944322326, 0.003469462989782013, 0.11797355220747463, -0.981974184513092, -0.13026469945907593, -0.48205623030662537, 0.045547910034656525, 0.0065573559875549735, -0.03953115818836662], "max": [2.290900421943313, -1.7559246316447301, 0.7002259072289044, 0.0, 0.0, -0.7070315480232239, 0.7071820497512817, 0.6355827317320593, 0.4968601770535752, 0.6166599063351285, -0.8395928740501404, 0.3757666051387787, -0.07325835525989532, 0.2405892014503479, 0.04010864438012434, -0.005478582277012669], "mean": [2.2908807967081315, -1.7559529298984904, 0.7000404844277192, 0.0, 0.0, -0.7070516600968346, 0.7071618577317585, 0.4699355504535655, 0.28708725143009306, 0.3714198451473853, -0.9433655559070526, 0.11836510707461645, -0.15219808148131483, 0.17626857788612446, 0.028834008517893316, -0.028125787017360668], "std": [9.954995385897731e-06, 3.23881518749115e-06, 6.954645376178914e-05, 0.0, 0.0, 8.328449014214176e-06, 8.339616809541335e-06, 0.12813152611702439, 0.14945405727927874, 0.14155128874168374, 0.036763437270504115, 0.17782849736175244, 0.08018021422175736, 0.04912092424539775, 0.014913486556299826, 0.01497259806982602], "count": [252]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5142857142857143, -1.0, -0.6, -0.2142857142857143, -0.09428571428571429, -0.18857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4928571428571429, 1.0, 1.0, 0.15428571428571428, 0.1657142857142857, 0.2057142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.03982426303854875, 0.06510770975056696, -0.0014739229024944387, -0.009285714285714283, 0.007562358276643998, -0.027006802721088432, -0.36507936507936506], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2640410583352192, 0.4074718363721717, 0.44376855364408935, 0.060798394455639546, 0.0400556656157512, 0.05760595470837132, 0.9309763999120733], "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": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [252]}, "index": {"min": [14042], "max": [14293], "mean": [14167.5], "std": [72.74556114751378], "count": [252]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [252]}}} +{"episode_index": 23, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5900011219697839]], [[0.5737805756213618]], [[0.546148432114545]]], "std": [[[0.21557518854673857]], [[0.21866024087978544]], [[0.25451887301611553]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7179469801958869]], [[0.7061650456447227]], [[0.6932150250603171]]], "std": [[[0.1934900993572804]], [[0.19495914095174133]], [[0.19664879569613825]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7416454270306756]], [[0.7290600968903186]], [[0.7151323068656174]]], "std": [[[0.17349322294353503]], [[0.17422592033984513]], [[0.1756412944172649]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [458]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [458]}, "observation.state": {"min": [1.260191397299159, -4.266053166921568, 0.6999959822745511, 0.0, 0.0, -0.0001259226119145751, 1.0, 0.17819251893771493, -0.43127391572563667, 0.1485190312908805, -0.9986498951911926, -0.4069589078426361, -0.23007869720458984, 0.0006940527819097042, 0.002001914334747939, -0.04002049025345008], "max": [1.2602658910693794, -4.265942312277418, 0.7008509796489697, 0.0, 0.0, 6.133200076874346e-05, 1.0, 0.6986829762375091, 0.24340005617050853, 0.6072157670801864, 0.9989117980003357, 0.406835675239563, 0.3176029622554779, 0.1916269212961197, 0.04000182746871123, -0.0033850869186569715], "mean": [1.2602532666808113, -4.2659839912445765, 0.7004920895056307, 0.0, 0.0, -6.520503634907345e-07, 1.0, 0.45055550470420946, -0.05897254196267554, 0.32210461672100565, 0.20455987966216807, 0.07899387097026844, 0.05570506395601289, 0.06413801673339176, 0.025197544368375485, -0.025432416264952684], "std": [7.71316107420412e-06, 9.497575602833185e-06, 0.00029223515077573707, 0.0, 0.0, 1.633919604840683e-05, 0.0, 0.12612332853581484, 0.25080315119102076, 0.10522469987112135, 0.9373242426126455, 0.1928954001388701, 0.15649738686953066, 0.06649575992192706, 0.016543030244898563, 0.016480863986568145], "count": [458]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.33714285714285713, -0.15714285714285714, -0.08571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9285714285714287, 1.0, 1.0, 0.21714285714285717, 0.19428571428571428, 0.20285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04748908296943229, 0.03714909544603864, 0.013630692451653133, -0.002956955708047412, 0.005845290081097953, 0.004978165938864625, -0.20087336244541484], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.420414738395653, 0.4315169004326456, 0.4508122451576246, 0.05820923894523624, 0.06271549245452396, 0.054010135178099786, 0.9796172172128649], "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": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [458]}, "index": {"min": [14294], "max": [14751], "mean": [14522.5], "std": [132.21289649652186], "count": [458]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [458]}}} +{"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": [[[0.5744617922086243]], [[0.5749380854104129]], [[0.5732318774729805]]], "std": [[[0.2607110949579397]], [[0.2639455111658668]], [[0.2667926478063347]]], "count": [188]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6149520692598537]], [[0.5769987403128015]], [[0.5532322915037025]]], "std": [[[0.3038751176435685]], [[0.31871631827022384]], [[0.2925150344539998]]], "count": [188]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6480193942200904]], [[0.610097726782909]], [[0.5870813228907961]]], "std": [[[0.28207283000804223]], [[0.3030239363271852]], [[0.2812095641509677]]], "count": [188]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1084]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1084]}, "observation.state": {"min": [2.125397608427243, -0.7871262657209198, 0.6999980226049801, 0.0, 0.0, 0.7026575207710266, 0.7071067094802856, 0.17303874331057967, -0.5020754718583404, 0.16022099256748568, -0.9868364930152893, -0.5861318707466125, -0.26178306341171265, 0.0002382759121246636, 0.002008447880487845, -0.04000594355711528], "max": [2.7349322426568956, -0.7480890071385222, 0.7017562580174689, 0.0, 0.0, 0.7071068286895752, 0.7115281820297241, 0.5468257484819116, 0.26055619054533774, 0.6146413718816213, 0.9983492493629456, 0.5925818085670471, 0.16041620075702667, 0.070819191634655, 0.040052798118816284, -0.0022704578713870025], "mean": [2.1404191539085966, -0.7525392108213964, 0.7006313309911285, 0.0, 0.0, 0.7052452288210612, 0.7089630886087558, 0.3347972333649383, -0.07081994817406635, 0.3614370124859409, -0.04493733883123996, 0.09179124791120141, -0.04570409194044374, 0.038108685281157975, 0.028858771972961356, -0.028922866898025472], "std": [0.08276994308122546, 0.006079554070430484, 0.0004972117096027789, 0.0, 0.0, 0.0005035593770019992, 0.0005008031048702132, 0.09694042774796026, 0.20633150019451246, 0.12542615023491036, 0.9340558571823908, 0.3140108371831958, 0.1203005800975424, 0.021874328639605627, 0.015880160555363974, 0.015694195167330196], "count": [1084]}, "action": {"min": [0.0, 0.0, -0.03214285714285715, 0.0, -1.0, -0.7714285714285715, -0.5357142857142857, -0.43392857142857144, -0.09428571428571429, -0.14142857142857146, -0.15642857142857142, -1.0], "max": [0.5142857142857143, 0.8624999999999999, 0.0, 0.0, 1.0, 0.6000000000000001, 0.6160714285714286, 0.5517857142857143, 0.0642857142857143, 0.10500000000000001, 0.16928571428571426, 1.0], "mean": [0.00838659725882973, 0.020049749604638904, -0.0003123352662098049, 0.0, -0.915129151291513, 0.0012700975224037838, 0.004689971006852954, -0.022748089088033687, -0.0042362941486557715, 0.0007096731681602576, -0.005461913547706888, -0.3726937269372694], "std": [0.05139481814384662, 0.11634657181002489, 0.002526567761950401, 0.0, 0.4031608071929641, 0.15814130987552363, 0.20730496905025594, 0.19705467856162065, 0.014763807576649395, 0.026346834620429565, 0.04759225387387749, 0.9279544093874427], "count": [1084]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014760147780179977], "std": [0.12059139460325241], "count": [1084]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009225092250922509], "std": [0.030358824117904675], "count": [1084]}, "timestamp": {"min": [0.0], "max": [54.15], "mean": [27.075000000000003], "std": [15.646185637400572], "count": [1084]}, "frame_index": {"min": [0], "max": [1083], "mean": [541.5], "std": [312.9237127480115], "count": [1084]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1084]}, "index": {"min": [14752], "max": [15835], "mean": [15293.5], "std": [312.9237127480115], "count": [1084]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1084]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4738222375451334]], [[0.4838508012593145]], [[0.4799029832577169]]], "std": [[[0.2557243283631936]], [[0.26056617806432103]], [[0.25723536145031933]]], "count": [149]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6960865232093912]], [[0.6403789742649629]], [[0.5955607875458017]]], "std": [[[0.33152436512970246]], [[0.35528570535440496]], [[0.31913949113882867]]], "count": [149]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7381248914877009]], [[0.6920469721550533]], [[0.6451859891971549]]], "std": [[[0.31518021548514735]], [[0.33732002770915015]], [[0.3029794318218304]]], "count": [149]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [792]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [792]}, "observation.state": {"min": [1.6306131868828229, -0.8209342718507966, 0.699996150112752, 0.0, 0.0, 0.7015969157218933, 0.7071064114570618, 0.14278001769385706, -0.3354546303220358, 0.11709421213072757, -0.9999536275863647, -0.4371721148490906, -0.1466846466064453, 3.905926860170439e-05, 0.002829572973259575, -0.04000171583296779], "max": [2.0007446999071594, -0.7442542991695409, 0.7000334641772094, 0.0, 0.0, 0.7071071863174438, 0.7125740051269531, 0.480254657690092, 0.42080984122943077, 0.6032492284973995, 0.9999459981918335, 0.4274228811264038, 0.06837551295757294, 0.10030118376016617, 0.04000486811199346, -0.003914853376427923], "mean": [1.6400585800074121, -0.7496326854355545, 0.7000029279032052, 0.0, 0.0, 0.7036989015160184, 0.710497912960221, 0.33069436209179776, 0.04679124201775974, 0.3435530023983805, -0.15619946466852921, -0.13404321057999488, -0.028293066941777665, 0.03393206821055164, 0.03248089314554515, -0.03239008875086399], "std": [0.050290256508015024, 0.016078054635301493, 4.828899354046491e-06, 0.0, 0.0, 0.0005301046854001368, 0.0005255137652358967, 0.08782273214615612, 0.2133623209904058, 0.13027352940859058, 0.9563796349452475, 0.19328711843876925, 0.05501998840405805, 0.025162385141759204, 0.012223768675948484, 0.011949338731432838], "count": [792]}, "action": {"min": [-0.1285714285714286, 0.0, -0.047142857142857146, 0.0, -1.0, -0.5517857142857143, -0.675, -0.47678571428571426, -0.11785714285714285, -0.135, -0.13714285714285715, -1.0], "max": [0.5303571428571429, 0.7125, 0.0, 0.0, 1.0, 0.43928571428571433, 0.8142857142857143, 0.7875, 0.06857142857142857, 0.09857142857142857, 0.255, 1.0], "mean": [0.011336580086580087, 0.019521103896103897, -0.0005005411255411255, 0.0, -0.851010101010101, -0.002834145021645027, 0.021645021645021596, -0.012324134199134175, -0.003225108225108224, 0.003222402597402601, 0.004970238095238105, -0.3282828282828283], "std": [0.06586250343842082, 0.09917322423087611, 0.004431886730463777, 0.0, 0.5251493196975275, 0.1952871696998091, 0.27755866537945845, 0.2602974396070073, 0.02593340754400729, 0.028499095597687693, 0.057925854088365536, 0.9445794750335352], "count": [792]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020202020183205605], "std": [0.14069078862667084], "count": [792]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012626262626262627], "std": [0.03551101290511422], "count": [792]}, "timestamp": {"min": [0.0], "max": [39.55], "mean": [19.775], "std": [11.4315262177308], "count": [792]}, "frame_index": {"min": [0], "max": [791], "mean": [395.5], "std": [228.630524354616], "count": [792]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [792]}, "index": {"min": [15836], "max": [16627], "mean": [16231.5], "std": [228.630524354616], "count": [792]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [792]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49848863209850675]], [[0.5095468366877873]], [[0.5006187563139277]]], "std": [[[0.2742465908082218]], [[0.27714755065038116]], [[0.2761054575441475]]], "count": [153]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5589969336306699]], [[0.4317744752619185]], [[0.4176276058718652]]], "std": [[[0.26409040067294876]], [[0.3237828530834944]], [[0.30628369074585626]]], "count": [153]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49759790131362236]], [[0.3808652246913497]], [[0.368360695746653]]], "std": [[[0.27241159984895164]], [[0.30570137389388374]], [[0.28410717770479044]]], "count": [153]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [821]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [821]}, "observation.state": {"min": [2.5084216944061497, -1.6549130634214382, 0.6999955967275399, 0.0, 0.0, -0.00011568643822101876, 1.0, 0.1763766038076997, -0.315889554643646, 0.14793583143657585, -0.9981058835983276, -0.382341593503952, -0.20371295511722565, 8.041774708544835e-05, 0.0021562421923405225, -0.04007019653632314], "max": [2.508450731576674, -1.6548122572035762, 0.7009703799980924, 0.0, 0.0, 4.3512969568837434e-05, 1.0, 0.5087114961421015, 0.7365415997917834, 0.5897468168417576, 0.9915291666984558, 0.49242913722991943, 0.1059640422463417, 0.2400309145450592, 0.04001532246208449, -0.0018773205808308884], "mean": [2.5084400436709626, -1.6548658033894281, 0.700262443151386, 0.0, 0.0, -3.7517595085368894e-05, 1.0, 0.33973148343276593, 0.31135797701834006, 0.3371815741356818, -0.8658108452060481, 0.14119747258387008, -0.023786528771641086, 0.09099511810504919, 0.02652708918500448, -0.026521454092688038], "std": [2.9148965376789895e-06, 1.2650305119132755e-05, 0.00023906480573953668, 0.0, 0.0, 2.047344701226668e-05, 0.0, 0.08638173652815431, 0.3774060149892844, 0.10482149380728635, 0.3873230537873266, 0.24660031238953645, 0.08157230543646964, 0.06406276675295709, 0.01591685599690888, 0.015657825300145305], "count": [821]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7928571428571429, -0.675, -0.594642857142857, -0.18642857142857147, -0.19714285714285715, -0.1457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4982142857142858, 0.8946428571428571, 0.7446428571428572, 0.10714285714285715, 0.14357142857142857, 0.23357142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0037584826866190967, 0.05915695145293201, -0.01854445797807551, -0.004074299634591957, -0.00032103706281538227, 0.0005402818862015364, -0.18635809987819732], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.237333034937645, 0.38790114668239684, 0.22858176298179791, 0.034275517928178505, 0.03192106991432493, 0.05799327645664132, 0.9824818871662578], "count": [821]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01948842965066433], "std": [0.1382339596748352], "count": [821]}, "next.done": {"min": [false], "max": [true], "mean": [0.001218026796589525], "std": [0.03487897944768904], "count": [821]}, "timestamp": {"min": [0.0], "max": [41.0], "mean": [20.5], "std": [11.850105484762572], "count": [821]}, "frame_index": {"min": [0], "max": [820], "mean": [410.0], "std": [237.00210969525145], "count": [821]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [821]}, "index": {"min": [16628], "max": [17448], "mean": [17038.0], "std": [237.00210969525145], "count": [821]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [821]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.26715660523163515]], [[0.2646145454535495]], [[0.24389963556575653]]], "std": [[[0.19831021401061]], [[0.18760880521702017]], [[0.1636764583346773]]], "count": [201]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40019507671888715]], [[0.37115665116131963]], [[0.34972774485892383]]], "std": [[[0.20374104448633013]], [[0.1994360308286811]], [[0.19752901556216665]]], "count": [201]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38806944800497745]], [[0.36158258194179604]], [[0.34276901660413467]]], "std": [[[0.20389016419277714]], [[0.19769484162260068]], [[0.19362503514295173]]], "count": [201]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1178]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1178]}, "observation.state": {"min": [2.4799607631467606, -1.8825032129932844, 0.6999959650960805, 0.0, 0.0, -0.00379338045604527, 0.999992847442627, 0.18660105453298348, -0.4263246793720852, 0.06800219683640396, -0.9978089928627014, -0.2738519310951233, -0.41074785590171814, 3.404612289159559e-05, 0.0031176330773666086, -0.04000747885260245], "max": [2.515431129293776, -1.5316557375215192, 0.7043401480829564, 0.0, 0.0, -9.272262104786932e-06, 1.0, 0.5969015904050634, 0.647901374743872, 0.6011190955434021, 0.9980508089065552, 0.28952813148498535, 0.17986758053302765, 0.2081194818019867, 0.04002237508069822, -0.003358498333046688], "mean": [2.513782904959318, -1.5362962953089723, 0.7024108287524727, 0.0, 0.0, -0.003439360218921993, 0.9999941191770427, 0.335481942895357, 0.21287276546989942, 0.32023974913430137, -0.20989593261369016, 0.07010647765216885, -0.05581235050038768, 0.07278795379260819, 0.024323568305735135, -0.024003877133470238], "std": [0.0072565054117964285, 0.030924063155047834, 0.001961872086047449, 0.0, 0.0, 0.00016583241146087203, 3.6861137705776906e-07, 0.09737284259814855, 0.30732145541991135, 0.14920778694489165, 0.9532405465908589, 0.10438828087567166, 0.14267834441316757, 0.05190484735052703, 0.01685211564996967, 0.016939154989022816], "count": [1178]}, "action": {"min": [-0.048214285714285716, 0.0, -0.030000000000000002, 0.0, -1.0, -0.6321428571428571, -0.7071428571428573, -0.375, -0.10285714285714286, -0.11142857142857143, -0.08357142857142857, -1.0], "max": [0.35357142857142865, 0.6482142857142857, 0.0, 0.0, 1.0, 0.41785714285714287, 0.7017857142857142, 0.8624999999999999, 0.053571428571428575, 0.17142857142857143, 0.12214285714285715, 1.0], "mean": [0.005807361144797478, 0.015612114964831428, -0.00015825854959980595, 0.0, -0.8760611205432938, 0.01734022556390978, 0.04816880911957303, -0.004897829250545707, -0.007500000000000016, 0.0062866844530681636, 0.0006439485811302484, -0.09847198641765705], "std": [0.03732440001476057, 0.07983860411963617, 0.0018631840218395032, 0.0, 0.4822000757698189, 0.16551722393050758, 0.28713534980538596, 0.24314204635413622, 0.020068643894375564, 0.03287374432846942, 0.026465472475410708, 0.9951398232866392], "count": [1178]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013582343235611916], "std": [0.11574914306402206], "count": [1178]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008488964346349745], "std": [0.029123458061813996], "count": [1178]}, "timestamp": {"min": [0.0], "max": [58.85], "mean": [29.425], "std": [17.00295930125106], "count": [1178]}, "frame_index": {"min": [0], "max": [1177], "mean": [588.5], "std": [340.05918602502123], "count": [1178]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1178]}, "index": {"min": [17449], "max": [18626], "mean": [18037.5], "std": [340.05918602502123], "count": [1178]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1178]}}} +{"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": [[[0.5269003355736827]], [[0.5120541274126839]], [[0.49371781711952356]]], "std": [[[0.2179143816417115]], [[0.2129552418061098]], [[0.19893064768986146]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.06274509803921569]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5390609597598806]], [[0.5070792703067555]], [[0.4815207184436275]]], "std": [[[0.21704055694890578]], [[0.2320111262126262]], [[0.24238610598143404]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5347837961234299]], [[0.49822375727634804]], [[0.46769020768707875]]], "std": [[[0.21871438561054385]], [[0.2337648399877635]], [[0.24348122578761422]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [320]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [320]}, "observation.state": {"min": [2.752813363199554, -0.8137989001362762, 0.6999972297421232, 0.0, 0.0, 0.7070292830467224, 0.7070503830909729, 0.22782268690007312, -0.02247326095739499, 0.19132572046872354, -0.9948804378509521, -0.013374105095863342, -0.19194237887859344, 0.021787196397781372, 0.002770408647772082, -0.03969753406326276], "max": [2.752951171579681, -0.8137548583227661, 0.7019799305009606, 0.0, 0.0, 0.7071630954742432, 0.707184374332428, 0.5427265972613651, 0.5027990149195549, 0.586697410730133, -0.8161715269088745, 0.5297576189041138, 0.35254406929016113, 0.21113140881061554, 0.04047926678172779, -0.0007787199144654941], "mean": [2.752862177767258, -0.8137621585144503, 0.7005116317085339, 0.0, 0.0, 0.7071071032434701, 0.707106408663094, 0.4159111432360586, 0.28169278634346406, 0.3708352229764408, -0.921721993945539, 0.23101197727955877, 0.07243666380800277, 0.13384128057514316, 0.03145649682667948, -0.028827152334749268], "std": [1.5831065145061988e-05, 8.053750943655377e-06, 0.0007171621900624752, 0.0, 0.0, 1.4980459212874753e-05, 1.498590908251434e-05, 0.10099832990598714, 0.18145066516003025, 0.11580675708457151, 0.056768457768840055, 0.20563380714398927, 0.15881152112082608, 0.05632453904567131, 0.013707341722545731, 0.014953524010794209], "count": [320]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6428571428571428, -1.0, -0.5642857142857142, -0.17714285714285713, -0.18571428571428572, -0.22285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3428571428571429, 1.0, 1.0, 0.18857142857142858, 0.3742857142857143, 0.2485714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.041495535714285735, 0.017790178571428655, -0.030602678571428572, -0.006080357142857143, 0.006026785714285735, -0.02966964285714287, -0.375], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.15361470106448596, 0.3909229928414432, 0.34752200457855137, 0.04334064962684033, 0.10730644319850165, 0.06002077061296775, 0.9270248108869579], "count": [320]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05000000074505806], "std": [0.21794493496418], "count": [320]}, "next.done": {"min": [false], "max": [true], "mean": [0.003125], "std": [0.05581428468591172], "count": [320]}, "timestamp": {"min": [0.0], "max": [15.95], "mean": [7.975], "std": [4.618779600717056], "count": [320]}, "frame_index": {"min": [0], "max": [319], "mean": [159.5], "std": [92.37559201434111], "count": [320]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [320]}, "index": {"min": [18627], "max": [18946], "mean": [18786.5], "std": [92.37559201434111], "count": [320]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [320]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.058823529411764705]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.354830625984202]], [[0.3572220299746052]], [[0.3501862133444294]]], "std": [[[0.24106004070108028]], [[0.23709344488024345]], [[0.23837014249995184]]], "count": [193]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48507041322692046]], [[0.40509796561136796]], [[0.3663638224122632]]], "std": [[[0.20560288714607053]], [[0.24851521266762003]], [[0.27244171332305767]]], "count": [193]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4833962544839726]], [[0.4071839991132261]], [[0.3697579804443434]]], "std": [[[0.21210461711878406]], [[0.25133906739765455]], [[0.27400456595758843]]], "count": [193]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1117]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1117]}, "observation.state": {"min": [3.693148835057723, -2.070762685359896, 0.6999981986388533, 0.0, 0.0, -0.7071406841278076, 0.7070728540420532, 0.181730624292336, -0.7247437783216752, 0.047126018574170536, -0.9985053539276123, -0.6181153059005737, -0.20620034635066986, 0.00012569097452796996, 0.0024708129068388446, -0.04000944527360001], "max": [3.693250284724919, -2.070682425222318, 0.7035863247392385, 0.0, 0.0, -0.7070418000221252, 0.7071717381477356, 0.6562029532421243, 0.3035591438214622, 0.6147626188081576, 0.999190092086792, 0.606389582157135, 0.2165616750717163, 0.19213099777698517, 0.040003749440444436, -0.002452588128023583], "mean": [3.6931879357429858, -2.070719796782875, 0.7016491841780603, 0.0, 0.0, -0.7071047191547302, 0.7071087931348686, 0.40082727023428744, -0.08721920897028936, 0.3362298013706757, 0.2996927197745792, -0.08704384360979366, 0.01617550874263279, 0.04873763559194471, 0.022923428145099484, -0.022921324272397608], "std": [1.2369937903162573e-05, 5.624661048231545e-06, 0.001193453920808572, 0.0, 0.0, 1.2746878037871497e-05, 1.2747357201163632e-05, 0.11504779230191435, 0.34451308332910563, 0.15172868179384574, 0.91293817413876, 0.23036717940169815, 0.11031483573682321, 0.03572294126638087, 0.016475137154859768, 0.016347515683697234], "count": [1117]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5410714285714286, -0.6642857142857143, -0.39107142857142857, -0.16285714285714287, -0.16928571428571426, -0.17142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5571428571428572, 1.0, 0.7125, 0.07928571428571429, 0.1157142857142857, 0.19500000000000003, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.016340005115743704, 0.013606279575393173, -0.04025770558895011, -0.0010455301189410415, 0.0005102954341987451, 0.007984396981711214, 0.017009847806624886], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.222017740203323, 0.29700588650022475, 0.25402700644917714, 0.02991499615015816, 0.04370064483116618, 0.06126232850137391, 0.9998553220729443], "count": [1117]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014324082061648369], "std": [0.11882298439741135], "count": [1117]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008952551477170994], "std": [0.029907418242596358], "count": [1117]}, "timestamp": {"min": [0.0], "max": [55.8], "mean": [27.9], "std": [16.122499806171497], "count": [1117]}, "frame_index": {"min": [0], "max": [1116], "mean": [558.0], "std": [322.44999612342997], "count": [1117]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1117]}, "index": {"min": [18947], "max": [20063], "mean": [19505.0], "std": [322.44999612342997], "count": [1117]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1117]}}} +{"episode_index": 30, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.058823529411764705]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6578359251205312]], [[0.6236169276598408]], [[0.5869436548350859]]], "std": [[[0.19386355808010972]], [[0.18534112235709538]], [[0.19356297288060653]]], "count": [186]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6505519489736313]], [[0.6012477394601048]], [[0.5576782648004914]]], "std": [[[0.17599997803384268]], [[0.17210567195052787]], [[0.20424739917899415]]], "count": [186]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.64783805478808]], [[0.5945810361826392]], [[0.5499451117904635]]], "std": [[[0.18957145150443286]], [[0.17926121917394938]], [[0.2042846190122656]]], "count": [186]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1066]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1066]}, "observation.state": {"min": [0.7709430127017461, -2.4658673613818425, 0.6999984212092664, 0.0, 0.0, -1.0, 9.096255126905817e-08, 0.14682766999245545, -0.5734624933046117, 0.1301868631498091, -0.9944220781326294, -0.4350423514842987, -0.24589291214942932, 5.90167437621858e-05, 0.0017197116552312138, -0.040000596970949404], "max": [0.806663116420367, -2.0371771532760805, 0.7018098509851002, 0.0, 0.0, 1.0, 0.0019504324300214648, 0.47069763234138406, 0.43507350076114326, 0.5852801287941155, 0.9945546388626099, 0.43460431694984436, 0.22310177981853485, 0.13828803598880768, 0.040008885365551264, -0.00229850184610138], "mean": [0.7731423330174697, -2.0497238881906306, 0.7009600791655275, 0.0, 0.0, 0.9005611701038496, 0.0018087347406082431, 0.3333828075703219, -0.023483633486224856, 0.35024555254216844, -0.4574102069937937, -0.03246968899334573, -0.05807383062132751, 0.037160534551000636, 0.02526478437583007, -0.025340470562340445], "std": [0.00817792313594901, 0.06047422187624755, 0.0005584100537750589, 0.0, 0.0, 0.43472544846968936, 0.00039126834633737746, 0.07808485067896997, 0.34339562327411544, 0.12896455586114086, 0.8437067820312464, 0.22537743915848593, 0.14679929182601195, 0.027964031364335132, 0.01681362548127192, 0.01678940059729119], "count": [1066]}, "action": {"min": [-0.010714285714285714, -0.5089285714285714, -0.012857142857142857, 0.0, -1.0, -1.0, -0.6107142857142858, -0.43928571428571433, -0.09857142857142857, -0.14142857142857146, -0.13071428571428573, -1.0], "max": [0.36428571428571427, 0.0, 0.0, 0.0, 1.0, 0.5303571428571429, 0.7982142857142857, 0.6964285714285715, 0.09857142857142857, 0.09, 0.12642857142857145, 1.0], "mean": [0.0048093674618064864, -0.022725140712945596, -0.00010251943178772446, 0.0, -0.8724202626641651, 0.003144264272313044, 0.031765947467166926, -0.005563186813186759, 0.0012141517019565804, 0.002665505226480841, -0.0008161350844277703, -0.15947467166979362], "std": [0.03553521053087758, 0.09271290338903027, 0.0009613666115575091, 0.0, 0.4887564682876323, 0.19315402155615605, 0.27325447282291765, 0.22158302896173435, 0.018439368464214668, 0.024372011410990033, 0.031157046357471213, 0.9872020204070765], "count": [1066]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015009380877017975], "std": [0.12158987671136856], "count": [1066]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009380863039399625], "std": [0.030613825275948817], "count": [1066]}, "timestamp": {"min": [0.0], "max": [53.25], "mean": [26.625], "std": [15.386377903847286], "count": [1066]}, "frame_index": {"min": [0], "max": [1065], "mean": [532.5], "std": [307.72755807694574], "count": [1066]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1066]}, "index": {"min": [20064], "max": [21129], "mean": [20596.5], "std": [307.72755807694574], "count": [1066]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1066]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5229623873841529]], [[0.524656987208946]], [[0.4945481393851486]]], "std": [[[0.15562444426581806]], [[0.17942823035256045]], [[0.17208997376618637]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.581175474877451]], [[0.5450701635024127]], [[0.5335278990502451]]], "std": [[[0.19990644647770675]], [[0.21252395118748854]], [[0.21429538249175736]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5741207083907782]], [[0.539599255730124]], [[0.5244749552408854]]], "std": [[[0.18117712533304053]], [[0.19130053614824544]], [[0.19430445490467158]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [326]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [326]}, "observation.state": {"min": [0.7822864898713985, -2.600031877376904, 0.6999933136277722, 0.0, 0.0, -1.0, 7.75587949419787e-08, 0.18652079387935638, -0.803645193347408, 0.1870182978926327, -0.9948343634605408, -0.22935305535793304, -0.1765729784965515, 4.3006653868360445e-05, 0.007427274146691072, -0.040030198441969166], "max": [0.782315019242644, -2.5999583656527663, 0.7004995573547058, 0.0, 0.0, 1.0, 5.435030470835045e-05, 0.4604560025385155, 0.0035034946492351615, 0.6191251764134498, 0.9939398765563965, 0.23692744970321655, 0.31516969203948975, 0.362321138381958, 0.03953852204671485, -0.002888306527262196], "mean": [0.7822935993799575, -2.5999836313772344, 0.7002332391297734, 0.0, 0.0, -0.13496932515337423, 8.992328413704647e-06, 0.34246954042787864, -0.45146663607591386, 0.4003431427180325, 0.49229815291480783, 0.04315416464593513, 0.10143058166444004, 0.18352637165116903, 0.02838560848703356, -0.02753393916502791], "std": [2.4517408402882314e-06, 9.636666696515759e-06, 0.0002171804124236849, 0.0, 0.0, 0.9908497773465185, 9.537136978600424e-06, 0.08127661411280399, 0.25128411368809195, 0.13243877746746704, 0.8190440640094964, 0.13184932256172305, 0.11177071473615414, 0.10535675631111541, 0.013781914138075418, 0.015432459250794162], "count": [326]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5, -1.0, -0.6357142857142857, -0.38857142857142857, -0.17714285714285713, -0.3057142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5785714285714286, 1.0, 1.0, 0.2542857142857143, 0.35714285714285715, 0.16857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04200262927256789, -0.006638913234005207, -0.004097283085013233, 0.002795793163891323, -0.004294478527607364, 0.001288343558282206, -0.27607361963190186], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23199477322162168, 0.5246245351872778, 0.3667365557399736, 0.10578187309235951, 0.07343364512399404, 0.06163148816668565, 0.9611364921504858], "count": [326]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04907975345849991], "std": [0.21603456139564514], "count": [326]}, "next.done": {"min": [false], "max": [true], "mean": [0.003067484662576687], "std": [0.055299866188098], "count": [326]}, "timestamp": {"min": [0.0], "max": [16.25], "mean": [8.125], "std": [4.705382556179678], "count": [326]}, "frame_index": {"min": [0], "max": [325], "mean": [162.5], "std": [94.10765112359356], "count": [326]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [326]}, "index": {"min": [21130], "max": [21455], "mean": [21292.5], "std": [94.10765112359356], "count": [326]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [326]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5242966452205883]], [[0.5201385809206495]], [[0.5216178828220742]]], "std": [[[0.27769788108217786]], [[0.27980777660014355]], [[0.2818941315017808]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48310465614468445]], [[0.4394801587871477]], [[0.45109021594477633]]], "std": [[[0.21420225817590802]], [[0.23823950544605632]], [[0.2373086563416955]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.446611421472886]], [[0.40340169510186885]], [[0.41481906187768075]]], "std": [[[0.21748277933018614]], [[0.2334491030364883]], [[0.23200215897668403]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [306]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [306]}, "observation.state": {"min": [2.196476073233905, -3.023580883018356, 0.6999945705678743, 0.0, 0.0, -3.934400956495665e-05, 1.0, 0.20641459543445784, -0.18865433077970284, 0.09901838066808488, -0.9988324046134949, -0.5947943925857544, -0.14665104448795319, 6.191405555000529e-05, 0.0003411189156415701, -0.03999240389388581], "max": [2.196487312303786, -3.023532263249335, 0.7000247839728173, 0.0, 0.0, 2.7776166461990215e-05, 1.0, 0.5011336372009527, 0.49199955126702344, 0.6007763259106433, 0.9988340735435486, 0.5218693614006042, 0.10202696919441223, 0.06566864252090454, 0.03991128719017897, -0.0007508970704758767], "mean": [2.196482238617047, -3.0235548174505875, 0.7000027108258212, 0.0, 0.0, -3.902244904561481e-06, 1.0, 0.3654311206863486, 0.19477641496901094, 0.3034041723413974, 0.0929147634241316, 0.015035550432657105, -0.004120585728260802, 0.02734011361721939, 0.01967139048043897, -0.019686951870482992], "std": [1.5495545016354648e-06, 6.131789622091364e-06, 5.260685882074189e-06, 0.0, 0.0, 1.13465977792072e-05, 0.0, 0.0833444885032639, 0.2823704239673932, 0.12512436249118433, 0.9093227749910102, 0.4022362246537822, 0.03907883438635269, 0.013685065688028387, 0.017763697105447243, 0.017800186922163605], "count": [306]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6785714285714286, -0.6071428571428572, -0.8571428571428572, -0.19428571428571428, -0.06285714285714286, -0.15142857142857147, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7214285714285715, 1.0, 0.807142857142857, 0.1, 0.18285714285714286, 0.3914285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.015149393090569533, 0.09829598506069093, -0.045098039215686246, 0.0027731092436974803, 0.006451914098972919, 0.02802054154995331, 0.058823529411764705], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.30345937025087166, 0.3754419353507915, 0.35806926587624954, 0.036396558788432225, 0.03312161839815717, 0.1127491977688497, 0.998268396969248], "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": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [306]}, "index": {"min": [21456], "max": [21761], "mean": [21608.5], "std": [88.33411949335697], "count": [306]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [306]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3049727439260009]], [[0.2986957310057187]], [[0.2951028583329159]]], "std": [[[0.21192775323454124]], [[0.20285084650417534]], [[0.19357414088349234]]], "count": [211]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.375951214845202]], [[0.3622889630491655]], [[0.3486193131297154]]], "std": [[[0.20458931374383182]], [[0.20298018265231563]], [[0.20221762302451685]]], "count": [211]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3801275654050035]], [[0.36701294886845437]], [[0.35249274361699656]]], "std": [[[0.2011254916294832]], [[0.19977655135751662]], [[0.1988098119168224]]], "count": [211]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1260]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1260]}, "observation.state": {"min": [2.9780931081049444, -1.7271268103358524, 0.699998865029063, 0.0, 0.0, 0.00013105888501740992, 1.0, 0.1740936674105531, -0.808160624301657, 0.029421433992282697, -0.9992275238037109, -0.44463130831718445, -0.25377094745635986, 0.0006647522677667439, 0.0032661579739503522, -0.04001722197565871], "max": [2.97812055829456, -1.7270799638723673, 0.7016945638813437, 0.0, 0.0, 0.00019135656475555152, 1.0, 0.4988296594793731, 0.11458733489902806, 0.5989111265909641, 0.9415073394775391, 0.3758603632450104, 0.20087864995002747, 0.1482580155134201, 0.040005321644805754, -0.0009362367303904789], "mean": [2.978116419449662, -1.7271088667655028, 0.7004476872387647, 0.0, 0.0, 0.00015340643057863907, 1.0, 0.35206194010686975, -0.14627952675931014, 0.25469802770978256, -0.43022535963663977, -0.09215699783452447, 0.013782715368811224, 0.04945608052902759, 0.02496233796663594, -0.025162570827152765], "std": [3.196141760050726e-06, 3.395949600125692e-06, 0.00048813031886469396, 0.0, 0.0, 4.488113192362871e-06, 0.0, 0.09438202379930677, 0.2868078897297998, 0.14867382361026835, 0.8637175842831859, 0.20861824018057185, 0.11506254648584062, 0.03175431334614537, 0.01633860532314053, 0.01618628938651138], "count": [1260]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6214285714285714, -0.5410714285714286, -0.4285714285714286, -0.14785714285714285, -0.1457142857142857, -0.13714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45, 0.9375, 0.5464285714285714, 0.07714285714285715, 0.09857142857142857, 0.06642857142857142, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.002746598639455782, 0.009800170068027175, -0.022453231292517157, -0.002647959183673471, 0.005795918367346945, -0.005447278911564619, -0.11746031746031746], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.17765317457871727, 0.24521060635674843, 0.2161684353821004, 0.019172855042237102, 0.032674078057785966, 0.027146131021336353, 0.9930775769405553], "count": [1260]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012698412872850895], "std": [0.1119694784283638], "count": [1260]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007936507936507937], "std": [0.028160626982873287], "count": [1260]}, "timestamp": {"min": [0.0], "max": [62.95], "mean": [31.475], "std": [18.186527751791065], "count": [1260]}, "frame_index": {"min": [0], "max": [1259], "mean": [629.5], "std": [363.73055503582134], "count": [1260]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1260]}, "index": {"min": [21762], "max": [23021], "mean": [22391.5], "std": [363.73055503582134], "count": [1260]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1260]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3271042012069569]], [[0.3313320773037203]], [[0.3308361826015334]]], "std": [[[0.23304812891765483]], [[0.23814882789191794]], [[0.23601044197414459]]], "count": [137]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5027471214502995]], [[0.4781544470387807]], [[0.4601884631447241]]], "std": [[[0.27594395244581815]], [[0.2835610237196237]], [[0.29581383802760786]]], "count": [137]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.505968169489012]], [[0.47718331978627165]], [[0.456894213101955]]], "std": [[[0.2695676922163495]], [[0.27731128410160427]], [[0.28985410598595385]]], "count": [137]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [711]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [711]}, "observation.state": {"min": [2.979470069915303, -2.008882179350516, 0.699977774605066, 0.0, 0.0, 0.00011499620450194925, 1.0, 0.046607197718952165, -0.6045319483388454, 0.04150896204497412, -0.990177571773529, -0.4455159902572632, -0.19470399618148804, 7.233634096337482e-05, 0.0032340789457596525, -0.04003183768362859], "max": [2.9797040340566587, -2.0088275798450046, 0.7002034773122329, 0.0, 0.0, 0.00021591587574221194, 1.0, 0.5331211883904179, 0.40816644915130973, 0.6109488119302118, 0.9738801121711731, 0.6395833492279053, 0.23908890783786774, 0.18460410833358765, 0.04000272127435638, -0.0036371664493151956], "mean": [2.9794896932741675, -2.0088573125627125, 0.7000186598680168, 0.0, 0.0, 0.00015221234890866472, 1.0, 0.31641850715538117, 0.010600386015503666, 0.2917415963153822, 0.2982924469915623, 0.13156982547958523, 0.06429028202702308, 0.07372375711636447, 0.024882372475901793, -0.025011726175396126], "std": [9.040156019093195e-06, 6.647827354439551e-06, 3.690508931185905e-05, 0.0, 0.0, 1.2545425608857234e-05, 0.0, 0.11942113311624379, 0.347492770636644, 0.15095119441123744, 0.8794908824856259, 0.30365117437369193, 0.12233997646959405, 0.05888331841340572, 0.015633245370196346, 0.01574522776991665], "count": [711]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6928571428571428, -0.24, -0.2714285714285714, -0.5028571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8571428571428572, 1.0, 1.0, 0.14857142857142858, 0.31142857142857144, 0.32571428571428573, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.03967249346996183, 0.023477998794454495, 0.02775768535262204, -0.0028691983122362884, 0.009182238296162345, 0.0041993168575447225, -0.09423347398030943], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.31660056610463766, 0.43590005726522174, 0.44692257354508136, 0.041998222717924825, 0.07316518653742074, 0.11594976498117146, 0.9955501254992665], "count": [711]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02250351570546627], "std": [0.1483142375946045], "count": [711]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014064697609001407], "std": [0.03747654738248728], "count": [711]}, "timestamp": {"min": [0.0], "max": [35.5], "mean": [17.75], "std": [10.26239088451939], "count": [711]}, "frame_index": {"min": [0], "max": [710], "mean": [355.0], "std": [205.2478176903878], "count": [711]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [711]}, "index": {"min": [23022], "max": [23732], "mean": [23377.0], "std": [205.2478176903878], "count": [711]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [711]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5387971213033119]], [[0.49448793946041497]], [[0.41276322512219915]]], "std": [[[0.2006832722516881]], [[0.21283647702171596]], [[0.26531347322167215]]], "count": [197]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6046680342988541]], [[0.4886459525241132]], [[0.46657871031056375]]], "std": [[[0.16774733543072406]], [[0.22568489043804052]], [[0.2279298445070144]]], "count": [197]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5946752913285099]], [[0.47859491967343326]], [[0.4570164404544733]]], "std": [[[0.18461506733682528]], [[0.23330437105006574]], [[0.23452833686903515]]], "count": [197]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1147]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1147]}, "observation.state": {"min": [3.154635802034773, -0.8209218216928381, 0.6999989243929908, 0.0, 0.0, 0.7069945335388184, 0.7070249915122986, 0.12769486520689532, -0.6287916862624887, 0.1325500897431794, -0.9998548030853271, -0.4913509488105774, -0.1880069375038147, 2.885269350372255e-05, 0.0020761458091299815, -0.04000387590958822], "max": [3.154880350849865, -0.8208571889365719, 0.7056500086687464, 0.0, 0.0, 0.707188606262207, 0.7072190046310425, 0.605641034496397, 0.3636139116649524, 0.6004041387888324, 0.9998024106025696, 0.49985748529434204, 0.32302987575531006, 0.3597870171070099, 0.04001114217731146, -0.001258051542305303], "mean": [3.154740042965018, -0.8208657210158522, 0.703572586671695, 0.0, 0.0, 0.7071028533663662, 0.707110661055175, 0.3821884548027544, -0.06635214093726054, 0.3370727298737104, -0.3634238035240273, -0.06428432127634598, 0.041582299288703425, 0.04902352206815594, 0.025707864227827643, -0.025545679115119967], "std": [2.0869470985144907e-05, 6.805299331693267e-06, 0.0017728668314573805, 0.0, 0.0, 1.4600419190177552e-05, 1.4607775989377885e-05, 0.12298941981021848, 0.36217618195342477, 0.12364827455356794, 0.8886619574135229, 0.23158906459357545, 0.11263833859840802, 0.06014406135803096, 0.0171680835770007, 0.017188862448133384], "count": [1147]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8357142857142857, -0.5785714285714285, -0.42321428571428565, -0.15, -0.17785714285714288, -0.08142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46071428571428574, 0.8196428571428573, 0.6160714285714286, 0.1007142857142857, 0.11785714285714285, 0.16285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0001261053680408445, 0.038662971727487824, -0.026015070369909, -0.0034898492963009085, -0.0012143479885415222, 0.005404782662847187, -0.2066259808195292], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23444473733926824, 0.2647778355011395, 0.22630194995557623, 0.025824103993779542, 0.038356171041683075, 0.036148202535699336, 0.9784200039095604], "count": [1147]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014821273274719715], "std": [0.12083709239959717], "count": [1147]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008718395815170009], "std": [0.029514055588161735], "count": [1147]}, "timestamp": {"min": [0.0], "max": [57.3], "mean": [28.650000000000002], "std": [16.55551267705111], "count": [1147]}, "frame_index": {"min": [0], "max": [1146], "mean": [573.0], "std": [331.1102535410222], "count": [1147]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1147]}, "index": {"min": [23733], "max": [24879], "mean": [24306.0], "std": [331.1102535410222], "count": [1147]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1147]}}} +{"episode_index": 36, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5552176327201672]], [[0.5472160625232586]], [[0.5424661419986638]]], "std": [[[0.258713978478712]], [[0.25953268484164627]], [[0.2590428453418274]]], "count": [191]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5464042908723638]], [[0.40936177226995596]], [[0.39687754422802535]]], "std": [[[0.2528583113781223]], [[0.312597746349411]], [[0.2948103308556992]]], "count": [191]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5310938769451048]], [[0.39363361527427565]], [[0.38169710116028577]]], "std": [[[0.2560859935317731]], [[0.3094841895608718]], [[0.2929273410780662]]], "count": [191]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1100]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1100]}, "observation.state": {"min": [0.7831619820851229, -1.980488037335188, 0.6999986849723231, 0.0, 0.0, -1.0, 0.0, 0.17793810008437605, -0.4612294641446222, 0.13094822883329515, -0.9911571741104126, -0.24983108043670654, -0.21308179199695587, 8.335504389833659e-06, 0.003204256286101767, -0.04000165898707588], "max": [0.7832004121281577, -1.9804055556769282, 0.7017405574169255, 0.0, 0.0, 1.0, 5.079753464087844e-05, 0.46570084058082667, 0.27821733654785286, 0.5801230371076187, 0.9993439316749573, 0.2528706192970276, 0.2093825340270996, 0.09199851006269455, 0.040017507144972084, -0.0011564514175864478], "mean": [0.783173150212427, -1.9804427177500223, 0.7005367501150251, 0.0, 0.0, 0.13090909090909092, 3.4213471003400028e-06, 0.3227706736497805, -0.019544098816892307, 0.32368118734070617, 0.2144071585481817, 0.00186524899168448, -0.01427160090754941, 0.014320952632961879, 0.024587058589513787, -0.02430297692105038], "std": [2.7338211361554403e-06, 5.5447855481761154e-06, 0.0005341709798593565, 0.0, 0.0, 0.9913943765814615, 5.625691587771201e-06, 0.07458212360068278, 0.26777980255123496, 0.11068737995551708, 0.9551238563231371, 0.17449515362796697, 0.10275048521153815, 0.018695511260965813, 0.016912564606811772, 0.017086237670275475], "count": [1100]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5625000000000001, -0.5839285714285714, -0.41785714285714287, -0.03642857142857143, -0.1992857142857143, -0.07714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5089285714285714, 0.7928571428571429, 0.6053571428571428, 0.07928571428571429, 0.1007142857142857, 0.09642857142857142, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.002030844155844142, 0.02178409090909094, -0.011926948051948083, 0.0008162337662337665, 0.0012253246753246743, -0.0034948051948051908, -0.12], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.15496493139535514, 0.2228927385245541, 0.1923532808871505, 0.009944292697022485, 0.032731067671904895, 0.01614569193903595, 0.9927738916792728], "count": [1100]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014545454643666744], "std": [0.11972420662641525], "count": [1100]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009090909090909091], "std": [0.03013742628045596], "count": [1100]}, "timestamp": {"min": [0.0], "max": [54.95], "mean": [27.475], "std": [15.87712584191484], "count": [1100]}, "frame_index": {"min": [0], "max": [1099], "mean": [549.5], "std": [317.54251683829676], "count": [1100]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [1100]}, "index": {"min": [24880], "max": [25979], "mean": [25429.5], "std": [317.54251683829676], "count": [1100]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1100]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.0]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5913881717668685]], [[0.5871823190012448]], [[0.5778574384286114]]], "std": [[[0.19808277582327957]], [[0.19553136985320532]], [[0.18772130687670932]]], "count": [119]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5602072866140941]], [[0.5584684911562281]], [[0.5558168806929941]]], "std": [[[0.20049475973436545]], [[0.19917590954826592]], [[0.1935338871837743]]], "count": [119]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.588382085730087]], [[0.5852848175546643]], [[0.5784977373445932]]], "std": [[[0.20973179296583122]], [[0.208327115067758]], [[0.20075694965357582]]], "count": [119]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [589]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [589]}, "observation.state": {"min": [0.81164720303037, -1.3271495377488396, 0.6999947367000617, 0.0, 0.0, -1.0, 0.0, 0.16667065428667938, -0.16125954081949478, 0.10841038797765756, -0.988956868648529, -0.7579564452171326, -0.22354133427143097, 0.0008031732286326587, 0.0004358717787217389, -0.04035218059985873], "max": [0.8116884992567812, -1.3270480599363883, 0.7017855412571063, 0.0, 0.0, 1.0, 9.907945059239864e-05, 0.5290160443982337, 0.5988616385756074, 0.6008737571757483, 0.9899328351020813, 0.734824538230896, 0.15013355016708374, 0.3156535029411316, 0.03999651110250195, -0.005910932466925295], "mean": [0.8116572083576089, -1.3270950148047946, 0.7005713003162441, 0.0, 0.0, -0.025466893039049237, 1.1638259291064385e-05, 0.38584080081703354, 0.24074821253360584, 0.31267249588212714, 0.3430346125050595, 0.11732202143438401, -0.023068627605665058, 0.10772579104482656, 0.02415046674865767, -0.025935314042753347], "std": [5.909866481214735e-06, 1.3514055788140988e-05, 0.0007167401175211305, 0.0, 0.0, 0.9996756660832222, 1.5105958602347623e-05, 0.09818099482860503, 0.2721713306950847, 0.11148978068360701, 0.8398993041865288, 0.36468365827261473, 0.07509223302637728, 0.11118424550347478, 0.016346245297644973, 0.015203738034151175], "count": [589]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.942857142857143, -1.0, -0.6642857142857144, -0.2742857142857143, -0.14857142857142858, -0.08571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8214285714285715, 1.0, 1.0, 0.22285714285714286, 0.24571428571428575, 0.33714285714285713, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0026073247635216923, 0.020567547902013112, -0.03184574339073493, 0.00981809362114965, 0.005248605384428814, 0.017797720106718425, -0.1035653650254669], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.35979208058243417, 0.4835069940804806, 0.35514944909028573, 0.0731627336334602, 0.05357660780408646, 0.07139975724664885, 0.9946226496350978], "count": [589]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02716468647122383], "std": [0.16256310045719147], "count": [589]}, "next.done": {"min": [false], "max": [true], "mean": [0.001697792869269949], "std": [0.041169289144251754], "count": [589]}, "timestamp": {"min": [0.0], "max": [29.4], "mean": [14.7], "std": [8.501470461043784], "count": [589]}, "frame_index": {"min": [0], "max": [588], "mean": [294.0], "std": [170.02940922087566], "count": [589]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [589]}, "index": {"min": [25980], "max": [26568], "mean": [26274.0], "std": [170.02940922087566], "count": [589]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [589]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.09411764705882353]], [[0.0]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6607352576162301]], [[0.6548207870184206]], [[0.6483264956006817]]], "std": [[[0.22271566793622743]], [[0.22286392777435288]], [[0.22260067946119844]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6081706680597043]], [[0.601119566674326]], [[0.5912370826870788]]], "std": [[[0.2172019574344285]], [[0.2155456742036331]], [[0.21721832275231065]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.10196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6244408671061198]], [[0.6158312449735753]], [[0.604569133683747]]], "std": [[[0.2295381372386173]], [[0.22708796800730732]], [[0.22832346286876803]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [327]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [327]}, "observation.state": {"min": [5.261282973990146, -2.0515933160287525, 0.6999982648239007, 0.0, 0.0, -0.00011195191473234445, 1.0, 0.2507116504052398, -0.5791018975082673, 0.18457948879215746, -0.9889234304428101, -0.6689544320106506, -0.2071678787469864, 0.0033872092608362436, 0.003980692278062966, -0.04002229774708501], "max": [5.261297737502315, -2.0515334935537037, 0.7003585659413163, 0.0, 0.0, -7.184547484939685e-06, 1.0, 0.6247939837824301, 0.2897258242660605, 0.6009535499428023, 0.990058422088623, 0.5099074840545654, 0.2659822404384613, 0.26604557037353516, 0.03973740782021925, -0.007871141751932651], "mean": [5.261291046399986, -2.051576088486968, 0.7001112189455042, 0.0, 0.0, -7.992094374138394e-05, 1.0, 0.41296065078078853, -0.13068350910653215, 0.3869980877069614, 0.2079028408826309, -0.1924439762528154, 0.00897717439435673, 0.11085581297371024, 0.024347603719882534, -0.025413682101029376], "std": [2.2888669907824083e-06, 8.245805821218165e-06, 0.00010342417568582229, 0.0, 0.0, 1.1762270135574932e-05, 0.0, 0.11111061377189085, 0.3462838146522197, 0.11504387565574008, 0.8545710620994506, 0.380110738335675, 0.1650107895025996, 0.07326451615127567, 0.01508417217562207, 0.014912808739084226], "count": [327]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.5428571428571429, -0.25142857142857145, -0.23714285714285716, -0.18, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7428571428571429, 1.0, 1.0, 0.12571428571428572, 0.11714285714285716, 0.26857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04287898645696814, 0.05650939274792488, -0.016863259065093922, -0.013193534294451725, 3.494975972040366e-05, 0.029226736566186108, -0.07033639143730887], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.34458865346349365, 0.5087308661739665, 0.3450846480278071, 0.05513810049392645, 0.04889439845060092, 0.08828273504626641, 0.9975233290703396], "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": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [327]}, "index": {"min": [26569], "max": [26895], "mean": [26732.0], "std": [94.39632761218344], "count": [327]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [327]}}} +{"episode_index": 39, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5202265439149005]], [[0.5100357722490549]], [[0.4860894734716165]]], "std": [[[0.17100476542432058]], [[0.1724473189950657]], [[0.18347392222168338]]], "count": [153]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6204398247487695]], [[0.508814020974505]], [[0.4755625528142221]]], "std": [[[0.17575593926535726]], [[0.23167760568632348]], [[0.22733104314676778]]], "count": [153]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6111417245088778]], [[0.5128516447875616]], [[0.4828891650997613]]], "std": [[[0.16184588074305342]], [[0.21544090427612098]], [[0.21495177476701297]]], "count": [153]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [820]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [820]}, "observation.state": {"min": [2.610369277747893, -0.805075191108344, 0.6999968749598061, 0.0, 0.0, 0.7070578336715698, 0.7070959806442261, 0.2129502057427709, -0.7584291943725576, 0.11383159064096382, -0.9905426502227783, -0.6192489862442017, -0.17505110800266266, 0.00015970409731380641, 0.0026146321441573757, -0.04000981629772196], "max": [2.610416804488397, -0.8050555417262999, 0.7002161253523602, 0.0, 0.0, 0.7071176171302795, 0.7071556448936462, 0.49719110228728935, -0.010507122712043682, 0.593703004131614, 0.9950313568115234, 0.4727782607078552, 0.2456619143486023, 0.23478426039218903, 0.04000761474798139, -0.003142459572373937], "mean": [2.6103794914206393, -0.8050614946794993, 0.7000561373850062, 0.0, 0.0, 0.7071054581461883, 0.7071080566906347, 0.38270922654876915, -0.33568430296156804, 0.3452949725884437, 0.11170312304322312, 0.004776792528062332, 0.018590058628384525, 0.0658279188348033, 0.028474003746178898, -0.02866770470983772], "std": [3.5154695042047846e-06, 1.484869622880777e-06, 7.369090833745447e-05, 0.0, 0.0, 4.343984297814531e-06, 4.3434643483226576e-06, 0.08402587561802603, 0.2271284151930457, 0.12753344690796567, 0.9264513406198818, 0.3278031076941801, 0.11989172537588563, 0.05176581440259932, 0.015372019978579095, 0.01508344308685392], "count": [820]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5517857142857143, -0.7875, -0.5196428571428572, -0.255, -0.1842857142857143, -0.18642857142857147, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.38571428571428573, 0.7875, 0.7285714285714285, 0.14357142857142857, 0.17357142857142857, 0.18214285714285716, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.015026132404181245, -0.01725391986062703, -0.013085801393728199, 0.0014006968641115001, 0.000423344947735191, -0.01068031358885018, -0.32439024390243903], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18069915979452544, 0.27674718336428433, 0.24307171771711597, 0.050267804158378615, 0.04676683234757036, 0.0575442951917065, 0.9459233423808274], "count": [820]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019512195140123367], "std": [0.1383165568113327], "count": [820]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012195121951219512], "std": [0.034900214685985816], "count": [820]}, "timestamp": {"min": [0.0], "max": [40.95], "mean": [20.475], "std": [11.835671717312879], "count": [820]}, "frame_index": {"min": [0], "max": [819], "mean": [409.5], "std": [236.71343434625757], "count": [820]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [820]}, "index": {"min": [26896], "max": [27715], "mean": [27305.5], "std": [236.71343434625757], "count": [820]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [820]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4331139864596555]], [[0.42422623834690126]], [[0.3866377078073254]]], "std": [[[0.20089267493088384]], [[0.18596482860189548]], [[0.1790831890194492]]], "count": [168]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6559171617865897]], [[0.6499541930012566]], [[0.6202403017786704]]], "std": [[[0.1796282156132597]], [[0.1655917424889533]], [[0.16108025765362316]]], "count": [168]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6305601011359947]], [[0.6246993908138614]], [[0.594930087818819]]], "std": [[[0.20103131923750533]], [[0.18542695297095946]], [[0.18010246008556854]]], "count": [168]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [933]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [933]}, "observation.state": {"min": [0.7730778208025965, -2.0735486397977896, 0.6997853043626588, 0.0, 0.0, -1.0, 0.0, 0.1771506772989394, -0.2650405618199627, 0.11441786102851237, -0.9944538474082947, -0.5105408430099487, -0.22064386308193207, 6.954662694624858e-06, 0.0010658608251123635, -0.04000513538182894], "max": [0.7732384929122456, -2.073395429150935, 0.7020582656507554, 0.0, 0.0, 1.0, 0.00010293089144397527, 0.4698225156977954, 0.49101286531128263, 0.5950822304521576, 0.9992206692695618, 0.5111693143844604, 0.24582092463970184, 0.15680021047592163, 0.04001495323597908, -0.0030927613453887665], "mean": [0.7731451343284346, -2.0734677992417034, 0.7003311990097022, 0.0, 0.0, 0.35476956055734193, 7.75282488662896e-06, 0.31543623672781784, 0.05695794726312826, 0.30508941544969354, 0.30274445201806316, 0.03569575383987713, 0.029968428132175404, 0.04397139773975593, 0.028592843938111658, -0.028554098524299708], "std": [1.2754912455975557e-05, 1.458817632654257e-05, 0.000488331580074933, 0.0, 0.0, 0.9349537736711618, 1.7308217961455685e-05, 0.0749960756783168, 0.19429269775026484, 0.11011047253263671, 0.9090696393955762, 0.2512923286089472, 0.11398071935309806, 0.04114574218439866, 0.01517144514982056, 0.015105347798311733], "count": [933]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.41785714285714287, -0.5892857142857143, -0.35892857142857143, -0.1285714285714286, -0.16714285714285715, -0.16714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.31607142857142856, 0.6803571428571429, 0.8142857142857143, 0.1392857142857143, 0.11142857142857143, 0.07928571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.007734267340376656, 0.010679834634818601, -0.004622186495176786, -0.003270555810748736, -0.004147909967845658, -0.00872531005971521, -0.30760986066452306], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.12880666447235573, 0.22757781089413068, 0.22461513386829288, 0.029719189617770626, 0.03522639705123699, 0.032156572532305076, 0.9515125714471369], "count": [933]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017148980870842934], "std": [0.1298263967037201], "count": [933]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010718113612004287], "std": [0.032720980755570735], "count": [933]}, "timestamp": {"min": [0.0], "max": [46.6], "mean": [23.299999999999997], "std": [13.466687293713575], "count": [933]}, "frame_index": {"min": [0], "max": [932], "mean": [466.0], "std": [269.33374587427153], "count": [933]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [933]}, "index": {"min": [27716], "max": [28648], "mean": [28182.0], "std": [269.33374587427153], "count": [933]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [933]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6289459270402498]], [[0.6237753050561045]], [[0.6082106221516926]]], "std": [[[0.21915048239565577]], [[0.21747066189927572]], [[0.20898029475827642]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6409104757869944]], [[0.6371609377393536]], [[0.6275809846765855]]], "std": [[[0.19460549976540867]], [[0.19452271715656813]], [[0.19366976803132058]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0784313725490196]], [[0.0784313725490196]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.661913132611443]], [[0.6576428426106771]], [[0.6463563920563342]]], "std": [[[0.20690547010927288]], [[0.2062282666605477]], [[0.205190706419932]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [292]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [292]}, "observation.state": {"min": [5.330724481057935, -2.018532592086638, 0.6999950585335668, 0.0, 0.0, -0.00010315809777239338, 1.0, 0.18388983084340005, 0.0019944635484603346, 0.18335227846470714, -0.988950252532959, -0.413103848695755, -0.17135006189346313, 0.00405804393813014, 0.010846081189442722, -0.03970268825872677], "max": [5.3307774102780625, -2.0184545806280054, 0.7002994094922205, 0.0, 0.0, -5.077870810055174e-05, 1.0, 0.4249125606210491, 0.6247902240832384, 0.5996562336581703, 0.9166728258132935, 0.415269672870636, 0.24200832843780518, 0.29282522201538086, 0.040027435482912474, -0.007896468951466519], "mean": [5.330768493863259, -2.0184742636539794, 0.7000614633464916, 0.0, 0.0, -8.000159411731396e-05, 1.0, 0.314838856332742, 0.40559004731245524, 0.381686938724948, -0.9263784097482081, 0.159024410153905, 0.0490932208836742, 0.182513253828702, 0.03223218031849727, -0.031399065612166946], "std": [4.456481362439447e-06, 7.551834141112335e-06, 9.464895370037401e-05, 0.0, 0.0, 8.217031887969132e-06, 0.0, 0.06842780598211515, 0.18352316709085265, 0.10917374561500784, 0.21834458107960283, 0.13832444812376965, 0.10021318217832297, 0.0629472265787025, 0.01202903885923517, 0.012373138614937615], "count": [292]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6428571428571428, -1.0, -0.6785714285714286, -0.19714285714285715, -0.1742857142857143, -0.23142857142857146, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46428571428571436, 1.0, 1.0, 0.3057142857142857, 0.5342857142857143, 0.24285714285714288, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.030699608610567482, 0.04508317025440336, -0.0014187866927593631, -0.006135029354207437, 0.026105675146771045, -0.01363013698630136, -0.4931506849315068], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.15577654927585183, 0.44463861125672627, 0.3549291666674938, 0.08054897395119937, 0.11353428610825902, 0.08437897038564521, 0.869943907359313], "count": [292]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.054794520139694214], "std": [0.22757872939109802], "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": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [292]}, "index": {"min": [28649], "max": [28940], "mean": [28794.5], "std": [84.2926449934987], "count": [292]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [292]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.27935311993578266]], [[0.28972028844496783]], [[0.27937275991843336]]], "std": [[[0.16850840072036605]], [[0.18485994413042897]], [[0.16705376947079897]]], "count": [152]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.047058823529411764]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.491997860730371]], [[0.44997076068008157]], [[0.41917564305481647]]], "std": [[[0.25082804726885805]], [[0.2567593396464351]], [[0.2725182385617218]]], "count": [152]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.054901960784313725]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49604287516590984]], [[0.4620493622141111]], [[0.43696490505285435]]], "std": [[[0.25942395487646885]], [[0.26985803875387643]], [[0.2857026621168871]]], "count": [152]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [812]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [812]}, "observation.state": {"min": [0.8076865726102739, -2.3946371148192025, 0.6999928760871108, 0.0, 0.0, -1.0, 0.0, 0.18256684996950545, -0.7180439233747775, 0.049362001637425545, -0.9936491250991821, -0.5358555316925049, -0.31693556904792786, 6.66328560328111e-05, 0.001549264563415477, -0.04000204276917786], "max": [0.8077085643492005, -2.3945252998827637, 0.701659087386352, 0.0, 0.0, 1.0, 6.788503378629684e-05, 0.4744946782226939, 0.005995658171825902, 0.6067078303618827, 0.9954929947853088, 0.5223288536071777, 0.30619990825653076, 0.17767690122127533, 0.04002237357266454, -0.003549361839797315], "mean": [0.8076922292203119, -2.3945598470065104, 0.7007493968491006, 0.0, 0.0, -0.11330049261083744, 5.742775620183994e-06, 0.34941989143348534, -0.36854388569365953, 0.3108129580251536, -0.0118701082145052, 0.07764375127228022, 0.020392992201558283, 0.055245708554605075, 0.031843903980867595, -0.03252372225071952], "std": [2.55981958211644e-06, 1.0485743807373578e-05, 0.0006837367224242353, 0.0, 0.0, 0.9935607673283645, 9.170314796537848e-06, 0.08107825028196816, 0.19108219460997805, 0.14044961049569163, 0.9470252833988623, 0.28417507411182286, 0.1012242932032334, 0.05003866519759313, 0.012739866688223718, 0.011743508403420038], "count": [812]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5089285714285714, -0.7875, -0.45535714285714285, -0.17785714285714288, -0.19714285714285715, -0.17357142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.30000000000000004, 1.0, 0.8839285714285714, 0.12642857142857145, 0.32785714285714296, 0.1157142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.010265657987332845, -0.02443481703026047, -0.033178659394792254, 0.00589813511611542, 0.006357318789584803, -0.013084095707248436, -0.3817733990147783], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14865923495026376, 0.28078946647302366, 0.2721159051630551, 0.03259232239006858, 0.05818569733580433, 0.04624269907399033, 0.9242559557853572], "count": [812]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019704433158040047], "std": [0.1389826238155365], "count": [812]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012315270935960591], "std": [0.03507150459580823], "count": [812]}, "timestamp": {"min": [0.0], "max": [40.55], "mean": [20.275], "std": [11.720201576764797], "count": [812]}, "frame_index": {"min": [0], "max": [811], "mean": [405.5], "std": [234.4040315352959], "count": [812]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [812]}, "index": {"min": [28941], "max": [29752], "mean": [29346.5], "std": [234.4040315352959], "count": [812]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [812]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5553284049529938]], [[0.5370590246226628]], [[0.5089384798626778]]], "std": [[[0.2349748927459224]], [[0.22517140333359886]], [[0.21766885617307455]]], "count": [132]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5375342660905065]], [[0.4979156068018768]], [[0.4680613657724128]]], "std": [[[0.2155227773272593]], [[0.2336207067779271]], [[0.2452456292861116]]], "count": [132]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5452892817986273]], [[0.5084173591237513]], [[0.47934118260674297]]], "std": [[[0.2194782931554007]], [[0.23689164476754548]], [[0.24808298668952883]]], "count": [132]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [673]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [673]}, "observation.state": {"min": [3.5762939680933425, -0.8553499261833135, 0.6999980825424756, 0.0, 0.0, 0.7070989012718201, 0.7002266645431519, 0.13913258737736023, -0.43907474780460554, 0.1469267744162368, -0.9921790957450867, -0.1400761753320694, -0.22727486491203308, 0.00016181972750928253, 0.001137015834857092, -0.04004804954200979], "max": [4.273541961047383, -0.7676600432496461, 0.702984492447985, 0.0, 0.0, 0.713920533657074, 0.7071146368980408, 0.4812564210023966, 0.2024489929838298, 0.5896625763439496, 0.9987249970436096, 0.6355428695678711, 0.12448056042194366, 0.2435028851032257, 0.04000739883971936, -0.003924519821717598], "mean": [4.162570969386775, -0.7838388212513115, 0.7010118720946655, 0.0, 0.0, 0.7124547387125942, 0.701709299261113, 0.2797650207585629, -0.09732740611120484, 0.38830986126611106, 0.8702010331678178, 0.08435539661022387, -0.0290137866162895, 0.062330498876247135, 0.02829935225871236, -0.02925313509564153], "std": [0.24320985023844977, 0.02861075214682495, 0.0010239863487386401, 0.0, 0.0, 0.0024683966216133895, 0.002492179281574952, 0.09556000665561225, 0.19396700087535446, 0.1488767441644006, 0.39403617087398946, 0.24851757825385531, 0.09714830274702921, 0.06666452112430417, 0.015477577032163356, 0.0148163088921576], "count": [673]}, "action": {"min": [-0.41428571428571426, -0.75, 0.0, 0.0, -1.0, -0.8714285714285716, -0.95, -0.8642857142857142, -0.12857142857142856, -0.19714285714285715, -0.29714285714285715, -1.0], "max": [0.39285714285714285, 0.0, 0.05428571428571429, 0.0, 1.0, 0.7857142857142857, 1.0, 1.0, 0.12285714285714287, 0.20857142857142857, 0.28, 1.0], "mean": [0.004542559966036934, -0.04213542772235194, 0.0007599235831033751, 0.0, -0.687964338781575, 0.017671407344512852, 0.01469963914243261, -0.009838675440458482, -1.0336168110946503e-18, 0.012455954149862013, 0.016595202717045208, -0.3343239227340267], "std": [0.08167989468068304, 0.14304252704833537, 0.004553497506302603, 0.0, 0.7257444926176247, 0.26966404561481006, 0.3360413077249421, 0.3904562922198507, 0.030044392057957746, 0.05439486514997185, 0.08373214219538194, 0.9424582296779669], "count": [673]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.023774145171046257], "std": [0.15234479308128357], "count": [673]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014858841010401188], "std": [0.0385185182669115], "count": [673]}, "timestamp": {"min": [0.0], "max": [33.6], "mean": [16.8], "std": [9.713907555664713], "count": [673]}, "frame_index": {"min": [0], "max": [672], "mean": [336.0], "std": [194.27815111329426], "count": [673]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [673]}, "index": {"min": [29753], "max": [30425], "mean": [30089.0], "std": [194.27815111329426], "count": [673]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [673]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25215444587258734]], [[0.25321268777286304]], [[0.25665345076018686]]], "std": [[[0.15456401947075715]], [[0.15048358555776423]], [[0.14774306824494576]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.37501726217830883]], [[0.35786843991747086]], [[0.34598766611136644]]], "std": [[[0.21091142963943058]], [[0.20571173911157065]], [[0.2027408428442357]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.0]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36173886347751993]], [[0.3493894467821308]], [[0.33856593292834714]]], "std": [[[0.20921467104904484]], [[0.20726420602772672]], [[0.20595219269842188]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [403]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [403]}, "observation.state": {"min": [2.285026164130703, -0.9067993324919583, 0.6999925653141865, 0.0, 0.0, 0.706700325012207, 0.7049988508224487, 0.24537057826528108, -0.10608510728189291, 0.08319489809651837, -0.9902356266975403, -0.1665535271167755, -0.14370772242546082, 0.03517180308699608, 0.00835259550073085, -0.039906875706013874], "max": [2.6364760927722126, -0.744396424303185, 0.7000331307771366, 0.0, 0.0, 0.7092084288597107, 0.7075129151344299, 0.5152471340068184, 0.3604154345667272, 0.5957309780778488, -0.9169049263000488, 0.08464744687080383, 0.10887497663497925, 0.3842473328113556, 0.04003020786586117, -0.008260678164237905], "mean": [2.320941296527125, -0.7701025895027045, 0.7000047853865281, 0.0, 0.0, 0.7087538686047121, 0.7054547921895389, 0.35164890437454827, 0.07975288035075868, 0.39818998902526076, -0.9533292821264149, -0.031016608991338953, -0.019517998226396, 0.23972406067305405, 0.03082140075559285, -0.03005861315440767], "std": [0.09633100816869816, 0.050193335105000986, 7.135440292961516e-06, 0.0, 0.0, 0.0008621487734580358, 0.0008645620223097656, 0.09074729483606454, 0.16677380379046688, 0.16262813683753252, 0.028595381026901977, 0.04202719993819803, 0.09525144650547276, 0.14386052626660342, 0.013096413299809732, 0.013450546197858914], "count": [403]}, "action": {"min": [-0.42142857142857143, 0.0, -0.002857142857142857, 0.0, -1.0, -0.6714285714285714, -1.0, -0.7071428571428572, -0.26571428571428574, -0.2142857142857143, -0.10571428571428572, -1.0], "max": [0.9357142857142857, 0.6214285714285714, 0.002857142857142857, 0.0, 1.0, 0.40714285714285714, 0.95, 1.0, 0.38857142857142857, 0.37142857142857144, 0.23428571428571432, 1.0], "mean": [0.014409783764622479, 0.044771357674583484, 0.0, 0.0, -0.6228287841191067, 0.016377171215880865, -0.0008330379298121182, -0.020365118752215552, 0.0007373271889400858, 0.0034030485643388743, 0.006153846153846157, -0.39950372208436724], "std": [0.1454866465006709, 0.13233926170406796, 0.0002012771296218134, 0.0, 0.7823581696849079, 0.2123698619471984, 0.3388362979252934, 0.3210731161125156, 0.07585092795204898, 0.0658739622302142, 0.03833588630818411, 0.9167315725122244], "count": [403]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03970223292708397], "std": [0.1952587068080902], "count": [403]}, "next.done": {"min": [false], "max": [true], "mean": [0.0024813895781637717], "std": [0.04975170634184471], "count": [403]}, "timestamp": {"min": [0.0], "max": [20.1], "mean": [10.049999999999999], "std": [5.8167860541711525], "count": [403]}, "frame_index": {"min": [0], "max": [402], "mean": [201.0], "std": [116.33572108342304], "count": [403]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [403]}, "index": {"min": [30426], "max": [30828], "mean": [30627.0], "std": [116.33572108342304], "count": [403]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [403]}}} +{"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": [[[0.6640770514993106]], [[0.6599216711505566]], [[0.6556094511942147]]], "std": [[[0.2169742874850654]], [[0.2087420132107368]], [[0.21426277756429693]]], "count": [150]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.523893101511438]], [[0.559982304192836]], [[0.5596888663098702]]], "std": [[[0.2799863818986593]], [[0.21399796504018653]], [[0.18490217342586382]]], "count": [150]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.08235294117647059]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5221408013237847]], [[0.5605819722094567]], [[0.5643949245876736]]], "std": [[[0.27679331981073474]], [[0.21323598515289202]], [[0.18810527978283348]]], "count": [150]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [798]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [798]}, "observation.state": {"min": [3.1322917334144655, -4.377962296789709, 0.6999965552959857, 0.0, 0.0, -1.0, 0.0, 0.14064130749700832, -0.09891733928104873, 0.14918837956444486, -0.9915514588356018, -0.6584936380386353, -0.3962061107158661, 5.424258051789366e-05, 0.004704543384621587, -0.04001669180879825], "max": [3.13234898265186, -4.377924639176825, 0.7002097001398426, 0.0, 0.0, 1.0, 3.737408769666217e-05, 0.5558970402194645, 0.5976059214096168, 0.5870113210020731, 0.9987611770629883, 0.656292200088501, 0.1754220575094223, 0.2976488173007965, 0.040024080416782716, -0.004253027512603961], "mean": [3.1322979283316092, -4.37793906414845, 0.7000693058268127, 0.0, 0.0, -0.5238095238095238, 4.978479190589141e-06, 0.38790230064707876, 0.251384624406809, 0.3232413453950791, 0.11934004936899457, -0.10136310582546364, -0.06715156257451328, 0.06164150865205235, 0.02972825231209705, -0.029568576122533958], "std": [2.7229509837561194e-06, 3.977876575736198e-06, 6.507929601858988e-05, 0.0, 0.0, 0.8518354199999207, 5.55780052324607e-06, 0.08651012817595491, 0.22714300002993754, 0.10041162355755018, 0.9057309633423769, 0.33628643772249417, 0.17544741552093823, 0.054364668958559015, 0.01353074056926735, 0.013533478337552404], "count": [798]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8303571428571429, -0.6000000000000001, -0.45, -0.1392857142857143, -0.19714285714285715, -0.26357142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4928571428571429, 0.7446428571428572, 0.5785714285714285, 0.05142857142857143, 0.10500000000000001, 0.2507142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004967776584317966, 0.02540950590762624, -0.010465896885069843, -0.012279806659505899, -0.0023120300751879666, -0.012422126745435021, -0.20300751879699247], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20959811268336834, 0.2666092263114934, 0.2288675582544562, 0.03184258907721176, 0.03930763178640038, 0.07565553293614362, 0.9791771787127717], "count": [798]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02005012519657612], "std": [0.14017173647880554], "count": [798]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012531328320802004], "std": [0.035377429106499006], "count": [798]}, "timestamp": {"min": [0.0], "max": [39.85], "mean": [19.925], "std": [11.51812882662226], "count": [798]}, "frame_index": {"min": [0], "max": [797], "mean": [398.5], "std": [230.3625765324452], "count": [798]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [798]}, "index": {"min": [30829], "max": [31626], "mean": [31227.5], "std": [230.3625765324452], "count": [798]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [798]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5880268943637025]], [[0.5461232293820849]], [[0.42583892223881736]]], "std": [[[0.17832032885035912]], [[0.17135342176344326]], [[0.27099194548319167]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5981040009143306]], [[0.5265202768363205]], [[0.5052330645392923]]], "std": [[[0.1668202742760737]], [[0.18347575643359207]], [[0.1901920656177123]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6017448066262638]], [[0.5221623948041131]], [[0.5045069837383195]]], "std": [[[0.18896671311277055]], [[0.20365328345229944]], [[0.2081308972481387]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [311]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [311]}, "observation.state": {"min": [5.265794518565065, -2.1323558482005103, 0.6999943616542463, 0.0, 0.0, -0.0002272424171678722, 1.0, 0.22109889157715035, -0.48685562001883875, 0.13787472470451367, -0.9950724244117737, -0.7436401844024658, -0.3492358922958374, 0.0008475210634060204, 0.005338323251748017, -0.04010787869284686], "max": [5.265811464356071, -2.132211513623293, 0.7004592213411853, 0.0, 0.0, -4.7071429435163736e-05, 1.0, 0.5384038642185658, 0.3226355410240864, 0.5814378604535332, 0.9930791854858398, 0.7578079104423523, 0.19583572447299957, 0.20101450383663177, 0.04000805189497582, -0.0049442484522417415], "mean": [5.265805852721751, -2.13224267556893, 0.7000819908614135, 0.0, 0.0, -8.60350293946195e-05, 1.0, 0.37835711581074816, -0.06616596565810741, 0.34783259018372464, -0.5727874358750616, -0.252046731483323, -0.10885005300247688, 0.08009038928621434, 0.02326052437781953, -0.02325739157462864], "std": [2.329824258581115e-06, 1.702942941194719e-05, 0.0001595261343281065, 0.0, 0.0, 2.2102912584286862e-05, 0.0, 0.10222594523771489, 0.32838234429265317, 0.11026338834627308, 0.6196866813518753, 0.4302965320918952, 0.13780944023267772, 0.04434026513864213, 0.016263821336850007, 0.016441598308669005], "count": [311]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8214285714285715, -1.0, -0.6500000000000001, -0.23428571428571432, -0.2485714285714286, -0.2142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7071428571428572, 1.0, 0.7285714285714285, 0.13428571428571429, 0.24285714285714288, 0.28, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.00505282498851632, 0.04423518603582915, -0.022599908130454746, -0.014175470831419384, -0.013844740468534684, 0.039274230592558544, -0.05466237942122187], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.34641877415843664, 0.5396704973936893, 0.34867184857029054, 0.05864483048147311, 0.08895933425368892, 0.07526560053187449, 0.9985048944677292], "count": [311]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05144694447517395], "std": [0.2209075689315796], "count": [311]}, "next.done": {"min": [false], "max": [true], "mean": [0.003215434083601286], "std": [0.05661355904070421], "count": [311]}, "timestamp": {"min": [0.0], "max": [15.5], "mean": [7.75], "std": [4.488875137492688], "count": [311]}, "frame_index": {"min": [0], "max": [310], "mean": [155.0], "std": [89.77750274985377], "count": [311]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [311]}, "index": {"min": [31627], "max": [31937], "mean": [31782.0], "std": [89.77750274985377], "count": [311]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [311]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07058823529411765]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40879133527734557]], [[0.4007890884684187]], [[0.3785405300256633]]], "std": [[[0.2532894070763958]], [[0.24895049484650847]], [[0.24806186251220377]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.07058823529411765]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5222670596794347]], [[0.46272684877261805]], [[0.42977781739607784]]], "std": [[[0.19206060935133953]], [[0.23403374865672308]], [[0.2550934327438593]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.06666666666666667]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4831327222521751]], [[0.4305717927863799]], [[0.4009969104358611]]], "std": [[[0.19786310143724256]], [[0.2273402518154284]], [[0.24361760904860225]]], "count": [166]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [919]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [919]}, "observation.state": {"min": [2.8605329637202033, -0.8096846076127272, 0.6999980160973823, 0.0, 0.0, 0.7070518136024475, 0.7070881724357605, 0.2364307346234923, -0.43513306664955875, 0.07678101307018848, -0.9996665120124817, -0.6266977787017822, -0.14772339165210724, 0.00011087807797593996, 0.0019582353784765925, -0.039958268064943216], "max": [2.8606435248181894, -0.8096552814869891, 0.7023481411547332, 0.0, 0.0, 0.7071253657341003, 0.7071617245674133, 0.5945386934229047, 0.3620315734326285, 0.6010720053617596, 0.9972488284111023, 0.6308724284172058, 0.19080308079719543, 0.12277714163064957, 0.04000645570223423, -0.0005066364569394369], "mean": [2.8605755134481505, -0.8096616709053296, 0.700843044991894, 0.0, 0.0, 0.7071051118293447, 0.7071084007215448, 0.42332197994677195, -0.041668644987938055, 0.3252797992783741, -0.7835305513443184, 0.09832413664839602, 0.017790213894664987, 0.04279743095245855, 0.02756907148619936, -0.02754427774673163], "std": [1.0115692355121198e-05, 3.436048082694251e-06, 0.0008281677311258252, 0.0, 0.0, 8.20997015435162e-06, 8.210337070937906e-06, 0.10369811592775549, 0.25785895104253925, 0.12019920505129025, 0.5385473730461412, 0.27444683679333204, 0.08748832786092643, 0.03543421236581022, 0.016872101434077535, 0.016435199588574725], "count": [919]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5410714285714286, -0.7767857142857144, -0.5035714285714286, -0.09642857142857142, -0.22500000000000003, -0.18, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.34821428571428575, 0.7714285714285715, 0.567857142857143, 0.045, 0.09214285714285715, 0.42000000000000004, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.019026892585108073, -0.0070010104150473994, -0.029927716461992784, -0.0013733872221358633, 0.004796362505829332, -0.0024483133841131793, -0.33188248095756256], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.17365397788629225, 0.2637038172059518, 0.23642075201666132, 0.015271111765360343, 0.03559004743788879, 0.08374180955488561, 0.943320740169248], "count": [919]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01741022802889347], "std": [0.13079416751861572], "count": [919]}, "next.done": {"min": [false], "max": [true], "mean": [0.001088139281828074], "std": [0.032969004151345196], "count": [919]}, "timestamp": {"min": [0.0], "max": [45.9], "mean": [22.95], "std": [13.264614581660487], "count": [919]}, "frame_index": {"min": [0], "max": [918], "mean": [459.0], "std": [265.29229163320974], "count": [919]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [919]}, "index": {"min": [31938], "max": [32856], "mean": [32397.0], "std": [265.29229163320974], "count": [919]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [919]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[0.9372549019607843]], [[0.9490196078431372]], [[0.9372549019607843]]], "mean": [[[0.24491251301212957]], [[0.27049474016938685]], [[0.24382546346101178]]], "std": [[[0.1635413704396778]], [[0.18495242395199624]], [[0.15828042359052555]]], "count": [165]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3451444484191641]], [[0.33710819418913396]], [[0.32752516004774307]]], "std": [[[0.19810184342934328]], [[0.19443949487462645]], [[0.19037793019092436]]], "count": [165]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.03137254901960784]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35243847489427826]], [[0.3442791421655665]], [[0.3343195381549874]]], "std": [[[0.19986907807170656]], [[0.19609575482181568]], [[0.193114552564731]]], "count": [165]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [911]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [911]}, "observation.state": {"min": [2.721904724922464, -0.7980777103255002, 0.6999990963544553, 0.0, 0.0, 0.7070795297622681, 0.7070147395133972, 0.22311309267205248, -0.6884015646127288, 0.05806018036762295, -0.9960110187530518, -0.3869660496711731, -0.24443921446800232, 8.494185749441385e-05, 0.004304644528445328, -0.04003318746108865], "max": [2.7220425195226037, -0.7980085290555602, 0.7009063158283391, 0.0, 0.0, 0.7071989178657532, 0.707133948802948, 0.583573331145476, 0.31233991288258744, 0.605821312807297, 0.9399639368057251, 0.7420362234115601, 0.41332384943962097, 0.3207476735115051, 0.04003820824735521, -0.0036337648270193495], "mean": [2.7220086273127775, -0.7980227338273234, 0.7003411824096805, 0.0, 0.0, 0.7071072193584379, 0.7071062942760312, 0.3748152399688255, -0.054695748950779964, 0.2771895218067458, -0.1787024074275983, 0.13657890991374244, 0.07237697135898337, 0.07424133184140254, 0.028029239717957198, -0.02597950004765754], "std": [1.0334626643213056e-05, 3.1774368509009008e-06, 0.0002654352288669338, 0.0, 0.0, 9.664871757254733e-06, 9.658627338440467e-06, 0.09592729464722678, 0.32334093347575243, 0.13919874014901137, 0.876446083437935, 0.34964640434271527, 0.20908593580303922, 0.06733631224836535, 0.014216188690694777, 0.015145051505015054], "count": [911]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4821428571428571, -0.5625000000000001, -0.6803571428571429, -0.1992857142857143, -0.17785714285714288, -0.13714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4982142857142858, 0.6964285714285715, 0.6214285714285714, 0.07071428571428573, 0.08571428571428572, 0.21000000000000002, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.022104829857299682, 0.031013799592284737, -0.0188352673671004, -0.014416653598870944, -0.0030014113219382138, 0.008079818096283515, -0.09989023051591657], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16668031859593455, 0.28324942229687233, 0.2959910343556531, 0.0359708550015953, 0.030982323414253585, 0.057724572893488375, 0.9949984632387476], "count": [911]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017563117668032646], "std": [0.13135696947574615], "count": [911]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010976948408342481], "std": [0.0331132889769448], "count": [911]}, "timestamp": {"min": [0.0], "max": [45.5], "mean": [22.75], "std": [13.149144458861194], "count": [911]}, "frame_index": {"min": [0], "max": [910], "mean": [455.0], "std": [262.98288917722385], "count": [911]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [911]}, "index": {"min": [32857], "max": [33767], "mean": [33312.0], "std": [262.98288917722385], "count": [911]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [911]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5610648511357668]], [[0.549265800070028]], [[0.5443818465374431]]], "std": [[[0.19269457678398755]], [[0.2036564843984882]], [[0.19658145423936152]]], "count": [175]}, "observation.images.robot0_agentview_left": {"min": [[[0.09411764705882353]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6412734655385591]], [[0.6358135801683955]], [[0.6252851206889006]]], "std": [[[0.22677584384651203]], [[0.22758210912055235]], [[0.22410757142213755]]], "count": [175]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6241059611344538]], [[0.6198093179654675]], [[0.6119664265608588]]], "std": [[[0.21200961702081822]], [[0.2128595858488342]], [[0.21109635321130688]]], "count": [175]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [981]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [981]}, "observation.state": {"min": [6.099375549046012, -2.067359878822288, 0.6999960558427668, 0.0, 0.0, -0.0001286227925447747, 1.0, 0.19048360851433266, -0.516857059841366, 0.13356808339716741, -0.9996181726455688, -0.26415935158729553, -0.12920638918876648, 8.4421866631601e-05, 0.0062730103196501465, -0.040009002057290154], "max": [6.09942492450876, -2.0672493828589715, 0.7039604085174246, 0.0, 0.0, -9.826902896747924e-06, 1.0, 0.561947589033462, 0.21650695967255595, 0.5875686974893666, 0.9993153810501099, 0.17116276919841766, 0.5436798930168152, 0.1765182912349701, 0.04001954874176434, -0.0067209727454840325], "mean": [6.0994173343150635, -2.0673445344727206, 0.7021515983202576, 0.0, 0.0, -7.326364695350498e-05, 1.0, 0.39833000122716594, -0.13764386346307195, 0.29806525540387135, -0.10570537673345522, -0.033918141648477125, 0.12476775317147154, 0.07185623699835048, 0.025803007793531153, -0.02589395540106281], "std": [5.8088316035578175e-06, 1.3190306677067278e-05, 0.0018619834822188438, 0.0, 0.0, 1.1146112992495527e-05, 0.0, 0.08994418461863588, 0.2405871251722984, 0.09501389306704015, 0.9508623411175814, 0.11632343517709658, 0.21581858747500496, 0.051938654371061745, 0.015081286272755661, 0.014909751057344618], "count": [981]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6000000000000001, -0.6160714285714286, -0.4875000000000001, -0.17785714285714288, -0.21000000000000002, -0.1907142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.47678571428571426, 0.7607142857142858, 0.75, 0.07928571428571429, 0.15, 0.15857142857142859, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.014728047182175673, 0.0008409785932721262, -0.02365115771079087, -0.005292704237658363, -0.004552206203582354, -0.004860200961118393, -0.10091743119266056], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1805167882715655, 0.23435368667796797, 0.24425601181342088, 0.031712080828432576, 0.038345097559737834, 0.046370338081253855, 0.9948948045303445], "count": [981]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016309887170791626], "std": [0.1266644299030304], "count": [981]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010193679918450561], "std": [0.03191126573394195], "count": [981]}, "timestamp": {"min": [0.0], "max": [49.0], "mean": [24.5], "std": [14.159507995218855], "count": [981]}, "frame_index": {"min": [0], "max": [980], "mean": [490.0], "std": [283.1901599043771], "count": [981]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [981]}, "index": {"min": [33768], "max": [34748], "mean": [34258.0], "std": [283.1901599043771], "count": [981]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [981]}}} +{"episode_index": 50, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.12549019607843137]], [[0.0]], [[0.06274509803921569]]], "max": [[[0.9921568627450981]], [[0.9882352941176471]], [[0.9764705882352941]]], "mean": [[[0.6391750105315563]], [[0.6343133443196615]], [[0.6187996808220358]]], "std": [[[0.19992333991742994]], [[0.19696370070282768]], [[0.18539032908763442]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6402107549929151]], [[0.631427225150314]], [[0.6128472140443091]]], "std": [[[0.17972133914664412]], [[0.18049902832725942]], [[0.1760859501971731]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0784313725490196]], [[0.0784313725490196]], [[0.0784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6436125183105468]], [[0.6347740077598422]], [[0.6160294811772365]]], "std": [[[0.18110808022892616]], [[0.18171936621205534]], [[0.17756320596435013]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [328]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [328]}, "observation.state": {"min": [2.9324898309323233, -2.297647587763213, 0.6999978997764335, 0.0, 0.0, -0.707186222076416, 0.7070273756980896, 0.24817964141168414, -0.49660705690666873, 0.2032138599874057, -0.9870537519454956, -0.08698052167892456, -0.2673385739326477, 0.0018036755500361323, 0.0014868160754746159, -0.04002185604909411], "max": [2.9325481766810877, -2.297620289828678, 0.7011355848425975, 0.0, 0.0, -0.7071292996406555, 0.7070841789245605, 0.6487982376348538, 0.18575345573680124, 0.6213586819765743, 0.9835428595542908, 0.040950313210487366, 0.22936895489692688, 0.2707759439945221, 0.03990247327039101, -0.003193765592507988], "mean": [2.932518263682079, -2.2976289888134707, 0.7005133060200728, 0.0, 0.0, -0.707159030001338, 0.7070544838178449, 0.417046884418936, -0.18477689470283412, 0.37820131760780723, 0.17049734403447406, -0.02161960739914964, 0.014549327764387538, 0.15624540622336167, 0.026133660955382245, -0.026702730041007386], "std": [7.666607435665792e-06, 2.8895129512453944e-06, 0.0004610473888435976, 0.0, 0.0, 8.158905362557302e-06, 8.155061710598026e-06, 0.12751327439886098, 0.2669183387193922, 0.11178366038421353, 0.952030580072566, 0.03819971253059861, 0.17352671448403248, 0.08891558978148234, 0.016799407703962363, 0.01654997425388732], "count": [328]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8642857142857142, -0.8357142857142857, -0.7857142857142857, -0.28285714285714286, -0.15428571428571428, -0.07142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46428571428571436, 1.0, 0.8714285714285716, 0.4371428571428572, 0.13142857142857142, 0.12, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0032447735191637596, 0.03569250871080135, -0.05263501742160272, 0.0048519163763066225, 0.00025261324041811885, 0.0010801393728222994, -0.2804878048780488], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.29512467574275403, 0.41558560130204814, 0.3436199328127575, 0.08086286760591972, 0.03739942077567046, 0.029695284208296965, 0.9598575890801159], "count": [328]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04878048598766327], "std": [0.2154088020324707], "count": [328]}, "next.done": {"min": [false], "max": [true], "mean": [0.003048780487804878], "std": [0.055131528414710744], "count": [328]}, "timestamp": {"min": [0.0], "max": [16.35], "mean": [8.174999999999999], "std": [4.7342502046258605], "count": [328]}, "frame_index": {"min": [0], "max": [327], "mean": [163.5], "std": [94.6850040925172], "count": [328]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [328]}, "index": {"min": [34749], "max": [35076], "mean": [34912.5], "std": [94.6850040925172], "count": [328]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [328]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46333841439301604]], [[0.452811407298993]], [[0.4089290369786671]]], "std": [[[0.21593310120063458]], [[0.19889737488462822]], [[0.18853766605092692]]], "count": [115]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.583587204200634]], [[0.5926206263861693]], [[0.5761566963423447]]], "std": [[[0.18471411560901882]], [[0.18401052181286684]], [[0.17700642701785663]]], "count": [115]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5872463351848891]], [[0.5929402195767064]], [[0.5755531741611387]]], "std": [[[0.17583053631235857]], [[0.17379383504299062]], [[0.1691402379992846]]], "count": [115]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [563]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [563]}, "observation.state": {"min": [4.1161780448702805, -0.8563586884357994, 0.6999973212652542, 0.0, 0.0, 0.70701664686203, 0.7069627046585083, 0.18538194056277724, -0.6980762203164925, 0.11965073353069722, -0.996863603591919, -0.855455219745636, -0.31408730149269104, 0.00027095069526694715, -0.004303621127532395, -0.04010881144635961], "max": [4.11645654953565, -0.8562430371145966, 0.7059561913195299, 0.0, 0.0, 0.7072508931159973, 0.7071969509124756, 0.5702848658852332, 0.0607435031740966, 0.5921533655167713, 0.9780925512313843, 0.908437192440033, 0.3104216158390045, 0.45606282353401184, 0.04000679351160817, -0.0025594856559777433], "mean": [4.116390219462463, -0.8562618805417911, 0.7035415335474183, 0.0, 0.0, 0.7071154793032957, 0.7070980437271972, 0.4338932387419881, -0.3228984677796816, 0.29525903646801965, 0.15742588760480153, 0.2990304233099385, 0.046703948252660686, 0.08088881099377643, 0.0210122934019325, -0.022298005146624316], "std": [5.394211538168922e-05, 1.8544176318918393e-05, 0.0024040565872039434, 0.0, 0.0, 3.755600181450423e-05, 3.753659489858078e-05, 0.10481758191970708, 0.21982925775645526, 0.10737538808309983, 0.857483301974871, 0.3421045021785631, 0.13576339574445426, 0.07955396337813293, 0.016666375867099206, 0.016545072815269877], "count": [563]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9642857142857144, -0.8214285714285715, -0.2285714285714286, -0.30857142857142855, -0.12571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9785714285714284, 1.0, 1.0, 0.12571428571428572, 0.21142857142857144, 0.6257142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.015922354732301452, -0.013689418929205817, -0.047564070032986544, -0.020842425780258807, -0.007135244861710222, 0.03535650850038062, 0.012433392539964476], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.35028967012890194, 0.38701617062860766, 0.4425560814381619, 0.06369297971932252, 0.06358061493357783, 0.1083385315629171, 0.9999227023875158], "count": [563]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02841918356716633], "std": [0.16616719961166382], "count": [563]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017761989342806395], "std": [0.04210752963101136], "count": [563]}, "timestamp": {"min": [0.0], "max": [28.1], "mean": [14.049999999999999], "std": [8.126192220222212], "count": [563]}, "frame_index": {"min": [0], "max": [562], "mean": [281.0], "std": [162.52384440444425], "count": [563]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [563]}, "index": {"min": [35077], "max": [35639], "mean": [35358.0], "std": [162.52384440444425], "count": [563]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [563]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6465625635872996]], [[0.5912191213008052]], [[0.5609512159679619]]], "std": [[[0.21447393778138338]], [[0.20875618684993957]], [[0.21980592049607842]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.766393649333086]], [[0.6649412739566953]], [[0.5668284220867846]]], "std": [[[0.1385147186135779]], [[0.1553382635894291]], [[0.19328049404880418]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7521976062712477]], [[0.6705052992876839]], [[0.5867741416031774]]], "std": [[[0.14356307796218773]], [[0.15886657551517358]], [[0.2045665864097613]]], "count": [166]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [915]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [915]}, "observation.state": {"min": [2.281403724365926, -2.715946575329581, 0.6999997687604096, 0.0, 0.0, -6.91953391651623e-05, 1.0, 0.18922759928563293, -0.6077539579070645, 0.1341933022509264, -0.999216616153717, -0.3766172528266907, -0.18351680040359497, 0.00010057377949124202, 0.0014621740429522953, -0.04063753151529762], "max": [2.2814526487269986, -2.715838345271913, 0.7030966862445773, 0.0, 0.0, 4.511383667704649e-05, 1.0, 0.48804519295364734, 0.13536820540949934, 0.6053165694017983, 0.9994729161262512, 0.6161907315254211, 0.17629101872444153, 0.08332756906747818, 0.040003989401902716, -0.002778789515693225], "mean": [2.281445270032198, -2.7159090560244086, 0.7014835913042178, 0.0, 0.0, -8.314823804176825e-07, 1.0, 0.3349436369177493, -0.20697850011332397, 0.31972666619151696, -0.3585848530133565, 0.14107309273276172, -0.007244422138128506, 0.034108199379615206, 0.027553406564995747, -0.027634499603426795], "std": [4.444166814692834e-06, 6.9306361670357e-06, 0.0009133056129381634, 0.0, 0.0, 8.115233968070417e-06, 0.0, 0.09418321665041458, 0.22635183116336763, 0.10841828713614408, 0.8531780046382946, 0.33589076395854817, 0.09543089914979148, 0.02137915354097374, 0.016357920962704005, 0.01634824364362708], "count": [915]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.39107142857142857, -0.75, -0.41785714285714287, -0.12428571428571428, -0.1007142857142857, -0.19500000000000003, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.44464285714285723, 0.7875, 0.6000000000000001, 0.05785714285714285, 0.09857142857142857, 0.15214285714285716, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.004625292740046838, -0.007101873536299787, -0.026686182669789237, 0.002681498829039813, 0.00669086651053864, -0.008503512880562098, -0.3114754098360656], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.13235408502690182, 0.26085526086820304, 0.21412791937199963, 0.012908598399571975, 0.02648553491886385, 0.049109811383708256, 0.9502542128648844], "count": [915]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017486339434981346], "std": [0.1310746669769287], "count": [915]}, "next.done": {"min": [false], "max": [true], "mean": [0.001092896174863388], "std": [0.033040910290340925], "count": [915]}, "timestamp": {"min": [0.0], "max": [45.7], "mean": [22.85], "std": [13.206879520411576], "count": [915]}, "frame_index": {"min": [0], "max": [914], "mean": [457.0], "std": [264.1375904082315], "count": [915]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [915]}, "index": {"min": [35640], "max": [36554], "mean": [36097.0], "std": [264.1375904082315], "count": [915]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [915]}}} +{"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": [[[0.3739606954972902]], [[0.3596211948826861]], [[0.3299324981149165]]], "std": [[[0.2378100334787874]], [[0.231860662456173]], [[0.22767795877961727]]], "count": [206]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4858291512690293]], [[0.4186494831264575]], [[0.3845811098433894]]], "std": [[[0.2113848311375701]], [[0.23826572429660955]], [[0.25520961908900697]]], "count": [206]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4978152882365211]], [[0.4333956890008165]], [[0.40024354253159283]]], "std": [[[0.2142403978411732]], [[0.24148616524703712]], [[0.2580350581279439]]], "count": [206]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1224]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1224]}, "observation.state": {"min": [2.6606877262381485, -0.7891575189811545, 0.699999053317744, 0.0, 0.0, 0.7070792317390442, 0.7070364356040955, 0.0336948728205998, -0.7430874491720489, 0.08534120110852106, -0.9984192252159119, -0.7398930788040161, -0.24102629721164703, 4.539404108072631e-05, 0.0013241353955663272, -0.04001669530968061], "max": [2.660778986600639, -0.7890882245235229, 0.703000498850093, 0.0, 0.0, 0.7071771025657654, 0.7071343064308167, 0.4904952509679983, 0.25279501437746044, 0.6176611487956982, 0.9991422891616821, 0.9478869438171387, 0.3362528681755066, 0.6443832516670227, 0.0401439885135539, -0.0026293173623945024], "mean": [2.6607533914688033, -0.789095938795842, 0.7011876707695607, 0.0, 0.0, 0.7071063151838732, 0.707107198637685, 0.28802213641199786, -0.08531353866272053, 0.3480243454784994, -0.15544555229765442, 0.41122019938893273, -0.03894337930961864, 0.2259162453220787, 0.022473595905081908, -0.02233337065219769], "std": [8.120832175009458e-06, 6.600890042911064e-06, 0.0008405933810343752, 0.0, 0.0, 1.044885973479141e-05, 1.044767143161083e-05, 0.1271696496039212, 0.33092003714274837, 0.14765788487457499, 0.7076360738903963, 0.434356476041894, 0.11533419049008842, 0.2268557995131689, 0.01682615145233162, 0.016912262479297377], "count": [1224]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7071428571428573, -0.5517857142857143, -0.4928571428571429, -0.09642857142857142, -0.17785714285714288, -0.4178571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.38571428571428573, 0.9267857142857143, 0.8303571428571429, 0.11142857142857143, 0.15, 0.08142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0012823879551820637, 0.0522233893557423, -0.009313725490196155, 0.002955182072829126, -0.004917717086834732, -0.03634628851540606, 0.013071895424836602], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18420975576795057, 0.2773612585135969, 0.25633299262273895, 0.028192744181556043, 0.049050273740030695, 0.083906692912285, 0.9999145591249202], "count": [1224]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013071895577013493], "std": [0.11358266323804855], "count": [1224]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008169934640522876], "std": [0.028571419036022404], "count": [1224]}, "timestamp": {"min": [0.0], "max": [61.15], "mean": [30.575000000000003], "std": [17.66691234105911], "count": [1224]}, "frame_index": {"min": [0], "max": [1223], "mean": [611.5], "std": [353.3382468211822], "count": [1224]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [1224]}, "index": {"min": [36555], "max": [37778], "mean": [37166.5], "std": [353.3382468211822], "count": [1224]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1224]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.09411764705882353]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6215768798687329]], [[0.6127433603793463]], [[0.5743037375245174]]], "std": [[[0.23156923901715004]], [[0.22692021332485976]], [[0.2514866140676538]]], "count": [102]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5943247747072941]], [[0.5876406137597694]], [[0.5774724799731473]]], "std": [[[0.19977408408153305]], [[0.1998181451149179]], [[0.20447745115436156]]], "count": [102]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.09803921568627451]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6007211306057542]], [[0.5925705536839047]], [[0.5790427912294476]]], "std": [[[0.2138326596470893]], [[0.2134012788363835]], [[0.21942627407498952]]], "count": [102]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [479]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [479]}, "observation.state": {"min": [4.906855072593558, -2.328111046628081, 0.6999982485712749, 0.0, 0.0, -5.7701287005329505e-05, 1.0, 0.19833117796616584, -0.6400616425213355, 0.16996611130787076, -0.9975470900535583, -0.8997825384140015, -0.19872884452342987, 0.0007337050046771765, 0.0029433434293066702, -0.04013556042230038], "max": [4.906955196205563, -2.3280335566296, 0.7014900688008636, 0.0, 0.0, 0.00011626817286014557, 1.0, 0.49500035163959843, 0.30408026891302153, 0.5857954121968936, 0.9923974275588989, 0.9079770445823669, 0.20618949830532074, 0.3337034285068512, 0.04000820566563809, -0.0017228118741616956], "mean": [4.90694515052624, -2.3280749137795445, 0.7011325417368952, 0.0, 0.0, -1.991003248691809e-06, 1.0, 0.3334959514636345, -0.12606079692075897, 0.3402060202075514, 0.34104036469798, 0.22522536512767596, 0.04407521033375709, 0.13436430742058103, 0.024604683309551706, -0.02462099011525673], "std": [9.333926856021093e-06, 8.829306914342656e-06, 0.0004626567349298888, 0.0, 0.0, 1.7849563737545395e-05, 0.0, 0.07658412387679372, 0.3265457694800762, 0.09788051168707801, 0.8000756980023596, 0.3892020741848494, 0.09525825177072139, 0.11088329467568367, 0.016297916968156228, 0.01644604564579902], "count": [479]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9214285714285714, -1.0, -1.0, -0.22, -0.3057142857142857, -0.18, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.28285714285714286, 0.26, 0.5085714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.040158067402326254, 0.023575902177154686, 0.0003877124962719819, -0.006698478974053084, 0.003590814196242172, 0.041950492096629904, -0.1524008350730689], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3337049227736384, 0.4959750989886983, 0.43031168060588787, 0.058614245018124914, 0.07195374077276505, 0.12015099685637372, 0.9883187671338837], "count": [479]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03340292349457741], "std": [0.1796862930059433], "count": [479]}, "next.done": {"min": [false], "max": [true], "mean": [0.0020876826722338203], "std": [0.04564344699180678], "count": [479]}, "timestamp": {"min": [0.0], "max": [23.9], "mean": [11.950000000000001], "std": [6.913754406977442], "count": [479]}, "frame_index": {"min": [0], "max": [478], "mean": [239.0], "std": [138.27508813954884], "count": [479]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [479]}, "index": {"min": [37779], "max": [38257], "mean": [38018.0], "std": [138.27508813954884], "count": [479]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [479]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5710567878274357]], [[0.5467116346172258]], [[0.5329289616603478]]], "std": [[[0.18198512116970617]], [[0.1993648730679541]], [[0.20142081572437087]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6089412016027114]], [[0.5063274960985371]], [[0.4861628376081878]]], "std": [[[0.16645686901982093]], [[0.22290662198502037]], [[0.22592349024113278]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6053298357795266]], [[0.5007703384698606]], [[0.47734419519761034]]], "std": [[[0.14322248543996619]], [[0.20321780001896658]], [[0.20539026571305788]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [289]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [289]}, "observation.state": {"min": [2.731589322157688, -0.8280749922968602, 0.6999968621022127, 0.0, 0.0, 0.707083523273468, 0.7070842981338501, 0.13132537211562845, 0.00023726575683324924, 0.17649262928476928, -0.9988321661949158, -0.5446759462356567, -0.2535474896430969, 0.000694923335686326, 0.006352594998865532, -0.04000418917051089], "max": [2.7316430994258227, -0.8280485184141462, 0.7007170549133752, 0.0, 0.0, 0.7071292400360107, 0.707129955291748, 0.45641356951848444, 0.5288727387946874, 0.5974687457854998, 0.9774207472801208, 0.5290034413337708, 0.11002208292484283, 0.09403184801340103, 0.04000818940902108, -0.00628757098961584], "mean": [2.7316131769736822, -0.8280564411272381, 0.700299007849202, 0.0, 0.0, 0.7071090602544765, 0.7071044498661397, 0.2971332706701849, 0.3256969916435244, 0.34582435646596266, -0.23197946849578804, 0.04651992078419375, -0.017001707508139292, 0.024342041233454584, 0.028716046125158094, -0.029217454951143508], "std": [7.655413541038094e-06, 4.000668785944976e-06, 0.0002787794612361919, 0.0, 0.0, 9.299004895923483e-06, 9.296799877808264e-06, 0.10499365168550967, 0.1451291178664864, 0.11460448080312366, 0.9371526535461022, 0.24033806724487994, 0.08232610706672225, 0.01856754992757164, 0.01447609009600079, 0.014065347988910595], "count": [289]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.45714285714285713, -0.9571428571428572, -0.3785714285714286, -0.09428571428571429, -0.23714285714285716, -0.28285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45714285714285713, 1.0, 0.75, 0.1142857142857143, 0.2571428571428571, 0.3628571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.009021255561047947, 0.053361344537815165, -0.03111715274345025, -0.0017004448838358866, -0.009243697478991597, -0.0031043005437469073, -0.3217993079584775], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20882226714564914, 0.3987255489852655, 0.27962438699055664, 0.022128546532801247, 0.07023038545005425, 0.13970085539653604, 0.9468079031131091], "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": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [289]}, "index": {"min": [38258], "max": [38546], "mean": [38402.0], "std": [83.42661445845684], "count": [289]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [289]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39738437697466683]], [[0.403255802229339]], [[0.3788784834917854]]], "std": [[[0.20882222083454446]], [[0.21042788564871706]], [[0.1816266009773857]]], "count": [200]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.07450980392156863]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6552092937394685]], [[0.6215437266031901]], [[0.5815719772039675]]], "std": [[[0.23009336830057353]], [[0.224553963934898]], [[0.22566668997695585]]], "count": [200]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.09411764705882353]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6723459299124923]], [[0.6429896473604091]], [[0.6044473084094477]]], "std": [[[0.21611193688964836]], [[0.20843435943197]], [[0.20621133235559022]]], "count": [200]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1175]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1175]}, "observation.state": {"min": [2.6558406559395, -0.8188592360222724, 0.6999981474993877, 0.0, 0.0, 0.7070609927177429, 0.707089364528656, 0.22513096622508366, -0.46236391605646965, 0.100799554456528, -0.9977511167526245, -0.967778205871582, -0.17789801955223083, 0.00011573862138902768, 0.0021884975801675197, -0.04000190184023763], "max": [2.6559123840000622, -0.8188447004689052, 0.7006533246159999, 0.0, 0.0, 0.7071241736412048, 0.7071525454521179, 0.5408679389461837, 0.5514396974035658, 0.6171855874721833, 0.990868091583252, 0.9678834676742554, 0.13304296135902405, 0.14069589972496033, 0.04001199338827742, -0.0036658416086552477], "mean": [2.6558562749638863, -0.8188488541372813, 0.7003844160629937, 0.0, 0.0, 0.707106446408211, 0.707107067919792, 0.3789262553974863, 0.1882440668044597, 0.3578161105632508, -0.24034271247843478, -0.03177793302434556, -0.05015478624276782, 0.05517763339017116, 0.024082183259775354, -0.024130926584196646], "std": [5.758049096504148e-06, 1.2901502764722696e-06, 0.00023496481287848395, 0.0, 0.0, 6.095611847315316e-06, 6.095677024872676e-06, 0.07688421986321728, 0.3221351104902424, 0.11821105334796408, 0.7809165825710666, 0.5634469302223282, 0.08088042508539851, 0.04266935970454635, 0.017030447096654886, 0.01690605258296153], "count": [1175]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.375, -0.6267857142857143, -0.375, -0.16285714285714287, -0.11357142857142859, -0.255, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4982142857142858, 0.7660714285714286, 0.5517857142857143, 0.1457142857142857, 0.13285714285714284, 0.35571428571428576, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.010299392097264437, 0.035252279635258454, -0.014083586626139847, -0.0067440729483282695, 0.0008297872340425523, -0.0036091185410334005, -0.09617021276595744], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.15736183943468748, 0.25018659638661794, 0.1906648583645828, 0.034027343074074026, 0.026811602699915827, 0.09055572799900952, 0.9953649030262984], "count": [1175]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013617021031677723], "std": [0.11589475721120834], "count": [1175]}, "next.done": {"min": [false], "max": [true], "mean": [0.000851063829787234], "std": [0.029160581615339257], "count": [1175]}, "timestamp": {"min": [0.0], "max": [58.7], "mean": [29.35], "std": [16.959658015420004], "count": [1175]}, "frame_index": {"min": [0], "max": [1174], "mean": [587.0], "std": [339.1931603084001], "count": [1175]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [1175]}, "index": {"min": [38547], "max": [39721], "mean": [39134.0], "std": [339.1931603084001], "count": [1175]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1175]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5133930303377064]], [[0.5047274348036568]], [[0.496742382853241]]], "std": [[[0.25228996662109116]], [[0.24260465098326192]], [[0.21048552390128164]]], "count": [188]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5590819631360897]], [[0.5018560241648292]], [[0.45869106122439834]]], "std": [[[0.238363201266849]], [[0.2657390189409121]], [[0.27110372299479746]]], "count": [188]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5494150482419634]], [[0.49623843476729534]], [[0.4573234440338428]]], "std": [[[0.2325305933601444]], [[0.2579205055170722]], [[0.2625234265483974]]], "count": [188]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1084]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1084]}, "observation.state": {"min": [3.1758859634805034, -4.400856890980192, 0.699999156436543, 0.0, 0.0, -1.0, 0.0, 0.24052422980031096, -0.43796467089814284, 0.11481071627251882, -0.999340832233429, -0.4674118757247925, -0.3029043972492218, 0.0006829084595665336, 0.0016139226899382034, -0.04000458754759977], "max": [3.175940871094413, -4.40074496330668, 0.7015053231714652, 0.0, 0.0, 1.0, 9.256236080545932e-05, 0.671881041143334, 0.4960202018213611, 0.5791222537007149, 0.9539756178855896, 0.294547975063324, 0.3495602607727051, 0.1409374177455902, 0.040086034992715416, -0.0012885488321011252], "mean": [3.175899303850875, -4.400781344061764, 0.7008068943016659, 0.0, 0.0, -0.5350553505535055, 5.244712508373525e-06, 0.47716736091767403, 0.07300343842347431, 0.30172504337176376, -0.289597694504305, -0.06794985496126307, 0.03365800329934128, 0.051771790907549416, 0.02820732655200436, -0.028080032107485248], "std": [3.2522309203202076e-06, 7.692799150883557e-06, 0.0004513747255249342, 0.0, 0.0, 0.8448170049448916, 8.542764948295611e-06, 0.10950126142950145, 0.27864923964834354, 0.0989016842843179, 0.893942990740616, 0.24416324081488155, 0.21874953280888748, 0.03319184585072295, 0.01597472998025706, 0.01604725501886343], "count": [1084]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5732142857142857, -0.8089285714285713, -0.46607142857142864, -0.1007142857142857, -0.15642857142857142, -0.12428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.39642857142857146, 1.0, 0.7714285714285715, 0.08357142857142857, 0.15, 0.07928571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0035384818133895653, 0.005530113336847738, -0.02471006852925679, -0.002435424354243543, -0.004924222456510279, -0.010180548234053795, -0.33025830258302585], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16152758352883712, 0.28415009251936785, 0.232072716992162, 0.01654223333091239, 0.03681172854675233, 0.02948232296977337, 0.9438905940706147], "count": [1084]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014760147780179977], "std": [0.12059139460325241], "count": [1084]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009225092250922509], "std": [0.030358824117904675], "count": [1084]}, "timestamp": {"min": [0.0], "max": [54.15], "mean": [27.075000000000003], "std": [15.646185637400572], "count": [1084]}, "frame_index": {"min": [0], "max": [1083], "mean": [541.5], "std": [312.9237127480115], "count": [1084]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [1084]}, "index": {"min": [39722], "max": [40805], "mean": [40263.5], "std": [312.9237127480115], "count": [1084]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1084]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07058823529411765]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5546883532377441]], [[0.5504701004731241]], [[0.5275376544955096]]], "std": [[[0.20216787921206783]], [[0.19702402271847036]], [[0.2025985457563291]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5545879036885133]], [[0.5485979912440433]], [[0.5367721060165523]]], "std": [[[0.20802378732802868]], [[0.20841141416553008]], [[0.20656580388844314]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.08235294117647059]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5582856039276591]], [[0.551803829302158]], [[0.5393680668936085]]], "std": [[[0.21944994874278428]], [[0.21968105292471965]], [[0.21594063564072535]]], "count": [166]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [918]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [918]}, "observation.state": {"min": [2.499148078212118, -1.788358893795745, 0.6999983471632203, 0.0, 0.0, -0.021474195644259453, 0.999769389629364, 0.03697955879269532, -0.42464121472189165, 0.14789593000861379, -0.9999239444732666, -0.3300991654396057, -0.1298896074295044, 8.11509889899753e-05, 0.0024166047821994325, -0.040002120131227274], "max": [2.5445212297851816, -1.363151570834922, 0.700917138744577, 0.0, 0.0, -9.282277460442856e-06, 1.0, 0.49721226856312617, 0.5280990868679427, 0.5886185933299943, 0.999914288520813, 0.0782858282327652, 0.14608940482139587, 0.10319044440984726, 0.04044901114704388, -0.0024058514287360905], "mean": [2.5391965113433645, -1.378529527976444, 0.7003504345007179, 0.0, 0.0, -0.018409571185131035, 0.99982562278091, 0.2822636374212695, 0.08929295675480974, 0.3467798249306713, -0.7124400013542384, -0.08924230136898445, 0.012463412038580833, 0.03487508112135195, 0.031101308387862913, -0.029964170700316], "std": [0.007305541973620926, 0.0741377728918484, 0.000252216145556216, 0.0, 0.0, 0.0031487417671390567, 3.26763083665552e-05, 0.1076547158103845, 0.30913004382045717, 0.12510537618188552, 0.6791623920578592, 0.12558430003363427, 0.07295814222105772, 0.027158546035046142, 0.013041111535474808, 0.01315339400994757], "count": [918]}, "action": {"min": [0.0, 0.0, -0.075, 0.0, -1.0, -0.9160714285714286, -0.7125, -0.3107142857142857, -0.053571428571428575, -0.14142857142857146, -0.10285714285714286, -1.0], "max": [0.6321428571428571, 0.8196428571428573, 0.0, 0.0, 1.0, 0.4125, 0.75, 0.7178571428571429, 0.06214285714285714, 0.11142857142857143, 0.15214285714285716, 1.0], "mean": [0.010124883286647993, 0.01823646125116713, -0.001405228758169935, 0.0, -0.8649237472766884, -0.014939309056956097, 0.04326563958916907, -0.015400326797385672, 0.00103641456582633, 0.00439309056956116, -0.0003944911297852444, -0.1830065359477124], "std": [0.05685597624305078, 0.10360689897032967, 0.007608500359166935, 0.0, 0.5019032888882605, 0.23457776857555546, 0.30327761477203746, 0.20888641522690404, 0.01586243743181735, 0.03295106650867564, 0.03153644332991575, 0.9831116965027027], "count": [918]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01742919348180294], "std": [0.13086412847042084], "count": [918]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010893246187363835], "std": [0.03298693666607129], "count": [918]}, "timestamp": {"min": [0.0], "max": [45.85], "mean": [22.925], "std": [13.250180816376306], "count": [918]}, "frame_index": {"min": [0], "max": [917], "mean": [458.5], "std": [265.0036163275261], "count": [918]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [918]}, "index": {"min": [40806], "max": [41723], "mean": [41264.5], "std": [265.0036163275261], "count": [918]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [918]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.12549019607843137]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6824174714929917]], [[0.6393089880849802]], [[0.5811175106272979]]], "std": [[[0.20350217777134855]], [[0.17696095774409354]], [[0.18582579372269648]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7135289952895221]], [[0.6080394616220511]], [[0.5120532555673637]]], "std": [[[0.11812039894186586]], [[0.13781022013294691]], [[0.1900146634119793]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7120142678653493]], [[0.6162250162760416]], [[0.5267493627211627]]], "std": [[[0.12957532083978543]], [[0.14919169264056376]], [[0.20166397206133146]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [191]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [191]}, "observation.state": {"min": [2.448526446247345, -1.830670526440414, 0.699997562099374, 0.0, 0.0, -0.7070935964584351, 0.7071199417114258, 0.2245918568016878, -0.01975601599675203, 0.21557970064509546, -0.9918121099472046, -0.23087647557258606, -0.17207853496074677, 0.007893871515989304, 0.003784682522937641, -0.04010138205711734], "max": [2.4485926604989903, -1.8306531183340373, 0.7002150229096442, 0.0, 0.0, -0.7070296406745911, 0.7071840167045593, 0.4909791219139654, 0.3484017187592814, 0.5976868528616466, -0.9666711091995239, -0.03683386743068695, 0.10310309380292892, 0.18318603932857513, 0.04001566749754975, -0.0036652278308354513], "mean": [2.4485663973609535, -1.830662581876403, 0.7000952255264776, 0.0, 0.0, -0.7070543166854619, 0.7071591987035661, 0.3736072654921564, 0.15963667068743223, 0.37367114928406936, -0.9800879165764255, -0.09166791941482984, -0.0451294087813387, 0.128504775498667, 0.026915274547939683, -0.02683009451445877], "std": [8.674328297412078e-06, 2.8916526111878413e-06, 8.089862012844268e-05, 0.0, 0.0, 8.855950858992633e-06, 8.867740533590947e-06, 0.07743825977148842, 0.137288899300886, 0.10159059081475848, 0.004334122305479295, 0.04559427075084747, 0.08809156980293276, 0.05115442112439212, 0.016180269186940512, 0.015856691760950576], "count": [191]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5285714285714286, -1.0, -0.6642857142857144, -0.19428571428571428, -0.23714285714285716, -0.19428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6714285714285714, 1.0, 0.9357142857142857, 0.22, 0.26571428571428574, 0.3171428571428571, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.021054599850411353, 0.08096484667165285, -0.04674644727000764, 0.00014958863126402728, 0.004592370979805548, 0.0043979057591623, -0.3193717277486911], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.30220521751425583, 0.5296524540980858, 0.3897011917348374, 0.05063354426337389, 0.07799538610582796, 0.07360526499974389, 0.9476295159580118], "count": [191]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.08376963436603546], "std": [0.27704206109046936], "count": [191]}, "next.done": {"min": [false], "max": [true], "mean": [0.005235602094240838], "std": [0.07216779451356137], "count": [191]}, "timestamp": {"min": [0.0], "max": [9.5], "mean": [4.75], "std": [2.756809750418044], "count": [191]}, "frame_index": {"min": [0], "max": [190], "mean": [95.0], "std": [55.136195008360886], "count": [191]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [191]}, "index": {"min": [41724], "max": [41914], "mean": [41819.0], "std": [55.136195008360886], "count": [191]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [191]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.058823529411764705]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5542059819297871]], [[0.5451621520837486]], [[0.5355460664608112]]], "std": [[[0.18892019571109528]], [[0.19061256955868863]], [[0.18301824171323636]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6450049213109331]], [[0.6412947213370946]], [[0.632943370520801]]], "std": [[[0.18415921158554685]], [[0.18481248656559582]], [[0.18230383132518316]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.08627450980392157]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6574255647936414]], [[0.6528214084941559]], [[0.6428818816021208]]], "std": [[[0.19165220712511524]], [[0.19310212027658102]], [[0.1896881122454082]]], "count": [166]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [917]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [917]}, "observation.state": {"min": [2.6565238563789166, -0.788197798949979, 0.6999985051497492, 0.0, 0.0, 0.7070754766464233, 0.7070422172546387, 0.20851403279253644, -0.3496549972197158, 0.13682307796736592, -0.999739944934845, -0.1478651612997055, -0.22174599766731262, 1.5064316357893404e-05, 0.0017524102403887907, -0.04000201027607454], "max": [2.656599412151194, -0.7881635652021813, 0.7015625090317121, 0.0, 0.0, 0.7071713805198669, 0.7071380019187927, 0.4278643282679644, 0.4535454509212764, 0.6050581301655196, 0.9995589852333069, 0.22741292417049408, 0.22224299609661102, 0.0674523338675499, 0.04000220509860225, -0.0036523191996146384], "mean": [2.6565631007444708, -0.7881711207179295, 0.7006651674806528, 0.0, 0.0, 0.7071064754816802, 0.7071070355183425, 0.3361745856433006, 0.13921939196470667, 0.3496594423327381, -0.3635553540164278, 0.010347630337059432, -0.004198711991320657, 0.021335165743880457, 0.024282903101305653, -0.02456097044290562], "std": [6.300066881230743e-06, 3.3193693891019194e-06, 0.0005117240946854384, 0.0, 0.0, 5.897300180483566e-06, 5.896810551604393e-06, 0.05869741096734854, 0.27326643334631767, 0.11871781926479479, 0.9195844093335224, 0.09665609718840032, 0.10916775443819171, 0.018765104974328366, 0.017182433594272684, 0.016751667800050635], "count": [917]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6375000000000001, -0.6803571428571429, -0.375, -0.07285714285714286, -0.11785714285714285, -0.10714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40178571428571436, 0.675, 0.6696428571428571, 0.09857142857142857, 0.09428571428571429, 0.075, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 7.594640909798523e-05, 0.035864231188658634, -0.015054915095809269, -0.0001799345692475467, 0.0034561458171054695, -0.005019473438230258, -0.12540894220283533], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16279795229343053, 0.2562095116206426, 0.22584543551911807, 0.014074715524540435, 0.030920241102657973, 0.0257522775723506, 0.9921051341544224], "count": [917]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017448199912905693], "std": [0.1309341937303543], "count": [917]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010905125408942203], "std": [0.03300489847420187], "count": [917]}, "timestamp": {"min": [0.0], "max": [45.8], "mean": [22.9], "std": [13.235747051073469], "count": [917]}, "frame_index": {"min": [0], "max": [916], "mean": [458.0], "std": [264.7149410214694], "count": [917]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [917]}, "index": {"min": [41915], "max": [42831], "mean": [42373.0], "std": [264.7149410214694], "count": [917]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [917]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2490909713612321]], [[0.24069237514550648]], [[0.22196077880987372]]], "std": [[[0.1759986358170614]], [[0.15475776727097607]], [[0.12930940106744965]]], "count": [187]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.058823529411764705]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3917875405313884]], [[0.37301123371986245]], [[0.3629771743491222]]], "std": [[[0.23335170856184098]], [[0.2257522332978624]], [[0.228142059143254]]], "count": [187]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.06274509803921569]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39495505426644256]], [[0.37378772416804285]], [[0.3611990846352119]]], "std": [[[0.2289882083438083]], [[0.22205734779728295]], [[0.22559843245743214]]], "count": [187]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1071]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1071]}, "observation.state": {"min": [3.0154931331866077, -1.5014708908952357, 0.6999988062581949, 0.0, 0.0, -5.479252286022529e-05, 1.0, 0.16550335856273568, -0.24674165311751217, 0.10198754430622237, -0.999004602432251, -0.27912700176239014, -0.21674294769763947, 2.3530075850430876e-05, 0.0017369869160769936, -0.040004679220742335], "max": [3.0155154971021885, -1.5013958406772216, 0.7017621290752342, 0.0, 0.0, 2.3507425794377923e-05, 1.0, 0.528660246394344, 0.47712776139122637, 0.5967191059594347, 0.9984443187713623, 0.5049097537994385, 0.2233760952949524, 0.06497125327587128, 0.04000234725081373, -0.001196742878801224], "mean": [3.0155102359736228, -1.50141193878645, 0.700789731526233, 0.0, 0.0, -4.6453888776333613e-07, 1.0, 0.39054522665539493, 0.15023068996369007, 0.29486777775623846, -0.017568954288347316, 0.13595714848262477, 0.001557453585362295, 0.024776617392068948, 0.02781007846155734, -0.027706306559564044], "std": [2.2115262373804018e-06, 5.958033335124208e-06, 0.0005383891052075624, 0.0, 0.0, 7.518710530781419e-06, 0.0, 0.08598451697223104, 0.2170449915047013, 0.12766231308095258, 0.9585460865822794, 0.21232526134656454, 0.1283870806314224, 0.01465661078430391, 0.01669334329113208, 0.016834963129156392], "count": [1071]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.567857142857143, -0.7017857142857142, -0.39107142857142857, -0.075, -0.14357142857142857, -0.22500000000000003, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.36428571428571427, 0.5892857142857143, 0.8517857142857143, 0.017142857142857144, 0.10928571428571428, 0.17571428571428574, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.008548419367747093, 0.014725890356142479, -0.018027210884353644, -0.004861944777911161, 0.0049739895958383525, -0.005076030412164866, -0.3389355742296919], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14958496899840615, 0.21695043319055723, 0.2301445908586943, 0.012199492706068092, 0.02821153198759651, 0.05439086448635551, 0.9408095856875603], "count": [1071]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01493930909782648], "std": [0.1213100403547287], "count": [1071]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009337068160597573], "std": [0.03054234777552965], "count": [1071]}, "timestamp": {"min": [0.0], "max": [53.5], "mean": [26.75], "std": [15.458546719102241], "count": [1071]}, "frame_index": {"min": [0], "max": [1070], "mean": [535.0], "std": [309.17093438204483], "count": [1071]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [1071]}, "index": {"min": [42832], "max": [43902], "mean": [43367.0], "std": [309.17093438204483], "count": [1071]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1071]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.03137254901960784]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34074521592384793]], [[0.3373197249772337]], [[0.3356891508419087]]], "std": [[[0.20907608336053363]], [[0.2087286065437036]], [[0.20899692995348407]]], "count": [199]}, "observation.images.robot0_agentview_left": {"min": [[[0.0784313725490196]], [[0.050980392156862744]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4997517696165994]], [[0.42073137834161617]], [[0.3828248426448842]]], "std": [[[0.2054527197594859]], [[0.23572616120688775]], [[0.25351205359966883]]], "count": [199]}, "observation.images.robot0_agentview_right": {"min": [[[0.08627450980392157]], [[0.043137254901960784]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5098631790135574]], [[0.42153994291213265]], [[0.38166868890350186]]], "std": [[[0.19738565172654401]], [[0.23953795402795725]], [[0.26096251994338426]]], "count": [199]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1169]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1169]}, "observation.state": {"min": [1.480482879638941, -0.8154937773441466, 0.6999983869910253, 0.0, 0.0, 0.6889050602912903, 0.7071057558059692, 0.12829213162287023, -0.32865330986538654, 0.06284803363506819, -0.9910247325897217, -0.2866325378417969, -0.25975221395492554, 1.038907157635549e-05, 0.00379976672847574, -0.04000523877099483], "max": [2.0266145881282176, -0.778843707822185, 0.7016044432587757, 0.0, 0.0, 0.7071077227592468, 0.7248514890670776, 0.49820809380775355, 0.4715178686272601, 0.5994097288730633, 0.9951590895652771, 0.2835005819797516, 0.2337479442358017, 0.08386210352182388, 0.04001151878466102, -0.0007246561036091672], "mean": [1.4932261964594553, -0.7804599495794009, 0.7005598907962632, 0.0, 0.0, 0.7057062386956553, 0.7084942235714151, 0.34654856156040564, 0.1442076447280045, 0.34103025568917367, 0.004179632031479078, -0.021154045140875825, -0.00729523653821421, 0.03444523057355391, 0.028393976874329263, -0.02808989158833069], "std": [0.0670614268611202, 0.007153325526015125, 0.0005233410735113955, 0.0, 0.0, 0.0027374435277259706, 0.0026736934957276057, 0.09798457189737346, 0.2632109228176229, 0.14983608810317345, 0.9717650622017786, 0.17929184216555688, 0.14609244539405525, 0.021896141162190345, 0.015362922708839707, 0.01569390981941035], "count": [1169]}, "action": {"min": [-0.1392857142857143, 0.0, -0.07285714285714286, 0.0, -1.0, -0.6000000000000001, -0.5303571428571429, -0.45535714285714285, -0.33214285714285713, -0.1542857142857143, -0.12642857142857145, -1.0], "max": [0.3053571428571429, 0.6857142857142857, 0.09214285714285715, 0.0, 1.0, 0.6214285714285714, 0.6428571428571429, 0.7339285714285714, 0.07928571428571429, 0.26785714285714285, 0.13714285714285715, 1.0], "mean": [0.006621960161310031, 0.023385372112917028, -5.1325919589392326e-05, 0.0, -0.8682634730538922, 0.006287425149700608, 0.027917634119516106, -0.012212819259440325, -0.0017102529634608324, 0.002586459733594034, 0.0027734327263839688, -0.30367835757057315], "std": [0.03999809356028297, 0.10030805481000543, 0.01165620117133747, 0.0, 0.49610335753791746, 0.1731073294929371, 0.2217566871928783, 0.22798315736670305, 0.022622925485804496, 0.03247892880997966, 0.033869763826956334, 0.9527746087838657], "count": [1169]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013686912134289742], "std": [0.1161876916885376], "count": [1169]}, "next.done": {"min": [false], "max": [true], "mean": [0.000855431993156544], "std": [0.029235256613575813], "count": [1169]}, "timestamp": {"min": [0.0], "max": [58.4], "mean": [29.200000000000003], "std": [16.87305544351704], "count": [1169]}, "frame_index": {"min": [0], "max": [1168], "mean": [584.0], "std": [337.4611088703408], "count": [1169]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [1169]}, "index": {"min": [43903], "max": [45071], "mean": [44487.0], "std": [337.4611088703408], "count": [1169]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1169]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6168603100575752]], [[0.5797046770125798]], [[0.5623890091258551]]], "std": [[[0.20293604178222463]], [[0.19129438472843402]], [[0.19763601014632853]]], "count": [141]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6922931665307275]], [[0.6250804049699168]], [[0.5636217393425539]]], "std": [[[0.15536465408678116]], [[0.16330015773729345]], [[0.2059351518759591]]], "count": [141]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6987213512468928]], [[0.6194738310345885]], [[0.5471460615340301]]], "std": [[[0.14768007193473026]], [[0.16003783172702493]], [[0.2105420175545693]]], "count": [141]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [738]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [738]}, "observation.state": {"min": [0.744720114426326, -2.930855193729258, 0.6999936679198163, 0.0, 0.0, -1.0, 8.40367349042026e-08, 0.1990586383657703, -0.4960349442173877, 0.11986235803472589, -0.996838390827179, -0.4818744361400604, -0.22811785340309143, 0.00018652676953934133, 0.00419121995591606, -0.04006543604943388], "max": [0.8397955424347886, -1.8152817108281085, 0.7004392425432059, 0.0, 0.0, 1.0, 0.00115900335367769, 0.4740124358125488, 0.39529487939410846, 0.6032304178387661, 0.9995809197425842, 0.4805133640766144, 0.24017749726772308, 0.09929948300123215, 0.04000836171561417, -0.004163376407841632], "mean": [0.7532836578157237, -1.8524368522836512, 0.7000422623145143, 0.0, 0.0, 0.8482385101680187, 0.00043648282400168007, 0.34014432413545415, -0.013151090833756277, 0.35875441007013564, 0.48031134842857115, -0.09406361287474875, 0.02331345295249598, 0.0264620575167729, 0.030776010230387642, -0.03047241601854856], "std": [0.022783226787548523, 0.16987993455100467, 0.00010953488441851549, 0.0, 0.0, 0.5296143582707001, 0.00014898999320295286, 0.07157947318577301, 0.3000836536597083, 0.13739493568257072, 0.8266495537007081, 0.24934107791623797, 0.11428824344234344, 0.025040441603385585, 0.013390019471810472, 0.013545521224362287], "count": [738]}, "action": {"min": [-0.0642857142857143, -0.9160714285714286, -0.04285714285714286, 0.0, -1.0, -0.4821428571428571, -0.7071428571428573, -0.5035714285714286, -0.09428571428571429, -0.1842857142857143, -0.15, -1.0], "max": [0.4875000000000001, 0.0, 0.0, 0.0, 1.0, 0.41785714285714287, 0.7928571428571429, 0.8785714285714287, 0.045, 0.17357142857142857, 0.09642857142857142, 1.0], "mean": [0.010489256678281069, -0.047800522648083626, -0.00020325203252032523, 0.0, -0.8102981029810298, 0.014278455284552872, 0.041840882694541226, -0.008209930313588866, -0.002790360046457607, 0.008153310104529618, -0.0011759581881533017, -0.27371273712737126], "std": [0.06685013436389899, 0.18422376154501932, 0.0026390645562835947, 0.0, 0.586017904423878, 0.16487079716853362, 0.3304473839535172, 0.2957743898898772, 0.015911342952882476, 0.04116565486073782, 0.036997566941248665, 0.961811487524575], "count": [738]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02168021723628044], "std": [0.1456371545791626], "count": [738]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013550135501355014], "std": [0.036785560868558886], "count": [738]}, "timestamp": {"min": [0.0], "max": [36.85], "mean": [18.425], "std": [10.652102687576132], "count": [738]}, "frame_index": {"min": [0], "max": [737], "mean": [368.5], "std": [213.04205375152264], "count": [738]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [738]}, "index": {"min": [45072], "max": [45809], "mean": [45440.5], "std": [213.04205375152264], "count": [738]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [738]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3054511208498031]], [[0.28924354294672394]], [[0.23299949876875425]]], "std": [[[0.20478359524488435]], [[0.17223992250644563]], [[0.16325466799757848]]], "count": [173]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4709785016096734]], [[0.3984419930674356]], [[0.38103228027177727]]], "std": [[[0.2704763703635102]], [[0.2735298841698796]], [[0.281441651904112]]], "count": [173]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4697092121344338]], [[0.3874517322113546]], [[0.3675169656704467]]], "std": [[[0.2679282065145807]], [[0.27002865218759753]], [[0.2788612267689934]]], "count": [173]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [966]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [966]}, "observation.state": {"min": [2.3012722262290795, -2.3097295771834734, 0.6999974157915239, 0.0, 0.0, -1.0, 0.0, 0.1836042535213509, -0.24217344335675772, 0.08443296110010123, -0.995611310005188, -0.26969584822654724, -0.361517995595932, 0.0001239441626239568, 0.003844111825662877, -0.03998123725167224], "max": [2.3013136245309194, -2.309551500609405, 0.7010746704133155, 0.0, 0.0, 1.0, 0.00018545535567682236, 0.5649855058319198, 0.6129212223674751, 0.5966126186162611, 0.983586311340332, 0.2325344979763031, 0.2519131302833557, 0.11535736173391342, 0.04001739166799008, -0.004021581844209507], "mean": [2.301279255485246, -2.3095638323194967, 0.7002166357199523, 0.0, 0.0, 0.525879917184265, 3.40857685259928e-06, 0.3675393716137518, 0.1114013816114371, 0.2892981755047587, -0.7014305142388828, -0.015262211570766895, -0.08076813488458254, 0.05706564760963962, 0.02567724782183524, -0.025383894549512363], "std": [3.55114042196655e-06, 6.1877341985731345e-06, 0.00029719033986603236, 0.0, 0.0, 0.8505588237754464, 6.801216115779376e-06, 0.10735236344124556, 0.2423815429595129, 0.13028773970620647, 0.6684673849191144, 0.17635814618571644, 0.13821076688366923, 0.03048372812537775, 0.016544741800268336, 0.016734697936069416], "count": [966]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5035714285714286, -0.6107142857142858, -0.5089285714285714, -0.15857142857142859, -0.10500000000000001, -0.14142857142857146, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5892857142857143, 0.8357142857142857, 0.9589285714285715, 0.060000000000000005, 0.12428571428571428, 0.10714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.03325199645075422, 0.008385093167701894, 0.014479813664596315, -0.0010226264418811007, 0.005206299911268854, -0.003788819875776396, -0.18012422360248448], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.17442365028011006, 0.2613459610961781, 0.2954406463536301, 0.018043525849891984, 0.030342567609942746, 0.030698242180978937, 0.9836438705505117], "count": [966]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01656314730644226], "std": [0.12762761116027832], "count": [966]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010351966873706005], "std": [0.03215781483852809], "count": [966]}, "timestamp": {"min": [0.0], "max": [48.25], "mean": [24.125], "std": [13.943001530038886], "count": [966]}, "frame_index": {"min": [0], "max": [965], "mean": [482.5], "std": [278.8600306007777], "count": [966]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [966]}, "index": {"min": [45810], "max": [46775], "mean": [46292.5], "std": [278.8600306007777], "count": [966]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [966]}}} +{"episode_index": 65, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5999655677945006]], [[0.6211819434072456]], [[0.581815367455576]]], "std": [[[0.20188062968197218]], [[0.19525806941977242]], [[0.19403613357367908]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.08235294117647059]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6389051788928463]], [[0.6350344040814568]], [[0.6246163174498315]]], "std": [[[0.1923024880961847]], [[0.19162926401121058]], [[0.18846266844284307]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.09411764705882353]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6394472991344976]], [[0.6361581755993413]], [[0.6258470147824754]]], "std": [[[0.18628314194970244]], [[0.18595762012459616]], [[0.18469301691200662]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [381]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [381]}, "observation.state": {"min": [2.9858518023941, -1.4503847165199057, 0.6999969838500923, 0.0, 0.0, -3.108482269453816e-05, 1.0, 0.18349124240515957, -0.6273863377772915, 0.17232126912920565, -0.9892921447753906, -0.037264883518218994, -0.1502486914396286, 0.0019389776280149817, 0.0036460494864551975, -0.040020968398163465], "max": [2.9858905169203136, -1.450347874217538, 0.7004371360425885, 0.0, 0.0, 1.9476879970170557e-05, 1.0, 0.4722939450393633, 0.005132384099302056, 0.6006444663691256, 0.9900626540184021, 0.6330606341362, 0.22535300254821777, 0.22295425832271576, 0.039555030204315764, -0.004394197315200293], "mean": [2.985878527845032, -1.4503635753640636, 0.7000504171226224, 0.0, 0.0, -5.36704489770053e-07, 1.0, 0.3463859310121609, -0.25847220074036403, 0.38070592154729815, 0.8416331401021462, 0.2545079979996669, 0.048216810684163475, 0.14271151454321152, 0.02391144915595853, -0.024309772930312293], "std": [3.2645397828469223e-06, 4.253151916700106e-06, 0.00012630540403780132, 0.0, 0.0, 6.625950962032479e-06, 0.0, 0.09263467971079845, 0.25804107632778217, 0.12836098495697265, 0.35474369076873224, 0.26413722320603117, 0.07367908856653689, 0.056104643393323814, 0.016807192517456614, 0.01689266100595829], "count": [381]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8785714285714286, -0.9785714285714284, -0.5428571428571429, -0.18, -0.18571428571428572, -0.06857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7571428571428572, 1.0, 1.0, 0.07714285714285714, 0.16, 0.1742857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0221597300337458, -0.0033370828646419313, -0.009748781402324696, -0.0034345706786651753, 0.005796775403074616, 0.02435695538057744, -0.12860892388451445], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2594026975138814, 0.4301229321587509, 0.3177397985126863, 0.03234391173772316, 0.04909348729431838, 0.049653793779200865, 0.991695389067264], "count": [381]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04199475049972534], "std": [0.20057716965675354], "count": [381]}, "next.done": {"min": [false], "max": [true], "mean": [0.0026246719160104987], "std": [0.05116427477590007], "count": [381]}, "timestamp": {"min": [0.0], "max": [19.0], "mean": [9.5], "std": [5.499242372060597], "count": [381]}, "frame_index": {"min": [0], "max": [380], "mean": [190.0], "std": [109.98484744121194], "count": [381]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [381]}, "index": {"min": [46776], "max": [47156], "mean": [46966.0], "std": [109.98484744121194], "count": [381]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [381]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0784313725490196]], [[0.0784313725490196]], [[0.0784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.633441530713848]], [[0.5927167274624693]], [[0.5473683920467601]]], "std": [[[0.21117105611267226]], [[0.2061018468282699]], [[0.21006180845768696]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6976839479932598]], [[0.5870085981780407]], [[0.48735966282264864]]], "std": [[[0.15299404260268884]], [[0.16257609572498136]], [[0.213975940462549]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7167249283136107]], [[0.6089935889150583]], [[0.5080456812241498]]], "std": [[[0.1327817345918117]], [[0.15571554073988944]], [[0.22048328323767333]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [367]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [367]}, "observation.state": {"min": [2.253273159678381, -2.569088318123025, 0.6999977633047199, 0.0, 0.0, -1.0, 3.6872531694598365e-08, 0.07048359867859366, -0.6521095000999768, 0.16469751971268942, -0.9924575090408325, -0.2184065878391266, -0.16928480565547943, 0.0010164222912862897, 0.002476769674972073, -0.0401066243545752], "max": [2.379474032478628, -2.2318209009531396, 0.7003750273784638, 0.0, 0.0, 1.0, 0.0011738783214241266, 0.4070151883122386, 0.23469583425586027, 0.583176155414569, 0.9975970387458801, 0.624796986579895, 0.16280415654182434, 0.12319255620241165, 0.03992505078447558, -0.006511988372959731], "mean": [2.2724594916956176, -2.2751546150548876, 0.7001466558601661, 0.0, 0.0, 0.9128063501389215, 0.0005738473437808939, 0.2190045354671532, -0.1513389292311185, 0.43428057649254254, 0.4314603789300945, 0.14653498793086825, 0.010952749742545207, 0.04615686367340741, 0.026513786978354183, -0.027607682400820878], "std": [0.033712396018202515, 0.10777397814330618, 0.0001408693153709813, 0.0, 0.0, 0.408392199245906, 0.0003342707291829443, 0.08695950396742431, 0.3127074860930413, 0.13236877038284323, 0.8124073370517431, 0.34351113380827764, 0.10679466260213812, 0.026614705551735313, 0.015965162077757136, 0.015490610597078253], "count": [367]}, "action": {"min": [-0.4714285714285715, -0.6714285714285714, -0.008571428571428572, 0.0, -1.0, -0.55, -1.0, -0.9071428571428573, -0.1457142857142857, -0.12571428571428572, -0.2142857142857143, -1.0], "max": [0.5428571428571429, 0.0, 0.0, 0.0, 1.0, 0.6285714285714287, 1.0, 0.9857142857142858, 0.08285714285714285, 0.10857142857142858, 0.4228571428571429, 1.0], "mean": [0.00653950953678474, -0.04190346438302841, -0.00013234721681588165, 0.0, -0.667574931880109, -0.0014986376021798192, 0.029855975087582694, -0.02279096924873493, -0.005472946671856757, 0.0038536395484624368, 0.03303230829116389, -0.24250681198910082], "std": [0.12375745187342943, 0.13752932773815732, 0.000897487444886223, 0.0, 0.7445426182061463, 0.24844420663863678, 0.5097738118105802, 0.3513470254845226, 0.03708633645257967, 0.02808434834948024, 0.12418479059820367, 0.9701497029525324], "count": [367]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04359672963619232], "std": [0.20419611036777496], "count": [367]}, "next.done": {"min": [false], "max": [true], "mean": [0.0027247956403269754], "std": [0.05212840999920706], "count": [367]}, "timestamp": {"min": [0.0], "max": [18.3], "mean": [9.149999999999999], "std": [5.297169055259611], "count": [367]}, "frame_index": {"min": [0], "max": [366], "mean": [183.0], "std": [105.94338110519222], "count": [367]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [367]}, "index": {"min": [47157], "max": [47523], "mean": [47340.0], "std": [105.94338110519222], "count": [367]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [367]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2564203178316871]], [[0.26912547548103816]], [[0.26872147443315525]]], "std": [[[0.18494749447141842]], [[0.19653911968987792]], [[0.17511459008412467]]], "count": [138]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5397319662533689]], [[0.46632275853722094]], [[0.45123357184741536]]], "std": [[[0.26992323585553735]], [[0.3004316035646545]], [[0.3153913680881049]]], "count": [138]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5309107623001362]], [[0.43253154358968166]], [[0.41145042816188127]]], "std": [[[0.27224547177903863]], [[0.2994240517393047]], [[0.3163384508584344]]], "count": [138]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [719]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [719]}, "observation.state": {"min": [3.1463305119163443, -4.357695637706871, 0.6999970386408036, 0.0, 0.0, -0.7185922265052795, 0.695431649684906, 0.1455094599428275, -0.4305263289479888, 0.10055454658416585, -0.9991364479064941, -0.2892014980316162, -0.26807376742362976, 2.3223941752803512e-05, 0.0038340288077977464, -0.04001704922015211], "max": [3.796128713548223, -4.28258121117565, 0.7019560459901331, 0.0, 0.0, -0.7071053385734558, 0.7071081399917603, 0.5227062178192368, 0.3937205474481593, 0.6226575264307249, 0.996437668800354, 0.6771868467330933, 0.3015061616897583, 0.1954122632741928, 0.04004513249998793, -0.005707393117038274], "mean": [3.726507800299899, -4.349034703802007, 0.700955374122484, 0.0, 0.0, -0.7158789535225349, 0.6982107471690224, 0.325540527989392, 0.04098374300484571, 0.3574882577740083, -0.054081917720975065, 0.15180130748490134, -0.017672279754228692, 0.06264921492984589, 0.03002169059844629, -0.0328223759796806], "std": [0.1929939780159976, 0.01868881195064134, 0.000777899407905281, 0.0, 0.0, 0.0030651230665536483, 0.0031105472718923654, 0.10520191468172009, 0.24403241074930232, 0.17109388417205285, 0.9337187137605769, 0.26481389589484583, 0.15463716065859912, 0.0626464978463012, 0.013223246502375762, 0.012359802558962426], "count": [719]}, "action": {"min": [-0.41428571428571426, 0.0, -0.04857142857142857, 0.0, -1.0, -0.7857142857142857, -0.9357142857142857, -0.5857142857142857, -0.2285714285714286, -0.18857142857142858, -0.12857142857142856, -1.0], "max": [0.42142857142857143, 0.8428571428571429, 0.0, 0.0, 1.0, 0.9714285714285714, 1.0, 0.95, 0.09714285714285714, 0.25142857142857145, 0.34, 1.0], "mean": [0.01015299026425591, 0.032276971984899656, -0.0012398172064375123, 0.0, -0.7301808066759388, 0.028422412080270174, 0.026594476455394395, 0.00031790184780451294, -0.004204251937214385, 0.008038942976356054, 0.014472481621299426, -0.2712100139082058], "std": [0.09114186671228934, 0.13849425046808247, 0.006758052803403467, 0.0, 0.6832539714938117, 0.27765591650828114, 0.36786854047590434, 0.3099469968495331, 0.031391370340362795, 0.05328088256854662, 0.0692892365304145, 0.9625201963366339], "count": [719]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0222531296312809], "std": [0.14750567078590393], "count": [719]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013908205841446453], "std": [0.03726776357990059], "count": [719]}, "timestamp": {"min": [0.0], "max": [35.9], "mean": [17.95], "std": [10.377861051295685], "count": [719]}, "frame_index": {"min": [0], "max": [718], "mean": [359.0], "std": [207.55722102591372], "count": [719]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [719]}, "index": {"min": [47524], "max": [48242], "mean": [47883.0], "std": [207.55722102591372], "count": [719]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [719]}}} +{"episode_index": 68, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9294117647058824]], [[0.996078431372549]]], "mean": [[[0.538681084005868]], [[0.525943886771017]], [[0.48833786841152477]]], "std": [[[0.2289085564688702]], [[0.21620861013695242]], [[0.20685127056169925]]], "count": [196]}, "observation.images.robot0_agentview_left": {"min": [[[0.09411764705882353]], [[0.08235294117647059]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.559173160536187]], [[0.49548646149133485]], [[0.4562784723874902]]], "std": [[[0.2018373528532419]], [[0.22999487372890334]], [[0.24100293537925063]]], "count": [196]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5310622433177372]], [[0.47317155774663383]], [[0.44164021565657513]]], "std": [[[0.18800631456284167]], [[0.2128433809229141]], [[0.22258681203590178]]], "count": [196]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1144]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1144]}, "observation.state": {"min": [1.583150708036427, -0.7829041202091542, 0.6999993026044166, 0.0, 0.0, 0.6979907751083374, 0.707103967666626, 0.25455273573853243, -0.43858689096692705, 0.16515337271453634, -0.9971178770065308, -0.21781525015830994, -0.16123619675636292, 6.4324754930567e-05, 0.0011713199383474996, -0.040018202296575434], "max": [1.8310889432217075, -0.7537368099481809, 0.7045750398449829, 0.0, 0.0, 0.7071095705032349, 0.7161067724227905, 0.538081569287803, 0.44657231718618373, 0.5911674401546487, 0.9981405138969421, 0.17949000000953674, 0.29294171929359436, 0.23373162746429443, 0.04002168669060692, -0.0030480753572250142], "mean": [1.5996648339638804, -0.7592251112136815, 0.7019968843161942, 0.0, 0.0, 0.7003626073157037, 0.7137820355437853, 0.379795687004437, -0.002295014736722515, 0.36863532378372865, 0.1131841901403207, 0.025421029093538546, 0.005327249407621827, 0.05488036260521767, 0.028719619689350533, -0.029330237740818253], "std": [0.06057042329397092, 0.006766644155116372, 0.0016983743084239037, 0.0, 0.0, 0.0019328946467188108, 0.0019126320769553109, 0.08334935689285514, 0.2873239525665205, 0.12429389386685762, 0.979351489419025, 0.10031411237606046, 0.1143952836391126, 0.03499048166931324, 0.016634256832019356, 0.015899279597391132], "count": [1144]}, "action": {"min": [0.0, 0.0, -0.09428571428571429, 0.0, -1.0, -0.32142857142857145, -0.7178571428571429, -0.4714285714285715, -0.09428571428571429, -0.11357142857142859, -0.07928571428571429, -1.0], "max": [0.47678571428571426, 0.6482142857142857, 0.0, 0.0, 1.0, 0.225, 0.6053571428571428, 0.5571428571428572, 0.07714285714285715, 0.11357142857142859, 0.08357142857142857, 1.0], "mean": [0.006790084915084916, 0.010775162337662335, -0.001020854145854146, 0.0, -0.9073426573426573, 0.0078062562437562506, 0.0022149725274725005, -0.024013486513486566, -0.0035776723276723264, -0.002476273726273727, -0.000507617382617386, -0.40559440559440557], "std": [0.04586347515052324, 0.06965669750386302, 0.008534204282840309, 0.0, 0.4203918436011492, 0.0900631598044346, 0.24171385806913698, 0.1969486466432025, 0.024915243731052996, 0.02178453446800246, 0.01976254551268338, 0.9140531593679515], "count": [1144]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0139860138297081], "std": [0.11743255704641342], "count": [1144]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008741258741258741], "std": [0.029552694937721974], "count": [1144]}, "timestamp": {"min": [0.0], "max": [57.15], "mean": [28.575000000000003], "std": [16.512211390361983], "count": [1144]}, "frame_index": {"min": [0], "max": [1143], "mean": [571.5], "std": [330.24422780723967], "count": [1144]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [1144]}, "index": {"min": [48243], "max": [49386], "mean": [48814.5], "std": [330.24422780723967], "count": [1144]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1144]}}} +{"episode_index": 69, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08627450980392157]], [[0.047058823529411764]], [[0.011764705882352941]]], "max": [[[1.0]], [[0.9882352941176471]], [[0.9921568627450981]]], "mean": [[[0.39575265443091295]], [[0.3969767246620328]], [[0.39927174527037373]]], "std": [[[0.21279282244687675]], [[0.21295849635234979]], [[0.2129623029380895]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5332720360849418]], [[0.4818570257448683]], [[0.4525563456217448]]], "std": [[[0.21159230111452695]], [[0.2316270249416172]], [[0.24679146397694438]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4916332768458946]], [[0.4383296903722426]], [[0.40844534900141694]]], "std": [[[0.21101795613666405]], [[0.22721714220881128]], [[0.24034221767590455]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [254]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [254]}, "observation.state": {"min": [3.9944495400786337, -0.7927281195007073, 0.6999969334372707, 0.0, 0.0, 0.7070817947387695, 0.7070072293281555, 0.2510623439529065, -0.17449496367317874, 0.07491223291655003, -0.9961779117584229, -0.3494805693626404, -0.1890854835510254, 7.728496711933985e-05, 0.007928018301600339, -0.039914037679319864], "max": [3.994578208555087, -0.7927067465143625, 0.7011854377002893, 0.0, 0.0, 0.7072063684463501, 0.7071317434310913, 0.5338166606552426, 0.2063203869984025, 0.5902494623557376, 0.9962772727012634, 0.5109766721725464, 0.21219201385974884, 0.11785221099853516, 0.0399081265709988, -0.0034380113877889164], "mean": [3.994546749142758, -0.792713677978386, 0.7003110601501773, 0.0, 0.0, 0.7071128956914887, 0.7071006211239522, 0.38845440148277555, -0.014499504118531967, 0.2710026750845075, -0.19466569761591634, 0.1373339082429728, 0.033526060452838756, 0.02995494924677379, 0.024481906082354524, -0.02402009073645395], "std": [2.021834779976099e-05, 4.047426933397598e-06, 0.00047680070906828997, 0.0, 0.0, 1.8509007962783013e-05, 1.8498017387410344e-05, 0.07415746854133547, 0.14127534362240185, 0.1394421110434769, 0.9260017450455711, 0.255319018173474, 0.13290612482801367, 0.029871386244336957, 0.01372364370316344, 0.01419140290433905], "count": [254]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5785714285714286, -1.0, -0.6071428571428572, -0.21714285714285717, -0.24285714285714288, -0.19714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5571428571428572, 1.0, 1.0, 0.08571428571428572, 0.2142857142857143, 0.12571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.025449943757030385, -0.03565804274465695, -0.053065241844769385, -0.007480314960629921, 0.0023622047244094293, -0.03451068616422949, 0.007874015748031496], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24462011960957292, 0.38109764344348096, 0.380743873961678, 0.05717714289000093, 0.0908393517032203, 0.06415031991200673, 0.9999689994574813], "count": [254]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06299212574958801], "std": [0.24294881522655487], "count": [254]}, "next.done": {"min": [false], "max": [true], "mean": [0.003937007874015748], "std": [0.06262194378183805], "count": [254]}, "timestamp": {"min": [0.0], "max": [12.65], "mean": [6.325], "std": [3.6661457963370743], "count": [254]}, "frame_index": {"min": [0], "max": [253], "mean": [126.5], "std": [73.32291592674149], "count": [254]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [254]}, "index": {"min": [49387], "max": [49640], "mean": [49513.5], "std": [73.32291592674149], "count": [254]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [254]}}} +{"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": [[[0.5641006242562311]], [[0.5622202466689078]], [[0.5633103353352156]]], "std": [[[0.2803064323806528]], [[0.2815587856186069]], [[0.28219274401968947]]], "count": [108]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6430517419664082]], [[0.5981781908975794]], [[0.5746445461209476]]], "std": [[[0.2905471111391109]], [[0.3156547563892318]], [[0.2916041300276842]]], "count": [108]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6092276978336908]], [[0.563322816625746]], [[0.5399998788826692]]], "std": [[[0.3066129865236272]], [[0.32587822656550347]], [[0.2988882937160641]]], "count": [108]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [517]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [517]}, "observation.state": {"min": [2.9496609998008387, -0.7823963611734432, 0.6999943156021541, 0.0, 0.0, 0.7070743441581726, 0.7070363163948059, 0.13015887930543846, -0.5434922013871453, 0.15813102515033273, -0.9998502135276794, -0.35778018832206726, -0.2227730005979538, 6.57042392049334e-06, 0.004782692313252058, -0.040026189615815555], "max": [2.94974489850807, -0.7823570946393771, 0.7003854013659538, 0.0, 0.0, 0.7071773409843445, 0.7071391344070435, 0.49846877239492, 0.5274197394163505, 0.5912307349534563, 0.999819278717041, 0.35509517788887024, 0.24216072261333466, 0.218678280711174, 0.0399884975752496, -0.002077551682235855], "mean": [2.9497066991422884, -0.7823742827671946, 0.7001232931680261, 0.0, 0.0, 0.7071078328606699, 0.707105682712459, 0.3349610094221088, 0.0961741983442638, 0.31707506490028975, -0.17860716339236762, -0.025123521660380715, -0.00032220793495831083, 0.037418400399300916, 0.022098967960115058, -0.02184846188013725], "std": [1.0154598978943327e-05, 3.917216889874029e-06, 0.00011242754166208605, 0.0, 0.0, 1.3183070377535933e-05, 1.3184127341402581e-05, 0.10684319110866948, 0.36066844936098447, 0.11078396304408311, 0.9609225836425425, 0.1809625631275693, 0.09222055872904855, 0.037996785927796754, 0.01653502689995857, 0.01682065575832242], "count": [517]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.95, -0.36857142857142855, -0.30857142857142855, -0.36857142857142855, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 1.0, 1.0, 1.0, 0.1457142857142857, 0.30857142857142855, 0.3657142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.015736391268306147, 0.03873998342083457, -0.01070737772865435, -0.003536888643271618, 0.002835037303122403, -0.0052500690798563095, 0.029013539651837523], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3522093167695641, 0.5364275653184584, 0.40319859186258356, 0.06490056122694801, 0.08547927338564297, 0.1199247354088619, 0.9995790186457826], "count": [517]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03094777651131153], "std": [0.17317624390125275], "count": [517]}, "next.done": {"min": [false], "max": [true], "mean": [0.0019342359767891683], "std": [0.043937395325340606], "count": [517]}, "timestamp": {"min": [0.0], "max": [25.8], "mean": [12.9], "std": [7.462238270117083], "count": [517]}, "frame_index": {"min": [0], "max": [516], "mean": [258.0], "std": [149.24476540234167], "count": [517]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [517]}, "index": {"min": [49641], "max": [50157], "mean": [49899.0], "std": [149.24476540234167], "count": [517]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [517]}}} +{"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": [[[0.3386261450292441]], [[0.3390054792191163]], [[0.3390961786060382]]], "std": [[[0.25489571419433493]], [[0.2540333268921618]], [[0.2531676551057974]]], "count": [138]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4688046632350999]], [[0.44249894840536413]], [[0.42569336431817123]]], "std": [[[0.28186121615618254]], [[0.28320493183717355]], [[0.29122239885070944]]], "count": [138]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.058823529411764705]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47108601220259105]], [[0.4477373609355852]], [[0.43338862920762733]]], "std": [[[0.2827748659639456]], [[0.28441274276491635]], [[0.2916596627082939]]], "count": [138]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [715]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [715]}, "observation.state": {"min": [3.4618820984321514, -4.08740127790615, 0.6999990150527958, 0.0, 0.0, -1.0, 0.0, 0.2526817957346976, -0.21239402435149968, 0.062456118019768914, -0.9997029900550842, -0.676035463809967, -0.174543559551239, 4.559027274808614e-06, 0.002470646553688657, -0.04001168723720367], "max": [3.4619162441891915, -4.087303001639525, 0.7011014330210481, 0.0, 0.0, 1.0, 0.00010325008042855188, 0.5744271643397565, 0.577684968942628, 0.5874126550359748, 0.9987884759902954, 0.6934751868247986, 0.14420227706432343, 0.11266512423753738, 0.040013066413618625, -0.0013053732571257565], "mean": [3.461886374454865, -4.087329201528131, 0.7007129663600001, 0.0, 0.0, -0.05174825174825175, 6.638393308554947e-06, 0.39923530863812706, 0.15139377583765545, 0.29429601083522106, -0.30607374923212544, 0.1309419010980771, -0.008462724624237476, 0.048248093591851136, 0.02635977420858828, -0.02615792073619153], "std": [3.6272412549901838e-06, 8.461111713626162e-06, 0.00040330779907155355, 0.0, 0.0, 0.9986601616370838, 1.108056617145545e-05, 0.08788058643151936, 0.22632739353919085, 0.13915504528260986, 0.8435072440508172, 0.4036335008739596, 0.10668760230251657, 0.031094469188587995, 0.015686673823756752, 0.015834737255876134], "count": [715]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5464285714285714, -0.8839285714285714, -0.5303571428571429, -0.12428571428571428, -0.10500000000000001, -0.2292857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46607142857142864, 1.0, 0.9321428571428573, 0.05142857142857143, 0.15, 0.23357142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.030546953046953047, 0.016528471528471592, -0.013201798201798304, -0.001834165834165835, 0.004813186813186807, -0.011385614385614383, -0.1888111888111888], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22291757424089348, 0.32698930760563977, 0.3556807393955391, 0.02374234134949035, 0.03323785959750478, 0.07969681029549337, 0.9820134087575959], "count": [715]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02237762324512005], "std": [0.1479083001613617], "count": [715]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013986013986013986], "std": [0.03737171808639829], "count": [715]}, "timestamp": {"min": [0.0], "max": [35.7], "mean": [17.85], "std": [10.32012596822345], "count": [715]}, "frame_index": {"min": [0], "max": [714], "mean": [357.0], "std": [206.402519364469], "count": [715]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [715]}, "index": {"min": [50158], "max": [50872], "mean": [50515.0], "std": [206.402519364469], "count": [715]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [715]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.03529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6137351890276522]], [[0.5894684376749412]], [[0.5463392036233566]]], "std": [[[0.2783109995174413]], [[0.2331816000288495]], [[0.2529255126605884]]], "count": [191]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7228927306846945]], [[0.6268012238410375]], [[0.5339741990277684]]], "std": [[[0.15489461871900206]], [[0.1643705275654347]], [[0.20416323249106436]]], "count": [191]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7066842083372432]], [[0.6097732063045175]], [[0.518264749517383]]], "std": [[[0.1768018122056247]], [[0.17481432752972195]], [[0.20028064914829555]]], "count": [191]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1105]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1105]}, "observation.state": {"min": [2.533580460348213, -2.7957600211575264, 0.6999976223581539, 0.0, 0.0, -4.2124705942114815e-05, 1.0, 0.1633584970220654, -0.5533231125008866, 0.13837538994662957, -0.9817569851875305, -0.39240798354148865, -0.144202321767807, 0.00011696424917317927, 0.0023989949588876618, -0.04001155425639057], "max": [2.5336397330471345, -2.795706875586042, 0.7033998759804296, 0.0, 0.0, 1.5957217328832485e-05, 1.0, 0.4288746739772038, 0.4202948789464598, 0.604421622777818, 0.9997918009757996, 0.20502173900604248, 0.19966766238212585, 0.1601981371641159, 0.04000283775969015, -0.0011530943146220694], "mean": [2.5336337101179267, -2.7957245544165783, 0.7017269236891829, 0.0, 0.0, -7.939603036697043e-07, 1.0, 0.33194197022867544, 0.05057098484888078, 0.34955694735423437, 0.7726211606647094, -0.02969204239985522, 0.03448164069496213, 0.04311845792821983, 0.025327790841531642, -0.02552837770182102], "std": [7.793143417607434e-06, 4.516496428508024e-06, 0.0015416988906902412, 0.0, 0.0, 5.361949517235548e-06, 0.0, 0.07744009496818229, 0.34422780939500097, 0.12804584404790978, 0.5934607773519147, 0.18672008027443596, 0.10003066259262487, 0.04539301941822217, 0.017074314622161777, 0.016981954987553737], "count": [1105]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.5892857142857143, -0.39107142857142857, -0.13071428571428573, -0.13714285714285715, -0.1542857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.43928571428571433, 0.7446428571428572, 0.7285714285714285, 0.09428571428571429, 0.12428571428571428, 0.14785714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0045685197155785565, 0.02943277310924367, -0.014098254686489994, -0.0031978021978021974, 0.00170458952811894, 0.0006399482870071155, -0.18552036199095023], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.17362222374326847, 0.2621664179148769, 0.2183181764243743, 0.02194669519166465, 0.024492107469059502, 0.03800004757977653, 0.9826404201368613], "count": [1105]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014479638077318668], "std": [0.11945702135562897], "count": [1105]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009049773755656109], "std": [0.0300692266530971], "count": [1105]}, "timestamp": {"min": [0.0], "max": [55.2], "mean": [27.6], "std": [15.949294655250434], "count": [1105]}, "frame_index": {"min": [0], "max": [1104], "mean": [552.0], "std": [318.98589310500864], "count": [1105]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [1105]}, "index": {"min": [50873], "max": [51977], "mean": [51425.0], "std": [318.98589310500864], "count": [1105]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1105]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47432286879595587]], [[0.4625175359721797]], [[0.4293453045717829]]], "std": [[[0.2170967923552894]], [[0.20131328755137523]], [[0.1920328262971892]]], "count": [162]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6069933686063642]], [[0.609259706200309]], [[0.5902866297961724]]], "std": [[[0.1978953578870361]], [[0.20330685542687066]], [[0.19678135685146808]]], "count": [162]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5989914147278438]], [[0.6020659772456919]], [[0.5859953906858726]]], "std": [[[0.18894208797293463]], [[0.19481031582461866]], [[0.18730499456879396]]], "count": [162]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [889]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [889]}, "observation.state": {"min": [6.162916564742804, -2.2545647569625973, 0.6999996085433268, 0.0, 0.0, -0.00012654330930672586, 1.0, 0.20163166093645923, -0.3216500836768641, 0.10347284967688541, -0.9999553561210632, -0.03312467038631439, -0.12906774878501892, 3.8732932807761244e-06, 0.0026115831680437068, -0.04000111121937705], "max": [6.162978135416588, -2.25447759107683, 0.7036739064311252, 0.0, 0.0, -3.138245301670395e-05, 1.0, 0.4591354866756179, 0.44957591645003414, 0.5781684667273785, 0.9999663829803467, 0.19660858809947968, 0.12788790464401245, 0.13347795605659485, 0.04001456258908904, -0.002917761647840109], "mean": [6.16295914611831, -2.254531273726199, 0.7021311504555354, 0.0, 0.0, -7.398775462382652e-05, 1.0, 0.3578494581440359, 0.012965405172370313, 0.3045264707717357, -0.7549695828500025, 0.012939966297357504, -0.05360516932721201, 0.036149667364869756, 0.026531268850111613, -0.026531469706172463], "std": [6.906282557838461e-06, 6.735487587726391e-06, 0.0012792904247928328, 0.0, 0.0, 5.951795955185075e-06, 0.0, 0.07450230061797739, 0.24381388940169654, 0.11185299941323248, 0.6489683890533591, 0.04073653852470924, 0.04028877659337018, 0.0350792338580378, 0.01695015129557723, 0.016886965799898523], "count": [889]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5089285714285714, -0.6910714285714286, -0.38571428571428573, -0.04928571428571429, -0.08357142857142857, -0.10285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3267857142857143, 0.6696428571428571, 0.6000000000000001, 0.08785714285714287, 0.06642857142857142, 0.055714285714285716, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.011461513739354032, -0.0013920134983127187, -0.019578579463281433, 0.0016800578499116185, 0.0025911939578981205, -0.0016680057849911595, -0.2778402699662542], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.13440326899469937, 0.24563243706802135, 0.21397703314876215, 0.01693711909445414, 0.017839920334979685, 0.01588638373900422, 0.9606272869250932], "count": [889]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017997751012444496], "std": [0.13294295966625214], "count": [889]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011248593925759281], "std": [0.03352005495107163], "count": [889]}, "timestamp": {"min": [0.0], "max": [44.4], "mean": [22.2], "std": [12.83160161476345], "count": [889]}, "frame_index": {"min": [0], "max": [888], "mean": [444.0], "std": [256.632032295269], "count": [889]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [889]}, "index": {"min": [51978], "max": [52866], "mean": [52422.0], "std": [256.632032295269], "count": [889]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [889]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.09019607843137255]], [[0.11764705882352941]], [[0.11764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.42021272666781556]], [[0.4156333905388327]], [[0.4047107408311632]]], "std": [[[0.22361613700445282]], [[0.2172325780176143]], [[0.20342825559322553]]], "count": [150]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6620432248583027]], [[0.6222118554208793]], [[0.5733517029207517]]], "std": [[[0.2072304561156913]], [[0.2010895990703996]], [[0.1984348030924132]]], "count": [150]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7009856519512102]], [[0.657115469739328]], [[0.6029657241721558]]], "std": [[[0.19213821664559744]], [[0.18723557336454516]], [[0.1858380412181988]]], "count": [150]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [803]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [803]}, "observation.state": {"min": [2.484200350576548, -2.5070708854203203, 0.6999975975312827, 0.0, 0.0, 0.9999223947525024, 0.00015090098895598203, 0.18278671830536375, -0.36894018698709186, 0.07295151569069291, -0.9997697472572327, -0.29161137342453003, -0.15497079491615295, 4.4556545617524534e-05, 0.002740231329431123, -0.04000607387413311], "max": [2.5141241716201357, -1.8970089566997979, 0.7034142386934344, 0.0, 0.0, 1.0, 0.012460497207939625, 0.44505855839244335, 0.542001193872411, 0.5961993647604581, 0.9990844130516052, 0.2956099510192871, 0.1566084623336792, 0.11629070341587067, 0.04003326061758437, -0.0030003984384539472], "mean": [2.4888949455982075, -2.491840764209131, 0.7017103881528425, 0.0, 0.0, 0.9999634588640623, 0.008442969705125463, 0.3385939410762278, 0.1770267200053523, 0.3416856727287857, -0.2654755892670466, -0.009067582952352717, -0.02497378495841297, 0.027523031274946177, 0.02633910139055565, -0.02583388262892345], "std": [0.005400288063461282, 0.08098614585205641, 0.001489029786229084, 0.0, 0.0, 7.787864392745144e-06, 0.001363523109023602, 0.07684383870366354, 0.30526495275186927, 0.14657149304584108, 0.9458833960693371, 0.15275411999433353, 0.09854584705020968, 0.01785439208407089, 0.015844319144935632, 0.016215144940072167], "count": [803]}, "action": {"min": [-0.06964285714285715, 0.0, -0.04928571428571429, 0.0, -1.0, -0.6000000000000001, -0.7071428571428573, -0.47678571428571426, -0.12428571428571428, -0.16285714285714287, -0.18214285714285716, -1.0], "max": [0.7821428571428571, 0.7767857142857144, 0.047142857142857146, 0.0, 1.0, 0.5357142857142857, 0.9375, 0.75, 0.060000000000000005, 0.20785714285714288, 0.15, 1.0], "mean": [0.01800613769791852, 0.037453300124533, -0.0002855363814267924, 0.0, -0.8281444582814446, 0.004376445472335888, 0.07146415228607018, -0.02212239814979539, -0.00111012275395837, 0.0009953744885251733, 0.0049288382850026695, -0.1780821917808219], "std": [0.09605634209768496, 0.14240519668243323, 0.0055356277690461865, 0.0, 0.5605147243540838, 0.19555502749235298, 0.351373350324756, 0.28798250424668514, 0.017440894845887848, 0.03775311596367922, 0.05194494093644815, 0.9840156162229036], "count": [803]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019925279542803764], "std": [0.13974356651306152], "count": [803]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012453300124533001], "std": [0.035267253445843826], "count": [803]}, "timestamp": {"min": [0.0], "max": [40.1], "mean": [20.05], "std": [11.590297666583028], "count": [803]}, "frame_index": {"min": [0], "max": [802], "mean": [401.0], "std": [231.80595333166056], "count": [803]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [803]}, "index": {"min": [52867], "max": [53669], "mean": [53268.0], "std": [231.80595333166056], "count": [803]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [803]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2616607906045319]], [[0.2575601378508788]], [[0.24405100974474578]]], "std": [[[0.18462008201822444]], [[0.17195491873930874]], [[0.1565746475967741]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3565813474696353]], [[0.3465010915468655]], [[0.3372643351277548]]], "std": [[[0.21042055657071204]], [[0.205569914399233]], [[0.20057254920199127]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.03137254901960784]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36533812428545526]], [[0.3557563948237752]], [[0.3459800837694166]]], "std": [[[0.2059534758116378]], [[0.20293227941983347]], [[0.19989362612771758]]], "count": [177]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [997]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [997]}, "observation.state": {"min": [6.159241131820495, -2.09329914297079, 0.6999990062201394, 0.0, 0.0, -0.00010834584099939093, 1.0, 0.20118548825510896, -0.4300898475173751, 0.046761689862573896, -0.9995229244232178, -0.6347960233688354, -0.1677919626235962, 1.6339889043592848e-05, 0.0018930118689973472, -0.04000027545467206], "max": [6.1592718758813705, -2.0932250916655857, 0.701070008228388, 0.0, 0.0, -3.101403490290977e-05, 1.0, 0.5192934380659961, 0.42878468365089417, 0.5912433837447766, 0.9882689714431763, 0.5987726449966431, 0.20698057115077972, 0.10171861946582794, 0.040009385976570416, -0.0013260547281830806], "mean": [6.159257374888408, -2.093278138376106, 0.7005335581715957, 0.0, 0.0, -7.459907916280158e-05, 1.0, 0.3358252209896487, -0.04407743391251843, 0.2908340847139175, -0.7109957526894726, 0.001770009810745776, 0.042067441352878474, 0.038153742748486735, 0.025385775594198072, -0.02541085340542471], "std": [2.624422021705041e-06, 6.9444369045434665e-06, 0.0003962532784852922, 0.0, 0.0, 6.572547987699644e-06, 0.0, 0.07069309794505708, 0.250415175698111, 0.1435994921193837, 0.6240992672961495, 0.3071703780945845, 0.08041760730177146, 0.03059415593333963, 0.017633005316294047, 0.017691392209934056], "count": [997]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4714285714285715, -0.6857142857142857, -0.40714285714285714, -0.05785714285714285, -0.18, -0.165, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5357142857142857, 0.675, 0.8517857142857143, 0.09, 0.36, 0.2442857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.006179252041839835, -0.006410302335578172, -0.01646905000716429, 0.0019451210775182708, 0.003965467832067634, -0.0030563117925204077, -0.2296890672016048], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.13708235267179852, 0.2547615204176771, 0.24371688767831168, 0.014490324277554924, 0.04153417640002438, 0.06282294203113793, 0.9732640609865718], "count": [997]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016048144549131393], "std": [0.12566065788269043], "count": [997]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010030090270812437], "std": [0.03165443096902608], "count": [997]}, "timestamp": {"min": [0.0], "max": [49.8], "mean": [24.9], "std": [14.390448220955454], "count": [997]}, "frame_index": {"min": [0], "max": [996], "mean": [498.0], "std": [287.8089644191091], "count": [997]}, "episode_index": {"min": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [997]}, "index": {"min": [53670], "max": [54666], "mean": [54168.0], "std": [287.8089644191091], "count": [997]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [997]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40720736956017245]], [[0.39565072488045183]], [[0.3741481206066119]]], "std": [[[0.2198349781214569]], [[0.20767022993048098]], [[0.1982887419298694]]], "count": [134]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6617182985327555]], [[0.6229065548721238]], [[0.5778039473973766]]], "std": [[[0.24184499459395656]], [[0.23494857338156752]], [[0.232075316629396]]], "count": [134]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6530543719462774]], [[0.6142815201122719]], [[0.5697823510799347]]], "std": [[[0.23781000588133588]], [[0.23189802436568213]], [[0.23179616983589377]]], "count": [134]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [687]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [687]}, "observation.state": {"min": [2.9913992361502073, -1.9656378849594425, 0.6999957417419689, 0.0, 0.0, 8.233037078753114e-05, 1.0, 0.12973097158465352, -0.7337884578320952, 0.09622327654376572, -0.9987577199935913, -0.7276837825775146, -0.18863758444786072, 4.146822902839631e-05, 0.0011693438172884873, -0.04002451561305319], "max": [2.991426425522022, -1.965541714141061, 0.7008594736439125, 0.0, 0.0, 0.00021813574130646884, 1.0, 0.4773035583615308, 0.3993794472363241, 0.6034619980633528, 0.9981516003608704, 0.7337660193443298, 0.2019701898097992, 0.26704269647598267, 0.0400642572124681, -0.0034381690065156435], "mean": [2.991419568262932, -1.9655813651604785, 0.7005528632199143, 0.0, 0.0, 0.0001493906103537331, 1.0, 0.28966127014652865, -0.01947848024833104, 0.3390146485500849, 0.34268190289862466, 0.11994734656992959, 0.003684280599636318, 0.09758149676965895, 0.023087950500315563, -0.023377611442394225], "std": [2.510931726282149e-06, 9.533436005143802e-06, 0.0002517865879122919, 0.0, 0.0, 1.2755146284263278e-05, 0.0, 0.09116977049896824, 0.3798499631552293, 0.132257772946585, 0.8481454988449311, 0.3465636718678426, 0.11017771026303508, 0.08396265850296235, 0.01718491815831326, 0.017154227395863954], "count": [687]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6571428571428571, -0.8, -1.0, -0.2, -0.2485714285714286, -0.1657142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9285714285714287, 1.0, 1.0, 0.14857142857142858, 0.3457142857142857, 0.3171428571428571, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.007111665626949509, 0.027604491578290716, -0.012320648783530832, -0.008288625493865666, 0.002848825119567473, 0.018423788729465578, -0.07714701601164484], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2604802067900122, 0.44754712525057194, 0.38745276107864235, 0.043021003622152505, 0.08401857664381582, 0.07475211612339425, 0.9970197279494981], "count": [687]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.023289665579795837], "std": [0.15082193911075592], "count": [687]}, "next.done": {"min": [false], "max": [true], "mean": [0.001455604075691412], "std": [0.03812460219420319], "count": [687]}, "timestamp": {"min": [0.0], "max": [34.3], "mean": [17.15], "std": [9.915980368408697], "count": [687]}, "frame_index": {"min": [0], "max": [686], "mean": [343.0], "std": [198.31960736817393], "count": [687]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [687]}, "index": {"min": [54667], "max": [55353], "mean": [55010.0], "std": [198.31960736817393], "count": [687]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [687]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22813781827297033]], [[0.22686605470490753]], [[0.22909773284313725]]], "std": [[[0.15459669704505596]], [[0.1511805413736255]], [[0.14734654453793852]]], "count": [121]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36521246623730197]], [[0.3546799371200411]], [[0.3422093766181092]]], "std": [[[0.21037102907776659]], [[0.2074059603542675]], [[0.2048178365113201]]], "count": [121]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35124909421493933]], [[0.3411589498091818]], [[0.3286577693609727]]], "std": [[[0.20263504869236462]], [[0.198727775190124]], [[0.1952095931403264]]], "count": [121]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [604]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [604]}, "observation.state": {"min": [3.12830793583256, -0.8099373575707227, 0.6999962825601436, 0.0, 0.0, 0.7070639133453369, 0.7070825695991516, 0.17975109617463358, -0.1137305184533397, 0.055185998780186485, -0.9994874000549316, -0.1974598914384842, -0.296056866645813, 0.00013496480823960155, 0.0013721491942867963, -0.04017389807379935], "max": [3.1283925200673006, -0.8098724938233365, 0.7007599448210345, 0.0, 0.0, 0.7071309089660645, 0.7071495652198792, 0.6160084294509284, 0.585039950159854, 0.5977915629237275, 0.9998362064361572, 0.4503217339515686, 0.439443975687027, 0.2964193820953369, 0.0400132918083079, -0.003778419127769642], "mean": [3.128334526566769, -0.8099180398602194, 0.7005067193534322, 0.0, 0.0, 0.707105565446102, 0.7071079497305762, 0.3850920613500763, 0.24051967773389488, 0.29576196010518496, -0.11531768926721535, 0.023676942414079874, 0.10718548443362684, 0.0779990620467288, 0.026095972851091966, -0.027037400545084977], "std": [9.041252873652179e-06, 4.442028100968485e-06, 0.00023840851469879632, 0.0, 0.0, 7.280970057091718e-06, 7.282163722496351e-06, 0.10518341547939498, 0.22603964298431783, 0.13788391849434847, 0.9506667045031472, 0.21407889544123662, 0.12357317867776643, 0.06083881843905815, 0.017101863365775342, 0.0162789008153888], "count": [604]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8571428571428572, -1.0, -1.0, -0.10857142857142858, -0.2742857142857143, -0.05142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8, 1.0, 1.0, 0.36857142857142855, 0.5228571428571429, 0.2142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04373226111636702, 0.00808893093661306, 0.03177625354777669, 0.010312204351939459, 0.024754020813623486, 0.012876064333017984, -0.2682119205298013], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2556258028892103, 0.35798568996721836, 0.48133209179379116, 0.0646909113900986, 0.11424708270791269, 0.03344583352788263, 0.9633599356864051], "count": [604]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.026490066200494766], "std": [0.16058748960494995], "count": [604]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016556291390728477], "std": [0.0406557256881082], "count": [604]}, "timestamp": {"min": [0.0], "max": [30.15], "mean": [15.075000000000001], "std": [8.717977116281046], "count": [604]}, "frame_index": {"min": [0], "max": [603], "mean": [301.5], "std": [174.35954232562094], "count": [604]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [604]}, "index": {"min": [55354], "max": [55957], "mean": [55655.5], "std": [174.35954232562094], "count": [604]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [604]}}} +{"episode_index": 78, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2613896177277803]], [[0.26920324230520043]], [[0.25743284189437315]]], "std": [[[0.14895548985734672]], [[0.16933328215989268]], [[0.14226663116702123]]], "count": [218]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4885924842808396]], [[0.4304249952370839]], [[0.4130866967338649]]], "std": [[[0.26217870543196137]], [[0.26810933219484245]], [[0.2744131937359294]]], "count": [218]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4547918287792916]], [[0.40658392099022633]], [[0.394068665220532]]], "std": [[[0.265574915827432]], [[0.26537205622183907]], [[0.2696175005809846]]], "count": [218]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1313]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1313]}, "observation.state": {"min": [2.8557154064822825, -1.4950046831598578, 0.699999311180883, 0.0, 0.0, -0.7071492075920105, 0.7070643305778503, 0.19854127450469172, -0.5336779145788069, 0.11534346324256906, -0.9991886615753174, -0.2234605848789215, -0.17379292845726013, 1.962339183592121e-06, 0.0032276853787947327, -0.04000772107776027], "max": [2.8557686102516064, -1.4949870948726285, 0.7012185417851312, 0.0, 0.0, -0.7070916295051575, 0.7071218490600586, 0.6105660513326605, 0.359137123203245, 0.596067113218847, 0.9975563287734985, 0.23633161187171936, 0.16932980716228485, 0.09118730574846268, 0.040002932592806184, -0.0034226128889741064], "mean": [2.8557557448364577, -1.4950014199187585, 0.7005689306661635, 0.0, 0.0, -0.7071080860615866, 0.7071054275037674, 0.4255789615785584, 0.005235241545777247, 0.3276099033496841, 0.10792939633880057, -0.023250882283295735, 0.055729285036554166, 0.022525294064787434, 0.02613818541060479, -0.02625413282209152], "std": [4.177053601890565e-06, 1.4960786794116002e-06, 0.00042245349366904216, 0.0, 0.0, 4.258198925313821e-06, 4.2594781978725575e-06, 0.10043131250566112, 0.3177871859115871, 0.12359691027369125, 0.9738927954310006, 0.15312445193417087, 0.10813804841933114, 0.02427728003394512, 0.0170240599051311, 0.016854815562048493], "count": [1313]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7178571428571429, -0.5303571428571429, -0.3696428571428571, -0.0642857142857143, -0.09, -0.07071428571428573, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46071428571428574, 0.6803571428571429, 0.5464285714285714, 0.03214285714285715, 0.09, 0.08142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.004512566641279518, 0.02188962028070931, -0.014647481231639536, -0.002301164182352302, 0.0009286258296159327, 2.2848438690024057e-05, -0.23076923076923078], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14402509593958965, 0.20996184753862338, 0.1934633417554162, 0.009388828185741948, 0.022577285306265592, 0.018078764627677223, 0.9730085108210369], "count": [1313]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012185834348201752], "std": [0.1097148135304451], "count": [1313]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007616146230007616], "std": [0.027586854952436915], "count": [1313]}, "timestamp": {"min": [0.0], "max": [65.6], "mean": [32.8], "std": [18.951517089668574], "count": [1313]}, "frame_index": {"min": [0], "max": [1312], "mean": [656.0], "std": [379.03034179337146], "count": [1313]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [1313]}, "index": {"min": [55958], "max": [57270], "mean": [56614.0], "std": [379.03034179337146], "count": [1313]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1313]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24923129870844823]], [[0.27729348934397974]], [[0.2460809445848652]]], "std": [[[0.1393364150249942]], [[0.1875170635554864]], [[0.13144752446439922]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4958134310853248]], [[0.41314040778664984]], [[0.35765603637695315]]], "std": [[[0.24192502893159692]], [[0.2513588541901003]], [[0.2745233984798004]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49498609714882047]], [[0.41709898167030485]], [[0.3637892982632506]]], "std": [[[0.23989375223006792]], [[0.2496332230541566]], [[0.27178078657177906]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [360]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [360]}, "observation.state": {"min": [2.4567269757158634, -1.6820673840988676, 0.6999981298501222, 0.0, 0.0, -0.0012455997057259083, 0.9999992847442627, 0.24500689725351155, -0.06695149677085133, 0.11882666475555692, -0.9964446425437927, -0.721385657787323, -0.1345743089914322, 0.0005572548252530396, 0.0012684989493381034, -0.04001698092715642], "max": [2.472903575544636, -1.2277058707644086, 0.7003404824537433, 0.0, 0.0, 2.9280172384460457e-05, 1.0, 0.5745923718996697, 0.2598653569165279, 0.5814751978895794, 0.9987090826034546, 0.6907509565353394, 0.15127545595169067, 0.20931124687194824, 0.03979787423804986, -0.004055747547666375], "mean": [2.46668390986271, -1.4291044502631254, 0.7000664596684607, 0.0, 0.0, -0.0005223562507929103, 0.9999997470113966, 0.35689531875578634, 0.05394534272636473, 0.3424106724378969, 0.47944681031836406, -0.03173077124067479, -0.0012862065651764473, 0.11845881999421787, 0.017573772010019792, -0.0182851599892892], "std": [0.005433568728155335, 0.21756610530450254, 0.0001230353455693153, 0.0, 0.0, 0.0005215813971951068, 3.141831520767852e-07, 0.10942370682943517, 0.14080731364046106, 0.11807699637545284, 0.7615762285649835, 0.4059384344535934, 0.06063744968301171, 0.08141561333619872, 0.016668388802817777, 0.01616077236806371], "count": [360]}, "action": {"min": [-0.3214285714285714, 0.0, -0.002857142857142857, 0.0, -1.0, -0.41428571428571426, -0.7428571428571429, -0.7285714285714285, -0.15714285714285714, -0.19714285714285715, -0.16, -1.0], "max": [0.31428571428571433, 0.5928571428571429, 0.0, 0.0, 1.0, 0.5214285714285715, 0.8214285714285715, 0.7428571428571429, 0.15714285714285714, 0.2257142857142857, 0.43428571428571433, 1.0], "mean": [-0.0028571428571428537, 0.0601785714285714, -1.5873015873015872e-05, 0.0, -0.6222222222222222, 0.037301587301587294, 0.022023809523809532, -0.031904761904761915, -0.00011904761904762078, 0.00443650793650794, 0.022158730158730124, 0.2222222222222222], "std": [0.06713103577123511, 0.15269683358710667, 0.00021236647873427883, 0.0, 0.7828406646137164, 0.2039199961441066, 0.23278345679000093, 0.324408060271568, 0.04397803383869571, 0.06301621236564504, 0.10974785457940413, 0.974996043043568], "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": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [360]}, "index": {"min": [57271], "max": [57630], "mean": [57450.5], "std": [103.92264751567228], "count": [360]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [360]}}} +{"episode_index": 80, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.567414410759421]], [[0.559451540479473]], [[0.5451163192449832]]], "std": [[[0.23171523773400357]], [[0.21838093665225097]], [[0.1938356382930134]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5934240381577436]], [[0.5278616542442173]], [[0.4783302384918811]]], "std": [[[0.21017319232381917]], [[0.2399275838370666]], [[0.2579871702884865]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5488728655646828]], [[0.494160150864545]], [[0.4557286837708716]]], "std": [[[0.20091667845169014]], [[0.2238997505359267]], [[0.2426713368566779]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [281]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [281]}, "observation.state": {"min": [2.5092476095868386, -0.7613685612536552, 0.6999976479886298, 0.0, 0.0, 0.7070927023887634, 0.7070584297180176, 0.2016519542307622, -0.6013336976315813, 0.09101634463472286, -0.9993668794631958, -0.20502763986587524, -0.1421620398759842, 0.00019178068032488227, -0.000913571470787994, -0.03985418778263492], "max": [2.50935423524796, -0.7613370371786949, 0.7003286029072262, 0.0, 0.0, 0.7071550488471985, 0.7071208357810974, 0.4226051846947651, -0.00023990083012392915, 0.5955357013744557, 0.9982393383979797, 0.20284691452980042, 0.07181385159492493, 0.1561981737613678, 0.03998689539753877, -0.003676330228201199], "mean": [2.5093382726247504, -0.7613455019122826, 0.7000627099859859, 0.0, 0.0, 0.7071070058065801, 0.707106505848759, 0.28573706512414415, -0.31325253532196073, 0.2843853281872803, -0.35377245208122554, -0.05693672712746464, -0.002762161229715974, 0.053042447769905035, 0.018364895782288233, -0.01853919052297143], "std": [1.1889615213984881e-05, 3.0910007788716903e-06, 0.00010911364905965589, 0.0, 0.0, 7.3470569637256635e-06, 7.346833692065915e-06, 0.06876755745730222, 0.23527949064469694, 0.11360380815640925, 0.9218093281195755, 0.12143840619764475, 0.050971786815536574, 0.041283036191517374, 0.01708651752231427, 0.01672217514315629], "count": [281]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5071428571428571, -1.0, -1.0, -0.19428571428571428, -0.08857142857142856, -0.09714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3857142857142857, 0.7571428571428572, 0.9357142857142857, 0.12571428571428572, 0.2542857142857143, 0.2542857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.021225216065073705, -0.07264870360955779, -0.05109303507880029, -0.01218098627351296, 0.013146924250127078, 0.002989323843416371, 0.15302491103202848], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18886007060656618, 0.3901679928710241, 0.3706285672803836, 0.06038694615118703, 0.04518097643135572, 0.057488633194031385, 0.9882223315649363], "count": [281]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0569395013153553], "std": [0.2317269891500473], "count": [281]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035587188612099642], "std": [0.059548756336944876], "count": [281]}, "timestamp": {"min": [0.0], "max": [14.0], "mean": [7.0], "std": [4.055859958134649], "count": [281]}, "frame_index": {"min": [0], "max": [280], "mean": [140.0], "std": [81.11719916269298], "count": [281]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [281]}, "index": {"min": [57631], "max": [57911], "mean": [57771.0], "std": [81.11719916269298], "count": [281]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [281]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.09411764705882353]], [[0.0]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5967079324161305]], [[0.589829304414637]], [[0.5874288234336703]]], "std": [[[0.2111953354823285]], [[0.21068458940079346]], [[0.2147377323505335]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6762515264772901]], [[0.6606810937021292]], [[0.6449762591193704]]], "std": [[[0.18991195414387946]], [[0.19263760284503087]], [[0.19552187179936395]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.10196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6537681459913067]], [[0.6394295049929151]], [[0.6249253976859298]]], "std": [[[0.1871618850939974]], [[0.18888934242029876]], [[0.19083686877343445]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [231]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [231]}, "observation.state": {"min": [4.506533791785021, -2.10073888671436, 0.6999961104918312, 0.0, 0.0, 0.00012051734665874392, 1.0, 0.15513368413561768, -0.0063539528894316355, 0.11551342942843423, -0.9960027933120728, -0.5597927570343018, -0.16667534410953522, 0.00017755386943463236, 0.02054189973835823, -0.03993820323118569], "max": [4.5065784423294035, -2.1006131884086368, 0.7010723013361199, 0.0, 0.0, 0.0002892916963901371, 1.0, 0.5051793227371304, 0.5251826567720426, 0.5991999960293997, 0.9534561038017273, 0.5711280107498169, 0.18639731407165527, 0.15021446347236633, 0.040063945794863574, -0.020524659370419605], "mean": [4.506571587855118, -2.1007103769909774, 0.700232150529121, 0.0, 0.0, 0.0001561779734094978, 1.0, 0.3173963911655301, 0.28959395068115656, 0.32709753260872915, -0.21375036213821147, -0.04328585287064185, 0.013201079962299371, 0.045255317551714316, 0.03600391791490013, -0.03396994448521914], "std": [6.727380953615966e-06, 1.6353707492799606e-05, 0.00040993002983614606, 0.0, 0.0, 2.370348278312277e-05, 0.0, 0.10332559871294544, 0.16904653253801327, 0.13027615748328875, 0.9038054735241625, 0.3425254570193637, 0.11855489831601373, 0.0444017301456811, 0.004783333677330354, 0.006765385692780824], "count": [231]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8714285714285716, -1.0, -0.6500000000000001, -0.3742857142857143, -0.22, -0.21714285714285717, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6785714285714286, 1.0, 0.9857142857142858, 0.12285714285714287, 0.2571428571428571, 0.29714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.004298082869511529, 0.028664192949907196, -0.03874458874458872, -0.030636982065553497, 0.018639455782312936, -0.02312925170068026, -0.31601731601731603], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3368539319234431, 0.4793355388028085, 0.4303171064917324, 0.08795148177751136, 0.08475647472012762, 0.08965501210123455, 0.9487534221162071], "count": [231]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06926406919956207], "std": [0.2539026439189911], "count": [231]}, "next.done": {"min": [false], "max": [true], "mean": [0.004329004329004329], "std": [0.06565260124719957], "count": [231]}, "timestamp": {"min": [0.0], "max": [11.5], "mean": [5.75], "std": [3.3341665625260335], "count": [231]}, "frame_index": {"min": [0], "max": [230], "mean": [115.0], "std": [66.68333125052067], "count": [231]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [231]}, "index": {"min": [57912], "max": [58142], "mean": [58027.0], "std": [66.68333125052067], "count": [231]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [231]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[0.9137254901960784]], [[0.9411764705882353]], [[0.9411764705882353]]], "mean": [[[0.2155414177389706]], [[0.21880862785788144]], [[0.2246096478630515]]], "std": [[[0.15702998919265038]], [[0.15564580904357267]], [[0.15357437535583965]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3919190990971584]], [[0.374900162042356]], [[0.3588804303337546]]], "std": [[[0.20917416146907347]], [[0.20260511166730777]], [[0.19915187422237285]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3870141553691789]], [[0.3702984661027497]], [[0.35300672763001684]]], "std": [[[0.20750419889021177]], [[0.20186819854218913]], [[0.19939950557827202]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [203]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [203]}, "observation.state": {"min": [2.5806259726579563, -0.7900274994573644, 0.6999980455708401, 0.0, 0.0, 0.7070566415786743, 0.7070819139480591, 0.2566428301923217, -0.3006518846780959, 0.04906572509540874, -0.9974083304405212, -0.03230929374694824, -0.11392196267843246, 0.0006094705313444138, 0.0021089435581448843, -0.040358161140468425], "max": [2.5807032468414737, -0.7899769507897301, 0.7005526217399382, 0.0, 0.0, 0.7071316242218018, 0.7071568369865417, 0.5051626040065845, 0.007629246594658579, 0.573018037946085, 0.9950329065322876, 0.24749061465263367, 0.22762255370616913, 0.0864962637424469, 0.04007548031579241, -0.006354451611626801], "mean": [2.5806562546015446, -0.7899834359225735, 0.7003642210155309, 0.0, 0.0, 0.7071040475309776, 0.707109467442987, 0.379339980933607, -0.15623637008868912, 0.2598243519244137, -0.4150979636337957, 0.05832143094886113, -0.016214302039058336, 0.037164897571909675, 0.023497080683793758, -0.02444341625613937], "std": [1.1731521384621153e-05, 4.389971450688947e-06, 0.00021978561160554462, 0.0, 0.0, 1.1369284563246382e-05, 1.1367620853111499e-05, 0.07763400596152426, 0.1233350741939296, 0.1348082193091, 0.8944833564891099, 0.10362521534143493, 0.10674270760314505, 0.020383607258505295, 0.016240357074912424, 0.015004963590452211], "count": [203]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.55, -1.0, -0.8928571428571429, -0.10857142857142858, -0.12857142857142856, -0.11142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7142857142857143, 0.7142857142857143, 0.9357142857142857, 0.09428571428571429, 0.1, 0.20285714285714287, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.057283603096410944, -0.05190007037297678, -0.06365235749472208, -0.0031527093596059137, -0.00029556650246305536, 0.018705137227304713, -0.10344827586206896], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.27417126155576704, 0.3525181339323922, 0.4707393731563697, 0.037695145584700024, 0.03053151852845908, 0.06285020287282202, 0.994634834610757], "count": [203]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.07881773263216019], "std": [0.26945406198501587], "count": [203]}, "next.done": {"min": [false], "max": [true], "mean": [0.0049261083743842365], "std": [0.07001315469729998], "count": [203]}, "timestamp": {"min": [0.0], "max": [10.1], "mean": [5.050000000000001], "std": [2.930017064796722], "count": [203]}, "frame_index": {"min": [0], "max": [202], "mean": [101.0], "std": [58.60034129593445], "count": [203]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [203]}, "index": {"min": [58143], "max": [58345], "mean": [58244.0], "std": [58.60034129593445], "count": [203]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [203]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.047058823529411764]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3880074989468444]], [[0.2950982306985294]], [[0.2550144288306143]]], "std": [[[0.1520552385767515]], [[0.1331571967060153]], [[0.14406676457465664]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5800426707548254]], [[0.471323205686083]], [[0.40253011725930604]]], "std": [[[0.16550517127682426]], [[0.2017364604175407]], [[0.21160106932923675]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5547881433823529]], [[0.4575471664129519]], [[0.3919308052810968]]], "std": [[[0.19830067538666604]], [[0.21411704319704694]], [[0.21669439216620703]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [311]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [311]}, "observation.state": {"min": [2.5500049430733323, -1.8196273051155272, 0.6999973249689015, 0.0, 0.0, -0.7070794701576233, 0.7071340680122375, 0.23458062677031188, -0.15055543087942302, 0.19962035129087108, -0.9927843809127808, -0.5893368721008301, -0.3408728241920471, 0.0017855156911537051, 0.0038271520946012634, -0.03975279600727388], "max": [2.550064561987888, -1.8196175742726306, 0.7002191355919855, 0.0, 0.0, -0.7070199847221375, 0.7071936726570129, 0.6606952921172053, 0.30010600296572365, 0.5866980913320824, 0.8831225037574768, 0.42473334074020386, 0.19960558414459229, 0.19479410350322723, 0.04001571163300234, -0.001819914762057408], "mean": [2.5500351050206707, -1.8196221134444956, 0.7001084746606784, 0.0, 0.0, -0.7070540505973473, 0.7071594628490435, 0.46702871022750925, 0.11034743932592693, 0.3603530890055816, -0.43579153270966753, -0.16812503654090538, -0.0805957999403837, 0.11494821297728017, 0.024442964138783, -0.024050899165846067], "std": [6.883893680809254e-06, 1.6369363897519945e-06, 9.046471835036864e-05, 0.0, 0.0, 7.364547928413364e-06, 7.375561086488348e-06, 0.13218507789558714, 0.1782924077339344, 0.09758910045462327, 0.8154480093542279, 0.2730084655914294, 0.1360355445107688, 0.06415746933961425, 0.016601506910556504, 0.016775153217842887], "count": [311]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6428571428571428, -0.7785714285714286, -0.55, -0.0, -0.2057142857142857, -0.3171428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6500000000000001, 0.9214285714285714, 1.0, 0.1142857142857143, 0.30857142857142855, 0.3628571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.024253559944878322, 0.0038814882866330565, -0.0029398254478640025, 0.00912264584290308, 0.012567753789618743, -0.02462103812586127, -0.1382636655948553], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.28228603371868216, 0.3372734646901673, 0.29842734717530794, 0.022555674096490258, 0.07882271746384964, 0.09655330114986067, 0.9903954557530399], "count": [311]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05144694447517395], "std": [0.2209075689315796], "count": [311]}, "next.done": {"min": [false], "max": [true], "mean": [0.003215434083601286], "std": [0.05661355904070421], "count": [311]}, "timestamp": {"min": [0.0], "max": [15.5], "mean": [7.75], "std": [4.488875137492688], "count": [311]}, "frame_index": {"min": [0], "max": [310], "mean": [155.0], "std": [89.77750274985377], "count": [311]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [311]}, "index": {"min": [58346], "max": [58656], "mean": [58501.0], "std": [89.77750274985377], "count": [311]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [311]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.10196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3875498900395898]], [[0.38390946514262975]], [[0.3764119262348423]]], "std": [[[0.20151821792772753]], [[0.19452479353279364]], [[0.18033032295057952]]], "count": [138]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7494251967763724]], [[0.6984411666189347]], [[0.6368907268293272]]], "std": [[[0.19767968598989333]], [[0.19967075076738897]], [[0.20642468135882888]]], "count": [138]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6937194685463066]], [[0.6474446241677434]], [[0.59422377521052]]], "std": [[[0.2336554562341857]], [[0.22863078013608354]], [[0.2288002607220453]]], "count": [138]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [718]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [718]}, "observation.state": {"min": [2.264875065706035, -2.599089551390723, 0.6999985511156595, 0.0, 0.0, -4.080143480678089e-05, 1.0, 0.18376707947684157, -0.6595239313901056, 0.06567971024843378, -0.9858657121658325, -0.7854304313659668, -0.17109940946102142, 2.19926569116069e-05, 0.005981460213537728, -0.04001446169658662], "max": [2.2649276709002213, -2.5990210802632734, 0.7009775960713513, 0.0, 0.0, 3.123852366115898e-05, 1.0, 0.5641236935465028, 0.08553173972251349, 0.6165324245763414, 0.8808175921440125, 0.7327870726585388, 0.18463312089443207, 0.15147851407527924, 0.040005936178334166, -0.001581260283009736], "mean": [2.2649207969081906, -2.5990579211200178, 0.7003929585286787, 0.0, 0.0, 5.186271571556282e-07, 1.0, 0.3871780447263569, -0.29807846191607734, 0.29507681260689017, 0.2641344581805896, -0.2612449553144011, -0.013118653264237843, 0.037672867968462406, 0.027718741281695936, -0.02709925507062429], "std": [3.974807228996217e-06, 5.947015502546754e-06, 0.00028876963347986446, 0.0, 0.0, 8.2556068775177e-06, 0.0, 0.11106414827094342, 0.20310338755418542, 0.12972110893458666, 0.7386323620895932, 0.5553627859011585, 0.07235340367814089, 0.03394276985147924, 0.014886010740798393, 0.015788792555002585], "count": [718]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6000000000000001, -0.8946428571428571, -0.5517857142857143, -0.13285714285714284, -0.11357142857142859, -0.19500000000000003, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5464285714285714, 1.0, 0.7285714285714285, 0.15, 0.1285714285714286, 0.2764285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.023995224830879475, -0.017894448865897365, -0.023771388778352432, 0.0010147234381217647, 0.0035754078790290527, -0.019640867489056878, -0.25069637883008355], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22746514129334908, 0.3466987915759271, 0.29188508901062693, 0.03488034492504703, 0.03227817800742264, 0.07021088760712325, 0.968065765142786], "count": [718]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022284122183918953], "std": [0.1476060152053833], "count": [718]}, "next.done": {"min": [false], "max": [true], "mean": [0.001392757660167131], "std": [0.03729367086071277], "count": [718]}, "timestamp": {"min": [0.0], "max": [35.85], "mean": [17.925], "std": [10.363427280586283], "count": [718]}, "frame_index": {"min": [0], "max": [717], "mean": [358.5], "std": [207.26854561172567], "count": [718]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [718]}, "index": {"min": [58657], "max": [59374], "mean": [59015.5], "std": [207.26854561172567], "count": [718]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [718]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24091978065640318]], [[0.2634914981617647]], [[0.24373049687404258]]], "std": [[[0.15963705916050705]], [[0.1931606723530501]], [[0.1517233885631141]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3576869644464231]], [[0.34645471251244636]], [[0.3322873056449142]]], "std": [[[0.19982598076686645]], [[0.19582852609212686]], [[0.19208472573953608]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35969951135971967]], [[0.34982309438668047]], [[0.3367455498190487]]], "std": [[[0.2088146740519006]], [[0.20583148036680105]], [[0.20250016429330775]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [380]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [380]}, "observation.state": {"min": [3.0146161019123188, -0.8079923157742888, 0.6999977505358256, 0.0, 0.0, 0.7070856690406799, 0.7070843577384949, 0.21701815840695016, -0.6802903320830311, 0.06395461072650122, -0.9924470782279968, -0.04100601375102997, -0.14224232733249664, 0.003992127254605293, 0.00440940059215594, -0.040024715913259096], "max": [3.014660624048278, -0.8079786661265408, 0.7002275921075524, 0.0, 0.0, 0.707129180431366, 0.7071278095245361, 0.5378507644861169, 0.1976254983491592, 0.5920654934227845, 0.9922927021980286, 0.4853442311286926, 0.34661176800727844, 0.26176998019218445, 0.03967752198062135, -0.00507851854665329], "mean": [3.0146378085039176, -0.8079845720715433, 0.7000661130036033, 0.0, 0.0, 0.7071065225099262, 0.7071069907200964, 0.39554074611558665, -0.23804657761294815, 0.3466793286896314, 0.8749466723517367, 0.1965942590448417, 0.13351582525984237, 0.13765282342823124, 0.024590313541801002, -0.025222089380768344], "std": [5.17906257672992e-06, 1.957617285090686e-06, 6.954803146479513e-05, 0.0, 0.0, 5.618585746463596e-06, 5.619286229844531e-06, 0.09837939031712616, 0.347418827134737, 0.13850690967395982, 0.34001975910641574, 0.17179225392858608, 0.08563253502776359, 0.08114984812161219, 0.016609471733406277, 0.01661965725736752], "count": [380]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8857142857142857, -0.8857142857142857, -0.5714285714285715, -0.34, -0.14857142857142858, -0.13142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5785714285714286, 1.0, 1.0, 0.09714285714285714, 0.13428571428571429, 0.2057142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.06552631578947368, 0.05545112781954882, 0.012857142857142855, -0.011812030075187972, 0.004511278195488724, 0.0071654135338345745, -0.16842105263157894], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.26168260205099503, 0.47029607139025553, 0.37613001957024356, 0.052754860449389616, 0.03011422278850462, 0.061821435858413265, 0.9857151459881658], "count": [380]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04210526496171951], "std": [0.20082931220531464], "count": [380]}, "next.done": {"min": [false], "max": [true], "mean": [0.002631578947368421], "std": [0.05123137456297838], "count": [380]}, "timestamp": {"min": [0.0], "max": [18.95], "mean": [9.475], "std": [5.484808565483394], "count": [380]}, "frame_index": {"min": [0], "max": [379], "mean": [189.5], "std": [109.69617130966787], "count": [380]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [380]}, "index": {"min": [59375], "max": [59754], "mean": [59564.5], "std": [109.69617130966787], "count": [380]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [380]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.10196078431372549]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45718240655637254]], [[0.4686162402583104]], [[0.42826015457452515]]], "std": [[[0.2311673926104935]], [[0.2276392910004281]], [[0.19863550826699528]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.050980392156862744]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6770626124961704]], [[0.6262308953977098]], [[0.5648380701401654]]], "std": [[[0.1913008904405496]], [[0.19415746649920465]], [[0.20561742192403695]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.08627450980392157]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6831152379653033]], [[0.6337188158222273]], [[0.5738903521369485]]], "std": [[[0.18285999960276544]], [[0.18509177589289]], [[0.19451546981258805]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [280]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [280]}, "observation.state": {"min": [2.5172762591824527, -2.761588355801811, 0.6999902014406011, 0.0, 0.0, -5.568830601987429e-05, 1.0, 0.20901905584460012, -0.0157247746872744, 0.1135716638619404, -0.9934261441230774, -0.0690467357635498, -0.11761394888162613, 0.0016526408726349473, 0.005102330004169207, -0.039410874103902434], "max": [2.517314378611179, -2.761500362355653, 0.7005723956351874, 0.0, 0.0, 2.4394183128606528e-05, 1.0, 0.5239878970278768, 0.7031361215584275, 0.5872081031329269, 0.9925029873847961, 0.20349586009979248, 0.1667703539133072, 0.3118278384208679, 0.04002861573014353, -0.001995342806134023], "mean": [2.517302847822294, -2.761522398979872, 0.7000755476786633, 0.0, 0.0, -3.018761422054642e-06, 1.0, 0.40182555112170065, 0.46484259239281633, 0.35389683188621107, -0.9095255911350251, 0.07569309358618088, 0.061234137515670486, 0.22785245432584947, 0.02789796708629971, -0.02671848534927085], "std": [5.113680835240975e-06, 1.04863731403228e-05, 0.00015360645654900802, 0.0, 0.0, 1.0711013307877721e-05, 0.0, 0.10547721181015175, 0.1759098703335805, 0.14176091944278552, 0.30460916992296894, 0.09848191649171875, 0.06398893661395344, 0.06919083560230252, 0.01554526826338329, 0.01614173432619391], "count": [280]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8, -0.9071428571428573, -0.7642857142857143, -0.12285714285714287, -0.12, -0.19428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6785714285714286, 1.0, 0.9071428571428573, 0.3914285714285714, 0.2571428571428571, 0.27714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.006836734693877565, 0.09321428571428562, -0.047244897959183706, 0.013795918367346933, 0.003234693877551034, -0.010142857142857136, -0.3142857142857143], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3324147136598489, 0.4289614084526618, 0.3423232298125624, 0.07541793590537081, 0.0521089100326393, 0.07370916372016781, 0.9493284414763503], "count": [280]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05714285746216774], "std": [0.23211537301540375], "count": [280]}, "next.done": {"min": [false], "max": [true], "mean": [0.0035714285714285713], "std": [0.059654618173178804], "count": [280]}, "timestamp": {"min": [0.0], "max": [13.95], "mean": [6.975], "std": [4.041426109679602], "count": [280]}, "frame_index": {"min": [0], "max": [279], "mean": [139.5], "std": [80.82852219359204], "count": [280]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [280]}, "index": {"min": [59755], "max": [60034], "mean": [59894.5], "std": [80.82852219359204], "count": [280]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [280]}}} +{"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": [[[0.5087877293131063]], [[0.5113715462770378]], [[0.4880689176640641]]], "std": [[[0.21429719276489165]], [[0.20649289149200753]], [[0.186202164100677]]], "count": [193]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5424821941418752]], [[0.5141089590828944]], [[0.4876754725087189]]], "std": [[[0.22417159554844604]], [[0.23565824499732077]], [[0.24131068702039438]]], "count": [193]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5389153710446392]], [[0.5112546806641617]], [[0.48743801052996893]]], "std": [[[0.21743063268201512]], [[0.2269719468296543]], [[0.2312816981349154]]], "count": [193]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1122]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1122]}, "observation.state": {"min": [3.966549282350361, -0.8412963300400567, 0.6999982480062611, 0.0, 0.0, 0.697789192199707, 0.7071564793586731, 0.11123989249804511, -0.33304943074536775, 0.09309041158211906, -0.998508870601654, -0.3661915063858032, -0.1936558187007904, 0.00019279384287074208, 0.0034156670545791297, -0.040009719541475995], "max": [4.362833762776109, -0.7557197976833412, 0.7016784391889791, 0.0, 0.0, 0.7070571184158325, 0.7163031697273254, 0.4783517250126529, 0.6056845955874754, 0.6006755088926916, 0.9946681261062622, 0.3890100121498108, 0.2432299703359604, 0.16891057789325714, 0.04012830139406993, -0.002198914783667414], "mean": [3.9737572074914573, -0.7638864611746621, 0.7007486864102659, 0.0, 0.0, 0.6983566276211152, 0.7157484413574511, 0.28984329686806604, 0.050463986650199584, 0.34904274111293254, -0.34089390898983324, 0.0992862741278614, 0.034248297393761715, 0.061052894216643415, 0.027849640368522027, -0.02744174403226945], "std": [0.04743463764024464, 0.01329207841311932, 0.0005012385304287325, 0.0, 0.0, 0.0010550920062887958, 0.0010402997655341592, 0.10292885096209096, 0.2737977602129571, 0.14505639796244982, 0.9097113674859855, 0.17066853038315122, 0.10405933149892879, 0.03875969483285363, 0.016377075244899834, 0.01664171726519585], "count": [1122]}, "action": {"min": [-0.058928571428571434, 0.0, -0.05142857142857143, 0.0, -1.0, -0.6642857142857143, -0.5785714285714285, -0.5785714285714285, -0.06857142857142857, -0.2292857142857143, -0.14785714285714285, -1.0], "max": [0.6482142857142857, 0.6964285714285715, 0.0, 0.0, 1.0, 0.8624999999999999, 0.6803571428571429, 0.8571428571428572, 0.08785714285714287, 0.26785714285714285, 0.15642857142857142, 1.0], "mean": [0.00881398013750955, 0.017565889992360577, -0.00046027501909854843, 0.0, -0.893048128342246, 0.0028313598166539544, 0.00847975553857912, -0.006717914438502727, 0.004022154316271964, 0.0015699006875477433, -0.006367456073338424, -0.31907308377896615], "std": [0.06585819113883493, 0.09285976202095438, 0.004087887604737776, 0.0, 0.4499611543949356, 0.1907449741931267, 0.2279015945525415, 0.26409817582752776, 0.018608453140570757, 0.05325443978922251, 0.04333061075721642, 0.9477301130637217], "count": [1122]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014260249212384224], "std": [0.1185617744922638], "count": [1122]}, "next.done": {"min": [false], "max": [true], "mean": [0.00089126559714795], "std": [0.02984076478214475], "count": [1122]}, "timestamp": {"min": [0.0], "max": [56.05], "mean": [28.025], "std": [16.19466861861232], "count": [1122]}, "frame_index": {"min": [0], "max": [1121], "mean": [560.5], "std": [323.8933723722464], "count": [1122]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [1122]}, "index": {"min": [60035], "max": [61156], "mean": [60595.5], "std": [323.8933723722464], "count": [1122]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1122]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29001566928040745]], [[0.292150297277114]], [[0.2945654488357843]]], "std": [[[0.1657262806571066]], [[0.1662658274055083]], [[0.16863031194145953]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4351355566884957]], [[0.3985368748085171]], [[0.3726503553203508]]], "std": [[[0.2503771021773525]], [[0.2422477899961853]], [[0.24523541197038984]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4495701892329197]], [[0.41171494667202824]], [[0.3838418166216682]]], "std": [[[0.24947050563939993]], [[0.2427319565685587]], [[0.2471148787815711]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [316]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [316]}, "observation.state": {"min": [4.285517390537576, -2.641911459677772, 0.6999960808543357, 0.0, 0.0, -0.707187831401825, 0.7070258259773254, 0.24721012590659486, -0.5425603317715977, 0.14691909662266622, -0.998273491859436, -0.4353279173374176, -0.1356535106897354, 0.00045706768287345767, 0.007660822937025151, -0.04001102603711042], "max": [4.285719543381268, -2.641668379953542, 0.7007315475126855, 0.0, 0.0, -0.7071176171302795, 0.7070958614349365, 0.5849050362611079, 0.27227950255623057, 0.5963353659755757, 0.9978095293045044, 0.4336662292480469, 0.1506938338279724, 0.10546983778476715, 0.03978090301421069, -0.008648512673734579], "mean": [4.285698634242922, -2.6419004448723236, 0.7001476960529365, 0.0, 0.0, -0.7071632582552826, 0.7070502608637267, 0.3977620594522462, -0.13019475132723668, 0.3457877870731307, 0.35814530128919625, 0.028763341422699675, 0.011249526536653608, 0.053950334649350305, 0.025064174589832025, -0.02587104243134938], "std": [1.2997752595768492e-05, 1.6551472923372275e-05, 0.00028250751252657287, 0.0, 0.0, 7.715820206913941e-06, 7.696912261661114e-06, 0.097333924100553, 0.31817641667154595, 0.12479894938988556, 0.8908487200655568, 0.2642230610060875, 0.05605765888993626, 0.03605124143892013, 0.014820048876552564, 0.01430891128447086], "count": [316]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9357142857142857, -1.0, -0.5285714285714286, -0.14857142857142858, -0.21142857142857144, -0.2142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5642857142857142, 1.0, 0.7714285714285714, 0.10571428571428572, 0.15428571428571428, 0.32285714285714284, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.020162748643761337, 0.05626130198915012, -0.04699367088607593, -0.0024502712477395988, -0.0025949367088607626, 0.012730560578661851, -0.08860759493670886], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.323297279352252, 0.49793103757921703, 0.26890693082142125, 0.03996400853389759, 0.04109403453907769, 0.0822896918221338, 0.9960666112863792], "count": [316]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.050632912665605545], "std": [0.21924692392349243], "count": [316]}, "next.done": {"min": [false], "max": [true], "mean": [0.0031645569620253164], "std": [0.05616531439651534], "count": [316]}, "timestamp": {"min": [0.0], "max": [15.75], "mean": [7.875], "std": [4.561044288318191], "count": [316]}, "frame_index": {"min": [0], "max": [315], "mean": [157.5], "std": [91.22088576636384], "count": [316]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [316]}, "index": {"min": [61157], "max": [61472], "mean": [61314.5], "std": [91.22088576636384], "count": [316]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [316]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.12549019607843137]], [[0.03529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6719770610414374]], [[0.632047070583869]], [[0.5879213079912499]]], "std": [[[0.19899233228047905]], [[0.19304410784247777]], [[0.22921689653791677]]], "count": [157]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6459353025209387]], [[0.5782918987938777]], [[0.5164961367879034]]], "std": [[[0.20595333302737429]], [[0.19551512808087734]], [[0.22244809123057463]]], "count": [157]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6589800464358091]], [[0.5758505901147531]], [[0.5007585186539658]]], "std": [[[0.20909097151323514]], [[0.1928621587926151]], [[0.22084985313269667]]], "count": [157]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [849]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [849]}, "observation.state": {"min": [0.7935760531934791, -1.5487339982052173, 0.6999976855678741, 0.0, 0.0, -1.0, 0.0, 0.22336131810077542, -0.4867529752559583, 0.17016123071633849, -0.9995706677436829, -0.3383968472480774, -0.11864456534385681, 6.611258868360892e-06, 0.0020368941454238605, -0.040007776368343885], "max": [0.7936020433265426, -1.5486762561478058, 0.700504425514196, 0.0, 0.0, 1.0, 3.976311199949123e-05, 0.5965317316710588, 0.430497224019347, 0.5852458616518669, 0.9982654452323914, 0.3083990812301636, 0.17023785412311554, 0.1125950738787651, 0.03997051404251786, -0.002957558658058431], "mean": [0.7935833324645999, -1.5487002974465396, 0.7002479976852978, 0.0, 0.0, 0.048292108362779744, 3.42529089805957e-06, 0.418149073950022, 0.03160938977284225, 0.33831129314053837, 0.6997477954211869, -0.025338186688273617, 0.06589447753947793, 0.05675249480755177, 0.024274239734462865, -0.02444936647279135], "std": [1.5114863897763069e-06, 3.692867882779491e-06, 0.00019980443811500024, 0.0, 0.0, 0.9988332554885653, 4.337333880564655e-06, 0.09168289907871317, 0.31910452888749646, 0.09926341395796114, 0.6886092675821057, 0.14942667870490778, 0.06816818586678568, 0.03146606550599554, 0.017663713563056693, 0.017522470203744964], "count": [849]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5196428571428572, -0.7821428571428571, -0.3375, -0.07928571428571429, -0.09642857142857142, -0.1907142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5625000000000001, 0.7071428571428573, 0.6053571428571428, 0.05785714285714285, 0.1392857142857143, 0.11357142857142859, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.006896769308430072, 0.04014386673397278, -0.010411408379606286, -0.0021226653205451778, 0.002160524987380112, 0.0013579000504795595, -0.16136631330977622], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18389875377174766, 0.2943127891940249, 0.20517211938576266, 0.01798053149840944, 0.018655057060159293, 0.04768293935834897, 0.9868945804536663], "count": [849]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018845701590180397], "std": [0.13597993552684784], "count": [849]}, "next.done": {"min": [false], "max": [true], "mean": [0.001177856301531213], "std": [0.034299693235715044], "count": [849]}, "timestamp": {"min": [0.0], "max": [42.4], "mean": [21.2], "std": [12.2542509631012], "count": [849]}, "frame_index": {"min": [0], "max": [848], "mean": [424.0], "std": [245.085019262024], "count": [849]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [849]}, "index": {"min": [61473], "max": [62321], "mean": [61897.0], "std": [245.085019262024], "count": [849]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [849]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.047058823529411764]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4443693061208859]], [[0.41708324545638564]], [[0.3716533801508885]]], "std": [[[0.1971756461084453]], [[0.18348947064282667]], [[0.21319483722345947]]], "count": [175]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6485648535293024]], [[0.645519538088673]], [[0.6193186185607055]]], "std": [[[0.16197347003542306]], [[0.15411172011033394]], [[0.14816084098164442]]], "count": [175]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6623258268639487]], [[0.6585252716320904]], [[0.6305896095254508]]], "std": [[[0.1720178661609975]], [[0.1645262374060254]], [[0.15833830531855506]]], "count": [175]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [981]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [981]}, "observation.state": {"min": [2.4978384599185866, -1.8535262034504405, 0.6999989044076095, 0.0, 0.0, -0.053123075515031815, 0.9985879063606262, 0.1891180947391491, -0.20589366428672218, 0.07741046115912742, -0.9993430972099304, -0.5345942974090576, -0.14750497043132782, 1.3829154340783134e-05, 0.0009155062599925345, -0.04000143148943279], "max": [2.5126746957876316, -1.3465263366709381, 0.7040495370474067, 0.0, 0.0, -9.116637556871865e-06, 1.0, 0.46869463025533165, 0.3843312940455772, 0.592012643624795, 0.9997446537017822, 0.29204246401786804, 0.09902505576610565, 0.09320547431707382, 0.0400115213422058, -0.00394838587250945], "mean": [2.511499253274828, -1.3620180482426754, 0.7019236212202806, 0.0, 0.0, -0.038547553484505524, 0.999235143112237, 0.32591214501118754, 0.12327536816292238, 0.30008440577436096, -0.7042950552780937, -0.1408631166217281, -0.04551193171437216, 0.03469317281394072, 0.0255023609730975, -0.025478302450804808], "std": [0.0031174784114082654, 0.07599288346328405, 0.0014729516693049926, 0.0, 0.0, 0.006574368411267044, 0.00015607142958241565, 0.0748277696625558, 0.1905587883666672, 0.1427356614831445, 0.6549581990468825, 0.2193793067246831, 0.05506858542592823, 0.02685201679201976, 0.016922785107315118, 0.016989114018129543], "count": [981]}, "action": {"min": [-0.010714285714285714, 0.0, -0.18642857142857147, 0.0, -1.0, -0.567857142857143, -0.567857142857143, -0.3696428571428571, -0.053571428571428575, -0.11142857142857143, -0.0642857142857143, -1.0], "max": [0.41785714285714287, 0.6000000000000001, 0.07928571428571429, 0.0, 1.0, 0.47678571428571426, 0.7660714285714286, 0.6214285714285714, 0.04928571428571429, 0.1457142857142857, 0.18, 1.0], "mean": [0.005488204456094367, 0.02549148099606816, -0.0021952817824377447, 0.0, -0.8348623853211009, -0.00010375709916993831, 0.02249890782000873, -0.021909130624726953, -0.0015334207077326337, 0.0037177806902577546, 0.010583224115334204, -0.1967380224260958], "std": [0.03749469976118926, 0.10578316790110463, 0.021088766313219064, 0.0, 0.5504587155963482, 0.16365310634308586, 0.22163318400865792, 0.20040244174302926, 0.009313561273313987, 0.02594976376190347, 0.03780005898480805, 0.9804560931178304], "count": [981]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016309887170791626], "std": [0.1266644299030304], "count": [981]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010193679918450561], "std": [0.03191126573394195], "count": [981]}, "timestamp": {"min": [0.0], "max": [49.0], "mean": [24.5], "std": [14.159507995218855], "count": [981]}, "frame_index": {"min": [0], "max": [980], "mean": [490.0], "std": [283.1901599043771], "count": [981]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [981]}, "index": {"min": [62322], "max": [63302], "mean": [62812.0], "std": [283.1901599043771], "count": [981]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [981]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.0]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5042888681480845]], [[0.5021278277323968]], [[0.5008118448528651]]], "std": [[[0.1528029542557643]], [[0.15282884799452576]], [[0.15416234233690757]]], "count": [151]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5657921341669558]], [[0.5318155979958468]], [[0.5168548730608241]]], "std": [[[0.193134652367957]], [[0.20092409444442133]], [[0.2029317996654553]]], "count": [151]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5726654159730169]], [[0.5355662721486049]], [[0.5203757741423091]]], "std": [[[0.17429594011659222]], [[0.18516979228444408]], [[0.1883047294011305]]], "count": [151]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [805]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [805]}, "observation.state": {"min": [0.8199973725219541, -2.3858006746798646, 0.6999976087649106, 0.0, 0.0, -1.0, 0.0, 0.16696365754860287, -0.4054350859645339, 0.10770342466312244, -0.999869167804718, -0.2951206564903259, -0.1613287329673767, 6.14615564700216e-05, 0.00569027682269877, -0.040000791485204676], "max": [0.8200368555816542, -2.385742125437019, 0.7011252860842853, 0.0, 0.0, 1.0, 3.877876224578358e-05, 0.5852300400701048, 0.4216120160510637, 0.5860553988190778, 0.9960150122642517, 0.20969271659851074, 0.1656210869550705, 0.06932468712329865, 0.04000801602831541, -0.0020779691732476773], "mean": [0.8200058465678873, -2.385772994039751, 0.7002620513411558, 0.0, 0.0, 0.06832298136645963, 3.6310998803025854e-06, 0.38138948223084523, 0.0065789691864193865, 0.321462961741069, -0.4359319722430306, 0.023040537304759766, -0.047681878285369725, 0.02438814782127897, 0.03071986584706685, -0.030947459945664228], "std": [3.32569304981508e-06, 4.928792932025764e-06, 0.0002967277969466555, 0.0, 0.0, 0.997663254919816, 5.271111986182332e-06, 0.1009119201642983, 0.24534963952325237, 0.11302070765714257, 0.8803265866615065, 0.1689680464990993, 0.05284007386492152, 0.015714158809196178, 0.012172284984903905, 0.013005472163060658], "count": [805]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6053571428571428, -0.7660714285714286, -0.41785714285714287, -0.09428571428571429, -0.16714285714285715, -0.1007142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5892857142857143, 0.8142857142857143, 0.7446428571428572, 0.07071428571428573, 0.18214285714285716, 0.05785714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.005283939662821706, 0.006841171251109132, -0.012384649511978697, 0.0005483584738243115, 0.0019671694764862467, -0.004503992901508425, -0.19751552795031055], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22223911784543454, 0.2754281763233149, 0.278586448763736, 0.016800929694237937, 0.039102859921774195, 0.029149985479753508, 0.980299758348692], "count": [805]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019875776022672653], "std": [0.13957339525222778], "count": [805]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012422360248447205], "std": [0.03522347050623062], "count": [805]}, "timestamp": {"min": [0.0], "max": [40.2], "mean": [20.1], "std": [11.619165202371468], "count": [805]}, "frame_index": {"min": [0], "max": [804], "mean": [402.0], "std": [232.38330404742936], "count": [805]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [805]}, "index": {"min": [63303], "max": [64107], "mean": [63705.0], "std": [232.38330404742936], "count": [805]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [805]}}} +{"episode_index": 92, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.043137254901960784]], [[0.0]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5127291800627446]], [[0.5113895032618485]], [[0.5084532060327596]]], "std": [[[0.1728684720629211]], [[0.1699027648441834]], [[0.16394728078210083]]], "count": [124]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6513998597426779]], [[0.6480202478822615]], [[0.6393365361734255]]], "std": [[[0.18214370931878685]], [[0.18218799793746215]], [[0.17956121245444048]]], "count": [124]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.08235294117647059]], [[0.08235294117647059]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6594715950837398]], [[0.6559450370310832]], [[0.6463476114677221]]], "std": [[[0.188333994981487]], [[0.18817241155504807]], [[0.1848425925755195]]], "count": [124]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [620]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [620]}, "observation.state": {"min": [2.5689785952868505, -0.7631521149903888, 0.6999991171396694, 0.0, 0.0, 0.707065761089325, 0.7070749998092651, 0.17075216044090613, -0.3603819567208508, 0.1633505850424053, -0.9999220967292786, -0.12662886083126068, -0.29669713973999023, 2.765721728792414e-05, 0.0013281297789789817, -0.04000664112592365], "max": [2.569057377251818, -0.7631010531785656, 0.701700772956663, 0.0, 0.0, 0.7071385383605957, 0.7071477174758911, 0.42069671626693855, 0.3696090506526648, 0.6062056767326355, 0.9949016571044922, 0.1330980509519577, 0.29598015546798706, 0.08390790224075317, 0.04000269956666456, -0.003934421348483999], "mean": [2.56899283616554, -0.7631091084782435, 0.7009079394949582, 0.0, 0.0, 0.7071072439032217, 0.707106269463416, 0.3281951465074134, 0.06155209232532614, 0.31895605132424437, -0.43815102211890683, 0.028210336558761134, -0.04470152104450761, 0.03214229192393935, 0.023989138768705225, -0.024419827320404767], "std": [7.81918317715313e-06, 5.149734650291585e-06, 0.0005550139119664226, 0.0, 0.0, 6.684393600693701e-06, 6.6860967853509206e-06, 0.06669509289085328, 0.22964023155211083, 0.1031306261558401, 0.8823203072688138, 0.07575989151256586, 0.138996968174933, 0.025449231452059587, 0.01601830501357052, 0.015463073180356418], "count": [620]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6482142857142857, -0.6857142857142857, -0.43928571428571433, -0.0642857142857143, -0.11357142857142859, -0.07071428571428573, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.43928571428571433, 0.7232142857142858, 0.6267857142857143, 0.045, 0.2057142857142857, 0.11357142857142859, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.003983294930875603, 0.04177707373271895, -0.03327476958525346, -0.003, 0.006649769585253436, -0.0022361751152073723, -0.05161290322580645], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20723907290085608, 0.28548869789445736, 0.24290101817078297, 0.01429173836120449, 0.0469094078627077, 0.025474083206123512, 0.9986671658869161], "count": [620]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025806451216340065], "std": [0.1585574895143509], "count": [620]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016129032258064516], "std": [0.040128565498789445], "count": [620]}, "timestamp": {"min": [0.0], "max": [30.95], "mean": [15.475], "std": [8.948917532305234], "count": [620]}, "frame_index": {"min": [0], "max": [619], "mean": [309.5], "std": [178.97835064610467], "count": [620]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [620]}, "index": {"min": [64108], "max": [64727], "mean": [64417.5], "std": [178.97835064610467], "count": [620]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [620]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25659535743615125]], [[0.25439352886847466]], [[0.22498094908584504]]], "std": [[[0.21376372467636728]], [[0.20132276736495885]], [[0.17149716856200836]]], "count": [169]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.06274509803921569]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4272733386285704]], [[0.3964684551560778]], [[0.3766129834176991]]], "std": [[[0.23509912566983487]], [[0.23030488648591796]], [[0.23880821759676998]]], "count": [169]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.054901960784313725]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4341033358407389]], [[0.40447496112558373]], [[0.3842101841878]]], "std": [[[0.23266716305685725]], [[0.23134779282427329]], [[0.2416507186730284]]], "count": [169]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [941]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [941]}, "observation.state": {"min": [2.854965853370123, -0.8107424475939355, 0.6999966164443648, 0.0, 0.0, 0.7070909142494202, 0.7070943713188171, 0.18409283476030924, -0.5474805806637022, 0.053774478551873894, -0.999851405620575, -0.4966740310192108, -0.14907704293727875, 0.0003372168284840882, 0.002750293604592397, -0.040004320504341766], "max": [2.854998616603404, -0.8106770187423197, 0.7010030748288695, 0.0, 0.0, 0.7071191668510437, 0.7071225643157959, 0.5245858556904119, 0.2890285088666209, 0.6002327185694901, 0.9999481439590454, 0.02575448900461197, 0.17044048011302948, 0.14180207252502441, 0.04000251455601093, -0.0014376447147941634], "mean": [2.8549792741257485, -0.8106825147586837, 0.7001158902982089, 0.0, 0.0, 0.707105025411539, 0.7071084899552696, 0.43885967080394483, -0.13621391777780914, 0.29638628028257835, 0.5304314125483651, -0.15303850511938144, 0.03994147421389892, 0.030643870521524345, 0.026982097686035912, -0.026386540438846747], "std": [2.9796038118483613e-06, 4.736521345608419e-06, 0.00024519037113510106, 0.0, 0.0, 2.721636861545608e-06, 2.720476317273101e-06, 0.07906332182038737, 0.2214280098827079, 0.1287839310805876, 0.8113491605909648, 0.16596342048455792, 0.07990757736535158, 0.02169850412573265, 0.01622055443906407, 0.01681784039431391], "count": [941]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.46607142857142864, -0.6107142857142858, -0.4821428571428571, -0.06857142857142857, -0.10500000000000001, -0.12642857142857145, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45535714285714285, 0.7875, 0.6482142857142857, 0.053571428571428575, 0.14357142857142857, 0.017142857142857144, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.017859040534385882, -0.0013834067101867545, -0.014693714892971034, -0.0027440412934568096, 0.0028875056930317278, -0.00929558220737817, -0.2454835281615303], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14379360164438174, 0.26487540225113604, 0.2352462007624878, 0.013045144036571657, 0.02758520973364449, 0.025086123536615643, 0.9694007620181531], "count": [941]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017003187909722328], "std": [0.12928293645381927], "count": [941]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010626992561105207], "std": [0.03258174222477342], "count": [941]}, "timestamp": {"min": [0.0], "max": [47.0], "mean": [23.5], "std": [13.58215741331251], "count": [941]}, "frame_index": {"min": [0], "max": [940], "mean": [470.0], "std": [271.6431482662502], "count": [941]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [941]}, "index": {"min": [64728], "max": [65668], "mean": [65198.0], "std": [271.6431482662502], "count": [941]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [941]}}} +{"episode_index": 94, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29466744097541364]], [[0.3017602521110983]], [[0.3128010690726486]]], "std": [[[0.1577163631838966]], [[0.15525152119927077]], [[0.15505069616699843]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.06274509803921569]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.405041498520795]], [[0.38104331581265316]], [[0.36658898985619637]]], "std": [[[0.23349078869435164]], [[0.22497437028211204]], [[0.2292175434517381]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.06666666666666667]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4049924693388097]], [[0.38178806080537686]], [[0.3666307827818628]]], "std": [[[0.22572168513290183]], [[0.225041971067376]], [[0.23234451095738165]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [241]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [241]}, "observation.state": {"min": [6.133761664183024, -2.0050801211923654, 0.69999577241156, 0.0, 0.0, -0.00010721442959038541, 1.0, 0.22265371784756738, -0.13423628030608636, 0.03107282366236519, -0.997850239276886, -0.07485829293727875, -0.14708398282527924, 0.00019395667186472565, 0.0009141028214664314, -0.039838868040298576], "max": [6.133807501309546, -2.004999341361299, 0.701178785648971, 0.0, 0.0, -1.7795948224375024e-05, 1.0, 0.5273541633518146, 0.3809289031367853, 0.5964929798867294, 0.9940662384033203, 0.09595783054828644, 0.22083121538162231, 0.0900510624051094, 0.040004762190207946, -0.0008746032193907937], "mean": [6.133796354277941, -2.005049894136026, 0.700321764047847, 0.0, 0.0, -7.221434932951796e-05, 1.0, 0.3751795723863228, 0.06453150159709209, 0.2740690146446356, -0.7637908283110971, 0.023294418741063954, 0.04015526726563689, 0.04160293230188661, 0.024201188338787052, -0.023174869711426266], "std": [8.157925767410392e-06, 8.692578515263722e-06, 0.00045121044160344745, 0.0, 0.0, 1.0824536934979414e-05, 0.0, 0.09003904099142941, 0.20053359105389007, 0.15280411860187862, 0.63456691869352, 0.04894754035593275, 0.08425767543033305, 0.023817976745282674, 0.014811108055840643, 0.015173840304872864], "count": [241]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5714285714285715, -1.0, -0.7000000000000001, -0.11142857142857143, -0.1657142857142857, -0.06857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4714285714285715, 1.0, 0.8285714285714285, 0.13142857142857142, 0.22285714285714286, 0.06285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.04579134558387675, 0.020806164789567316, -0.06090693538826336, -0.006354475400118552, 0.002205097806757553, -0.005002963841138117, -0.029045643153526972], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.28451300959231623, 0.5263637972848724, 0.4373876044945722, 0.038299840980334315, 0.07170295801844202, 0.020753085703114776, 0.9995780863013142], "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": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [241]}, "index": {"min": [65669], "max": [65909], "mean": [65789.0], "std": [69.57010852370435], "count": [241]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [241]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6541313602223117]], [[0.6175221396053538]], [[0.5763451322667739]]], "std": [[[0.2278966088657033]], [[0.23882262299131926]], [[0.2680124870220505]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6946744241153493]], [[0.6775383258894377]], [[0.6578367812212775]]], "std": [[[0.17986852061018987]], [[0.1776554457373328]], [[0.18105845263175188]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6925490393545113]], [[0.675536745557598]], [[0.6583295706954656]]], "std": [[[0.1811526711516243]], [[0.17876309706349464]], [[0.1771041513432608]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [256]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [256]}, "observation.state": {"min": [1.871889061612534, -0.8016499658463703, 0.6999968729342252, 0.0, 0.0, 0.7070295214653015, 0.7070795893669128, 0.11170249333319882, 0.009655214820031732, 0.16758984309165015, -0.9849005937576294, -0.30028244853019714, -0.16870124638080597, 0.03571050241589546, 0.007876831460991749, -0.03957156138912425], "max": [1.872002714357388, -0.8016041788021666, 0.7008881829192098, 0.0, 0.0, 0.707133948802948, 0.7071840167045593, 0.531593920960342, 0.6693229173015383, 0.6172266335462718, -0.9245474934577942, 0.05256521701812744, 0.305254191160202, 0.27056095004081726, 0.04002194660420695, -0.010996299677147664], "mean": [1.8719129838046085, -0.8016120704159626, 0.7002027856275111, 0.0, 0.0, 0.7071055180858821, 0.7071079956367612, 0.3219782187516649, 0.3857525518404731, 0.3823491759844248, -0.9508771982509643, -0.07010628608986735, 0.13698456858674035, 0.1946214619820239, 0.030048377198301886, -0.029669015072798698], "std": [1.4372782943765846e-05, 6.028486772947591e-06, 0.00033886583638094463, 0.0, 0.0, 1.0826481302487776e-05, 1.082609256081534e-05, 0.12438380432302926, 0.19389936515324, 0.13222518529821917, 0.018856450707362252, 0.08536755100715053, 0.15046522165793286, 0.06318550855139436, 0.0126243660377632, 0.012389770505573428], "count": [256]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6785714285714286, -1.0, -0.7357142857142858, -0.04857142857142857, -0.14857142857142858, -0.16857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6500000000000001, 1.0, 0.8214285714285715, 0.14, 0.41714285714285715, 0.24, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0030133928571429054, 0.03041294642857146, -0.0573381696428571, 0.003683035714285712, 0.008147321428571434, -0.010122767857142861, -0.328125], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3305761935145824, 0.4982492835999867, 0.3508300358936934, 0.021612757073901024, 0.101327974411993, 0.07144676717877516, 0.94463431251199], "count": [256]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06640625], "std": [0.24899087846279144], "count": [256]}, "next.done": {"min": [false], "max": [true], "mean": [0.00390625], "std": [0.06237781024480981], "count": [256]}, "timestamp": {"min": [0.0], "max": [12.75], "mean": [6.375], "std": [3.6950135317749515], "count": [256]}, "frame_index": {"min": [0], "max": [255], "mean": [127.5], "std": [73.90027063549903], "count": [256]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [256]}, "index": {"min": [65910], "max": [66165], "mean": [66037.5], "std": [73.90027063549903], "count": [256]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [256]}}} +{"episode_index": 96, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5415422004250919]], [[0.5346195032456342]], [[0.5240671502406301]]], "std": [[[0.2603181754553318]], [[0.25863913188151516]], [[0.24985317173884466]]], "count": [150]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6308687101875254]], [[0.6203557085024765]], [[0.6066987815308414]]], "std": [[[0.20490579565913902]], [[0.2033255561275632]], [[0.20642823753205702]]], "count": [150]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6321491208543965]], [[0.6211713763467627]], [[0.6062967082503575]]], "std": [[[0.19733320745913271]], [[0.19538920787744937]], [[0.19925766647425155]]], "count": [150]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [800]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [800]}, "observation.state": {"min": [3.0466450607735562, -1.59835887975034, 0.6999992526234959, 0.0, 0.0, -4.630610783351585e-05, 1.0, 0.14137348190289245, -0.2089195186645494, 0.12602700428892066, -0.9924574494361877, -0.5904784798622131, -0.2282850742340088, 0.0002686602238100022, 0.0035831321986091224, -0.04002581424427482], "max": [3.04670684085074, -1.5982659745310848, 0.7014728992335667, 0.0, 0.0, 9.679680078988895e-05, 1.0, 0.4419629081974761, 0.7443968943074025, 0.5810272637993565, 0.9989956617355347, 0.3762964904308319, 0.4036695063114166, 0.32239434123039246, 0.03999171857776152, -0.0007918535065405272], "mean": [3.0466977390527155, -1.5983345261776747, 0.7005616034481962, 0.0, 0.0, 3.420707548194013e-06, 1.0, 0.3163369042817215, 0.23248258958924595, 0.3409829567574603, 0.8364524768292904, -0.08877986919134856, 0.09181890246702665, 0.08546002873870748, 0.026966132748451103, -0.02638382810450651], "std": [4.817238859591947e-06, 7.234419439886419e-06, 0.0003957929217919516, 0.0, 0.0, 1.0180238143521505e-05, 0.0, 0.07733222331503364, 0.28857130606411896, 0.11527009043158186, 0.45516250744945175, 0.19956920422466418, 0.15211250560992287, 0.08119282540633434, 0.015602023554509, 0.016653893777082675], "count": [800]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6857142857142857, -0.8142857142857143, -0.42321428571428565, -0.10500000000000001, -0.2657142857142857, -0.16285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.35357142857142865, 0.6214285714285714, 0.7392857142857142, 0.09214285714285715, 0.12428571428571428, 0.16928571428571426, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0008906250000000019, 0.018308035714285537, -0.008551339285714308, -0.003854464285714295, -0.000913392857142856, -0.011142857142857142, -0.24], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.17937659992208962, 0.3018179861429853, 0.26805452027534143, 0.03137956191680448, 0.04955989238160486, 0.041495005231758704, 0.9707728879609285], "count": [800]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019999999552965164], "std": [0.14000000059604645], "count": [800]}, "next.done": {"min": [false], "max": [true], "mean": [0.00125], "std": [0.03533323506275643], "count": [800]}, "timestamp": {"min": [0.0], "max": [39.95], "mean": [19.975], "std": [11.546996362691035], "count": [800]}, "frame_index": {"min": [0], "max": [799], "mean": [399.5], "std": [230.9399272538207], "count": [800]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [800]}, "index": {"min": [66166], "max": [66965], "mean": [66565.5], "std": [230.9399272538207], "count": [800]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [800]}}} +{"episode_index": 97, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5287081769556782]], [[0.5322007518759999]], [[0.5341821774418318]]], "std": [[[0.28902708026867174]], [[0.2861298224748845]], [[0.28802914151035064]]], "count": [180]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.043137254901960784]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5780649598231762]], [[0.5368924761337912]], [[0.5256603844337214]]], "std": [[[0.27059351865189496]], [[0.29421760258809354]], [[0.2805308290176022]]], "count": [180]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5545401067463661]], [[0.5151464002688206]], [[0.5029349353266697]]], "std": [[[0.285360318009991]], [[0.30394463320267323]], [[0.28764415997669596]]], "count": [180]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1017]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1017]}, "observation.state": {"min": [3.588850451133842, -0.8238006545648002, 0.6999979899193142, 0.0, 0.0, 0.707024335861206, 0.7071508765220642, 0.21072818428910334, -0.4613344165836284, 0.14744978470542092, -0.9998021125793457, -0.556541383266449, -0.1270638257265091, 0.00012315750063862652, 0.003669361033272332, -0.04000491660954667], "max": [3.5888843333615887, -0.8237794006755488, 0.7006469323110726, 0.0, 0.0, 0.7070626020431519, 0.7071893215179443, 0.5664234144151794, 0.3610315367399859, 0.5711578946607243, 0.9976111650466919, 0.555891752243042, 0.10166439414024353, 0.06797926872968674, 0.040002881251033254, -0.0025806705334789778], "mean": [3.588861812082348, -0.8237839609458094, 0.7002144052234818, 0.0, 0.0, 0.7070494208598441, 0.7071640915809714, 0.40166038420772504, 0.08836366923389073, 0.3497989809770626, -0.34370735589499085, 0.0644948442238534, -0.025559444486306156, 0.022877654239236336, 0.02478095434976497, -0.024573111473396046], "std": [3.3059858960785147e-06, 1.9254795083042507e-06, 0.0002293841933831448, 0.0, 0.0, 3.7295961253466326e-06, 3.7410765614535993e-06, 0.0992533196056053, 0.27749801303811716, 0.11198596969641154, 0.8779137023653791, 0.3207374502380855, 0.05075365617808512, 0.018656858209195288, 0.01731568157361402, 0.017521928087595742], "count": [1017]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7071428571428573, -0.5410714285714286, -0.43928571428571433, -0.075, -0.13714285714285715, -0.08785714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4714285714285715, 0.6589285714285714, 0.7017857142857142, 0.055714285714285716, 0.11142857142857143, 0.15642857142857142, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0019806152549515115, 0.021265276021913217, -0.007585335018963335, -0.0009903076274757694, 0.00020438263801095193, -0.0011799410029498512, -0.16420845624385447], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19556376309234622, 0.23861859420961107, 0.2231279265273365, 0.012535806135472106, 0.029874198054609898, 0.04357384514264786, 0.9864256600970999], "count": [1017]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015732547268271446], "std": [0.12443887442350388], "count": [1017]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009832841691248771], "std": [0.031341941888907036], "count": [1017]}, "timestamp": {"min": [0.0], "max": [50.8], "mean": [25.4], "std": [14.679123497902275], "count": [1017]}, "frame_index": {"min": [0], "max": [1016], "mean": [508.0], "std": [293.58246995804546], "count": [1017]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [1017]}, "index": {"min": [66966], "max": [67982], "mean": [67474.0], "std": [293.58246995804546], "count": [1017]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1017]}}} +{"episode_index": 98, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.531655302858041]], [[0.525088071719234]], [[0.5008020384379201]]], "std": [[[0.19438568035423803]], [[0.19104952311229695]], [[0.2038917080449648]]], "count": [144]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6032188814449934]], [[0.50214014365003]], [[0.480806736333178]]], "std": [[[0.15763372925946748]], [[0.2104779759933581]], [[0.21318345128576158]]], "count": [144]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6137098594948097]], [[0.5113602336974965]], [[0.48764214900064573]]], "std": [[[0.15315520165046165]], [[0.21020222893729432]], [[0.21340762642745947]]], "count": [144]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [755]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [755]}, "observation.state": {"min": [2.9668200115783105, -0.7815519604897292, 0.6999979513263537, 0.0, 0.0, 0.7070777416229248, 0.7070810794830322, 0.19255399260466155, -0.3776171089162146, 0.1173177259676611, -0.9999493956565857, -0.6787444353103638, -0.14784228801727295, 7.110021397238597e-05, 0.0013489365419792597, -0.04000332885356224], "max": [2.9668671380921334, -0.7815185708974909, 0.7013878104889397, 0.0, 0.0, 0.7071323990821838, 0.707135796546936, 0.5010112554206725, 0.48775671508460094, 0.6027503390834184, 0.99997478723526, 0.680790901184082, 0.08763621747493744, 0.07981743663549423, 0.04000357904044544, -0.001668972313940152], "mean": [2.966843059760544, -0.7815242080483229, 0.7004969337929944, 0.0, 0.0, 0.7071074127361474, 0.707106099381352, 0.34402045140495596, 0.12295746270301326, 0.3285964734144273, -0.3188046353542252, 0.16456262264339044, 0.00317556716128567, 0.03174445438984163, 0.024413103154277815, -0.024486546686362857], "std": [5.420810338674005e-06, 3.294744880092063e-06, 0.00047451623297315896, 0.0, 0.0, 6.578326819670821e-06, 6.579994951970646e-06, 0.08526349102617473, 0.2706801041577366, 0.11879753264394588, 0.8580718708053273, 0.3627344122432382, 0.045416810329884136, 0.018403075678017782, 0.01642699483825782, 0.016086987286302784], "count": [755]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6000000000000001, -0.6107142857142858, -0.4285714285714286, -0.07285714285714286, -0.11785714285714285, -0.1457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5785714285714285, 0.7017857142857142, 0.6214285714285714, 0.060000000000000005, 0.14142857142857146, 0.4114285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0033349101229895556, 0.034228949858088886, -0.013893093661305589, 0.0017909176915799428, 0.00392809839167455, -0.0007634815515610644, -0.08079470198675497], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22776993274241322, 0.2979958768083914, 0.2536212383120159, 0.01366560240045327, 0.027096145007099445, 0.08731322590453192, 0.9967307641137987], "count": [755]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021192053332924843], "std": [0.14402411878108978], "count": [755]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013245033112582781], "std": [0.036369616470850276], "count": [755]}, "timestamp": {"min": [0.0], "max": [37.7], "mean": [18.85], "std": [10.897476772170702], "count": [755]}, "frame_index": {"min": [0], "max": [754], "mean": [377.0], "std": [217.94953544341405], "count": [755]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [755]}, "index": {"min": [67983], "max": [68737], "mean": [68360.0], "std": [217.94953544341405], "count": [755]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [755]}}} +{"episode_index": 99, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0784313725490196]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6658772684733073]], [[0.6652420636345359]], [[0.6643548236921722]]], "std": [[[0.24140420094229792]], [[0.23822921562508612]], [[0.2322159732765328]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08235294117647059]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6901179600135953]], [[0.6773914316214767]], [[0.6633509006874234]]], "std": [[[0.18766951514864424]], [[0.19327191288841414]], [[0.19850721213669104]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6757736511230469]], [[0.6628150652717141]], [[0.6489776300168505]]], "std": [[[0.18703680045720178]], [[0.1928571784791604]], [[0.19717812703133636]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [263]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [263]}, "observation.state": {"min": [3.5019155442868493, -1.7769785610623607, 0.6999957347348019, 0.0, 0.0, -0.7071349024772644, 0.7070786356925964, 0.2429851954408766, -0.019227392291952583, 0.1677182535732311, -0.9889203310012817, -0.2021884173154831, -0.166966050863266, 6.412067159544677e-05, 0.020515489621917453, -0.03995531611278962], "max": [3.501961562634354, -1.7769581556434648, 0.7001263976708186, 0.0, 0.0, -0.7070778012275696, 0.7071357369422913, 0.7177946835595361, 0.44711519974005043, 0.5925325540458629, 0.999507486820221, 0.28337034583091736, 0.13282617926597595, 0.08475829660892487, 0.04000380872721045, -0.02055107073538398], "mean": [3.5019398021899084, -1.7769686693078603, 0.7000156442970848, 0.0, 0.0, -0.7071068926002589, 0.707106624039407, 0.4791518351300867, 0.25365630969142244, 0.37206759706775167, -0.6323243674216615, -0.04532782761769603, -0.06808746659361577, 0.04396517690494232, 0.03538312812059359, -0.03519218390572162], "std": [7.219888665937745e-06, 2.442184054369308e-06, 3.218592916599893e-05, 0.0, 0.0, 8.792613006707659e-06, 8.790470291493978e-06, 0.1428821861491922, 0.1765339740757437, 0.11694054859868928, 0.7372643176953251, 0.19350130439628666, 0.09953996532131024, 0.02515580380747435, 0.006071545269338446, 0.006074778711285447], "count": [263]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -1.0, -0.6571428571428571, -0.05142857142857143, -0.11714285714285716, -0.36857142857142855, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5714285714285715, 1.0, 1.0, 0.12, 0.14285714285714285, 0.33714285714285713, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.025176534492123946, 0.040439978272677916, -0.036311787072243314, 0.0035089625203693652, 0.006659424225964153, -0.01114611624117327, -0.4220532319391635], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3519226281856146, 0.46288173677151095, 0.33013119604009356, 0.023891786629838055, 0.028631235900601938, 0.10872304654815096, 0.9065710503924698], "count": [263]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06083650141954422], "std": [0.23903019726276398], "count": [263]}, "next.done": {"min": [false], "max": [true], "mean": [0.0038022813688212928], "std": [0.06154530059406329], "count": [263]}, "timestamp": {"min": [0.0], "max": [13.1], "mean": [6.550000000000001], "std": [3.7960505792204615], "count": [263]}, "frame_index": {"min": [0], "max": [262], "mean": [131.0], "std": [75.92101158440923], "count": [263]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [263]}, "index": {"min": [68738], "max": [69000], "mean": [68869.0], "std": [75.92101158440923], "count": [263]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [263]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.0]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6150626967935001]], [[0.6110069331000832]], [[0.6068898631077186]]], "std": [[[0.21911168172981735]], [[0.218063326526998]], [[0.2170267230664334]]], "count": [192]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.0784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6299230488297206]], [[0.6098683519301072]], [[0.5911636477202372]]], "std": [[[0.18401626626114215]], [[0.19071532524269014]], [[0.1998081591139701]]], "count": [192]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.10196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6330979462542565]], [[0.6197069196140065]], [[0.6058456006392934]]], "std": [[[0.20138468228023199]], [[0.20474345924764895]], [[0.20774457397996499]]], "count": [192]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1108]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1108]}, "observation.state": {"min": [2.7967338627665765, -1.5086202455760997, 0.6999909944617903, 0.0, 0.0, -0.7071717381477356, 0.7070418000221252, 0.14943798566189592, -0.5367771067016402, 0.10692293997021463, -0.995573878288269, -0.6124882698059082, -0.31737253069877625, 0.000145968675496988, 0.001809309186978083, -0.039928048526705284], "max": [2.7968378681626445, -1.5085374423357574, 0.7012005394550135, 0.0, 0.0, -0.7070853114128113, 0.7071282267570496, 0.49756961491709606, 0.35350065327462143, 0.5932676695332645, 0.9982670545578003, 0.5855619311332703, 0.14874571561813354, 0.1616232991218567, 0.04002495484539272, -0.0007485373542497096], "mean": [2.7968130648367153, -1.5085541402436229, 0.7003101740050932, 0.0, 0.0, -0.7071079690318676, 0.7071055442309983, 0.3718908107355753, 0.01207550054468064, 0.34604694309550665, -0.22278626645084754, -0.04072180725903072, -0.07571036070099837, 0.060274640561064866, 0.0243754901287349, -0.023436681021874718], "std": [7.70959196754963e-06, 4.143664911872304e-06, 0.00038144958574414244, 0.0, 0.0, 7.155887563582735e-06, 7.1558565356967676e-06, 0.09411644182409214, 0.30224333344308174, 0.1258694094649214, 0.8865940752522862, 0.3644403499125632, 0.13391809520585302, 0.050428541585072276, 0.016835547799257316, 0.017679915257968668], "count": [1108]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5410714285714286, -0.5839285714285714, -0.43392857142857144, -0.08142857142857143, -0.11357142857142859, -0.12428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4875000000000001, 0.6321428571428571, 0.7178571428571429, 0.1007142857142857, 0.14785714285714285, 0.135, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0074748581743166636, 0.027196686436307384, -0.008378996905621439, 0.004541000515729757, 0.00655234657039711, -0.0014156781846312476, -0.10288808664259928], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1854951238958109, 0.23294875087064618, 0.255556549930127, 0.021378642939152443, 0.031438933611940424, 0.037859621921692545, 0.9946929383619003], "count": [1108]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014440433122217655], "std": [0.119297556579113], "count": [1108]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009025270758122744], "std": [0.030028528446956904], "count": [1108]}, "timestamp": {"min": [0.0], "max": [55.35], "mean": [27.674999999999997], "std": [15.99259594312318], "count": [1108]}, "frame_index": {"min": [0], "max": [1107], "mean": [553.5], "std": [319.8519188624636], "count": [1108]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [1108]}, "index": {"min": [69001], "max": [70108], "mean": [69554.5], "std": [319.8519188624636], "count": [1108]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1108]}}} +{"episode_index": 101, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4795832974303002]], [[0.45681095317765774]], [[0.3623584415211397]]], "std": [[[0.30158497066658785]], [[0.2900934698520026]], [[0.2911099016304631]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5949179460114123]], [[0.505936804079542]], [[0.48398379097732847]]], "std": [[[0.2699163556235708]], [[0.32171819438035765]], [[0.30162285916758813]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5290886978448606]], [[0.4356397268257889]], [[0.4171003070906097]]], "std": [[[0.2860154304148364]], [[0.31934495084040787]], [[0.29488871009686946]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [350]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [350]}, "observation.state": {"min": [3.3835219912462753, -4.2862045404398685, 0.6999985665252766, 0.0, 0.0, -0.7071455717086792, 0.7070679068565369, 0.19597460126754207, -0.20654276047425935, 0.17567262774458303, -0.9883204102516174, -0.027651861310005188, -0.15662923455238342, 5.458411396830343e-05, 0.0059587187761057855, -0.04001811580492628], "max": [3.3835913197749337, -4.286184519901861, 0.7002943900857481, 0.0, 0.0, -0.7070906758308411, 0.7071228623390198, 0.4808099528839369, 0.7053939570131735, 0.607353114005524, 0.9947863221168518, 0.975277841091156, 0.280150443315506, 0.21849383413791656, 0.03959706651537196, -0.0069107468684137495], "mean": [3.383570041650392, -4.286197247023245, 0.7000585631062889, 0.0, 0.0, -0.7071101915836334, 0.7071033229146685, 0.33745393498570797, 0.24998848434468754, 0.3630287401097498, 0.4523929010970252, 0.5886520424698081, 0.1079805591915335, 0.13342970031345822, 0.021016926373353683, -0.021046280725618753], "std": [8.01077534808266e-06, 2.1821451237662367e-06, 9.090943490271334e-05, 0.0, 0.0, 8.915583934416876e-06, 8.917851038805169e-06, 0.07974331752457982, 0.37157886944760193, 0.1150329647510741, 0.49317762398163834, 0.4026713158068905, 0.09865746397546808, 0.0653031710968318, 0.015175764176316149, 0.01553974201425363], "count": [350]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5071428571428571, -0.8571428571428572, -0.8, -0.15142857142857147, -0.1, -0.0, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.55, 1.0, 0.8785714285714286, 0.09142857142857143, 0.18, 0.5685714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.01938775510204082, 0.09308163265306131, -0.051142857142857066, -0.01626938775510203, 0.001004081632653058, 0.06507755102040826, 0.13142857142857142], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21398667180485983, 0.43541486103236055, 0.3138844934345417, 0.04313496037242523, 0.03760893581731781, 0.12075531167527387, 0.9913256430720645], "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": [70109], "max": [70458], "mean": [70283.5], "std": [101.03588471429346], "count": [350]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [350]}}} +{"episode_index": 102, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[0.9098039215686274]], [[0.8745098039215686]], [[0.9411764705882353]]], "mean": [[[0.2514514188967326]], [[0.2572502791867132]], [[0.2610998674040411]]], "std": [[[0.14605656622766144]], [[0.14409838013145154]], [[0.1438149290123342]]], "count": [162]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4276184536359755]], [[0.3746202256944444]], [[0.35986193377814085]]], "std": [[[0.274093320436276]], [[0.2665680540809858]], [[0.26927772387394033]]], "count": [162]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4514488469541463]], [[0.39340489059001305]], [[0.37649920169679807]]], "std": [[[0.26165427019512394]], [[0.25837096070479054]], [[0.26329486910983724]]], "count": [162]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [885]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [885]}, "observation.state": {"min": [4.289165839969847, -2.7269924561554175, 0.6999986861274093, 0.0, 0.0, -0.7173144817352295, 0.6967495083808899, 0.2486209490068072, -0.5098375262591341, 0.07518019791883734, -0.9937425851821899, -0.42394042015075684, -0.3529980480670929, 5.7172317610820755e-05, 0.0015163384872805862, -0.04000302848026008], "max": [4.684782431727409, -2.6770223025208004, 0.7007574841321663, 0.0, 0.0, -0.7071628570556641, 0.7070506811141968, 0.5965095983241886, 0.43796874773722116, 0.5895217414161608, 0.9928170442581177, 0.43143588304519653, 0.46182525157928467, 0.08485997468233109, 0.040039419348152576, -0.005047756817921789], "mean": [4.678302434091968, -2.7238624777365774, 0.7004122691246487, 0.0, 0.0, -0.7157217532227942, 0.6983844554356936, 0.4310831199867323, -0.07674274541415517, 0.3063138267527948, 0.3628703979449084, -0.06676106882297386, -0.0006694330464217202, 0.030616083284451114, 0.02769456557533411, -0.027781233849691698], "std": [0.04468314146767632, 0.007474569575376663, 0.00027843177291290777, 0.0, 0.0, 0.0008684840748210563, 0.0008812085212465263, 0.09257667770685447, 0.2530883529466421, 0.13705032071228707, 0.885066326436325, 0.23489322182704953, 0.15504888360118418, 0.01930941437179941, 0.015723747311954243, 0.015419313518960504], "count": [885]}, "action": {"min": [0.0, 0.0, -0.060000000000000005, 0.0, -1.0, -0.5517857142857143, -1.0, -0.5571428571428572, -0.05785714285714285, -0.12428571428571428, -0.15642857142857142, -1.0], "max": [0.8089285714285713, 0.7982142857142857, 0.0, 0.0, 1.0, 0.5303571428571429, 0.8142857142857143, 1.0, 0.075, 0.12642857142857145, 0.14357142857142857, 1.0], "mean": [0.01258474576271186, 0.016585956416464893, -0.0008619854721549636, 0.0, -0.9096045197740112, 0.027935835351089584, -0.016949152542372926, 0.010752623083131456, 0.0016682808716707025, 0.0031961259079903203, -0.007416464891041166, -0.2790960451977401], "std": [0.08381272822850913, 0.10179906822018622, 0.00624009231175962, 0.0, 0.41547517086667196, 0.1933601867731242, 0.3339255403912225, 0.3185471387466735, 0.014866858452067274, 0.03668618400792519, 0.04883289748676634, 0.9602631918151335], "count": [885]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01807909645140171], "std": [0.1332375407218933], "count": [885]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011299435028248588], "std": [0.033595635587160465], "count": [885]}, "timestamp": {"min": [0.0], "max": [44.2], "mean": [22.1], "std": [12.773866551153047], "count": [885]}, "frame_index": {"min": [0], "max": [884], "mean": [442.0], "std": [255.47733102306097], "count": [885]}, "episode_index": {"min": [102], "max": [102], "mean": [102.0], "std": [0.0], "count": [885]}, "index": {"min": [70459], "max": [71343], "mean": [70901.0], "std": [255.47733102306097], "count": [885]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [885]}}} +{"episode_index": 103, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24400470060460708]], [[0.23658708136066112]], [[0.21773776384740096]]], "std": [[[0.1734236441914994]], [[0.1683833164013768]], [[0.13996125812390184]]], "count": [240]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4632810066572202]], [[0.43687259848600896]], [[0.4285552818946589]]], "std": [[[0.3034309857337328]], [[0.2993424352285256]], [[0.2979783218960478]]], "count": [240]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4878737799949895]], [[0.4467415195041233]], [[0.43645224128673277]]], "std": [[[0.29651910542720455]], [[0.2972474023444332]], [[0.29912816500100753]]], "count": [240]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1495]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1495]}, "observation.state": {"min": [1.5601575737422455, -3.08813297642632, 0.6999177069029161, 0.0, 0.0, -0.03899870812892914, 0.9992392063140869, 0.24482340706053618, -0.47350788325472637, 0.06836205249531468, -0.9968919157981873, -0.697413980960846, -0.18863900005817413, 2.1579338863375597e-05, 0.0025823149505449375, -0.04001312828760027], "max": [1.665429723236151, -2.6903978321878936, 0.7006083732181718, 0.0, 0.0, 5.084339136374183e-06, 1.0, 0.6864052613320264, 0.39999628046729807, 0.5804925619284866, 0.9982103705406189, 0.6251905560493469, 0.1890905350446701, 0.09931637346744537, 0.0400233394230848, -0.0023407504049408525], "mean": [1.6580052858081937, -2.716399892434004, 0.7002717890384884, 0.0, 0.0, -0.025684253838721565, 0.9996624821005856, 0.42996851557258525, 0.004371955586179307, 0.3496506538728941, -0.23459227396094282, -0.11403902093802008, -0.04216081442212706, 0.030756414512095785, 0.030577061019653413, -0.030202184164563366], "std": [0.009208392580547866, 0.08468651902114062, 0.0002206609068631162, 0.0, 0.0, 0.0039005261913964352, 8.560682226193131e-05, 0.13924404830988044, 0.24596994953424836, 0.13227623400233526, 0.8983092944514406, 0.3375721446972189, 0.0884216167398664, 0.02247560715936748, 0.015396523701456465, 0.015620897213684443], "count": [1495]}, "action": {"min": [-0.5410714285714286, 0.0, -0.07714285714285715, 0.0, -1.0, -0.44464285714285723, -0.7071428571428573, -0.5357142857142857, -0.05785714285714285, -0.135, -0.3385714285714285, -1.0], "max": [0.7875, 0.7553571428571428, 0.030000000000000002, 0.0, 1.0, 0.5142857142857143, 0.6910714285714286, 0.5892857142857143, 0.075, 0.16071428571428573, 0.1842857142857143, 1.0], "mean": [0.02847706641184903, 0.042964644051600547, -0.0005360726230291446, 0.0, -0.7872909698996655, -0.0019708552317247888, 0.0008170090778787206, -0.007388915432393681, 0.0009617773530816998, 0.0012541806020066903, -0.008667462971810827, -0.4608695652173913], "std": [0.1260549370854951, 0.15037817052373856, 0.006332157429072271, 0.0, 0.6165816480519486, 0.13803012339776663, 0.1979712531764384, 0.18374599907282016, 0.011642827377570816, 0.030032277850377, 0.060702831824575046, 0.8874678832816106], "count": [1495]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010702340863645077], "std": [0.102897047996521], "count": [1495]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006688963210702341], "std": [0.025854378715836374], "count": [1495]}, "timestamp": {"min": [0.0], "max": [74.7], "mean": [37.35], "std": [21.578461483618334], "count": [1495]}, "frame_index": {"min": [0], "max": [1494], "mean": [747.0], "std": [431.5692296723667], "count": [1495]}, "episode_index": {"min": [103], "max": [103], "mean": [103.0], "std": [0.0], "count": [1495]}, "index": {"min": [71344], "max": [72838], "mean": [72091.0], "std": [431.5692296723667], "count": [1495]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1495]}}} +{"episode_index": 104, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[0.996078431372549]], [[0.9411764705882353]], [[0.8784313725490196]]], "mean": [[[0.2769953688079235]], [[0.2808573198505477]], [[0.2668598055372051]]], "std": [[[0.18777127875636376]], [[0.1996829327307527]], [[0.17724300502180693]]], "count": [200]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5703946057487936]], [[0.5369507835238587]], [[0.5135045121136834]]], "std": [[[0.30128265682644867]], [[0.31693638204369995]], [[0.3337978756654637]]], "count": [200]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5686841433655982]], [[0.5332854449702245]], [[0.5085655359006395]]], "std": [[[0.3044868796187793]], [[0.31836530572179983]], [[0.3343269550559272]]], "count": [200]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1170]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1170]}, "observation.state": {"min": [-0.7586072222779284, -2.323247045116522, 0.6999986153256113, 0.0, 0.0, -8.810038707451895e-05, 0.999958872795105, 0.20958907507413982, -0.5213396415044285, 0.08680509826389882, -0.9961960315704346, -0.4369809031486511, -0.2802314758300781, 3.512154216878116e-05, 0.0031865112592002268, -0.04001779241237081], "max": [-0.7395979829112048, -1.991831360481708, 0.7011622771336654, 0.0, 0.0, 0.009070179425179958, 1.0, 0.5194822513420735, 0.3893569737389777, 0.582243109036659, 0.994591474533081, 0.2396494448184967, 0.3712264895439148, 0.2855554521083832, 0.04000479290173617, -0.0014949330721385156], "mean": [-0.7444396235642693, -2.297253331746822, 0.7003745269043082, 0.0, 0.0, 0.00561229263509561, 0.9999829192446847, 0.3463306039075299, -0.000998975450157958, 0.35689185999753525, -0.028993143026645365, -0.10258707352555715, -0.008500346753937313, 0.09299525972603746, 0.026387567689597706, -0.02620003148812287], "std": [0.004066921174353203, 0.08224397786107715, 0.000439440107845784, 0.0, 0.0, 0.0016408209407030464, 5.5359474149216575e-06, 0.08525731231570473, 0.29113855197586885, 0.15289302409027472, 0.9572203948226344, 0.15872746112857675, 0.17379970413772436, 0.09079256066887284, 0.016181416539441208, 0.016569227562819575], "count": [1170]}, "action": {"min": [-0.3375, -0.6803571428571429, 0.0, 0.0, -1.0, -0.6375000000000001, -0.675, -0.45535714285714285, -0.07714285714285715, -0.2742857142857143, -0.19500000000000003, -1.0], "max": [0.6589285714285714, 0.0, 0.025714285714285714, 0.0, 1.0, 0.3267857142857143, 0.6857142857142857, 0.8624999999999999, 0.08357142857142857, 0.2571428571428572, 0.09857142857142857, 1.0], "mean": [0.012733516483516484, -0.017545787545787547, 0.00011355311355311356, 0.0, -0.8666666666666667, 0.0003708791208791026, 0.015434981684981678, -0.008516483516483542, -0.0007124542124542115, 0.004184981684981681, -0.005591575091575092, -0.21196581196581196], "std": [0.08354112946965948, 0.08887451758681542, 0.0014459309684219134, 0.0, 0.4988876515698614, 0.1657871098265102, 0.23269157920788938, 0.2781386235671277, 0.015899960236609615, 0.05199702678863826, 0.03348553992033972, 0.977277081772448], "count": [1170]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013675213791429996], "std": [0.11613872647285461], "count": [1170]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008547008547008547], "std": [0.029222770935519244], "count": [1170]}, "timestamp": {"min": [0.0], "max": [58.45], "mean": [29.225], "std": [16.88748920552332], "count": [1170]}, "frame_index": {"min": [0], "max": [1169], "mean": [584.5], "std": [337.7497841104664], "count": [1170]}, "episode_index": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1170]}, "index": {"min": [72839], "max": [74008], "mean": [73423.5], "std": [337.7497841104664], "count": [1170]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1170]}}} +{"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": [[[0.5589489117981239]], [[0.5708003882985445]], [[0.5613366163341208]]], "std": [[[0.2803577741129718]], [[0.2835953542563513]], [[0.2849670831984238]]], "count": [157]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7122339669098133]], [[0.6617544979106417]], [[0.6156636293005584]]], "std": [[[0.32779727361735816]], [[0.3512218249577054]], [[0.31579255381500493]]], "count": [157]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7118989416822536]], [[0.6674871534983793]], [[0.6211554357557987]]], "std": [[[0.32980156536574157]], [[0.34660838368523994]], [[0.308839988517981]]], "count": [157]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [849]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [849]}, "observation.state": {"min": [1.8861111801622659, -0.810067023907054, 0.6999985885458587, 0.0, 0.0, 0.7070819139480591, 0.707072377204895, 0.20709346230910053, -0.164770269185621, 0.12598087449803552, -0.9996767044067383, -0.35451552271842957, -0.17182832956314087, 1.8145701687899418e-05, 0.002193745417570098, -0.04000485617867248], "max": [1.8861792865750342, -0.8100409965892289, 0.7010345115322189, 0.0, 0.0, 0.7071411609649658, 0.7071316242218018, 0.5144741878068901, 0.6728640434417461, 0.6099560291216942, 0.9993424415588379, 0.3021791875362396, 0.12568406760692596, 0.07203415036201477, 0.040002361983298644, 0.00017431258589268857], "mean": [1.8861546240406424, -0.8100465927455609, 0.7004737146441051, 0.0, 0.0, 0.7071071293104102, 0.7071063838662192, 0.36232158762471706, 0.25905438111243595, 0.31895884800372654, 0.4203108542097471, 0.008040491412574747, -0.01659146029464034, 0.030588803033479117, 0.0267532960397947, -0.026560545722636622], "std": [5.9872662860073795e-06, 2.3659231349052613e-06, 0.0003618067215296779, 0.0, 0.0, 5.700553078254063e-06, 5.700016337825456e-06, 0.07649586349918584, 0.2505786102115619, 0.1073525968403152, 0.8955398942449477, 0.12193506033416728, 0.0691268395156946, 0.02061076690890812, 0.016344384810571874, 0.016640349714228064], "count": [849]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8678571428571429, -0.8035714285714287, -0.43928571428571433, -0.07714285714285715, -0.165, -0.13071428571428573, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.41785714285714287, 0.75, 0.6696428571428571, 0.10928571428571428, 0.1285714285714286, 0.12642857142857145, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0028836446239273077, 0.027340989399293275, -0.01910651186269563, 0.00023220595658758126, 0.0066153457849570975, -0.0067945482079757764, -0.25323910482921086], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19864340954210022, 0.2680215849774404, 0.23946062111810962, 0.019131277806169897, 0.03592749709558074, 0.042346671879863615, 0.967403719129355], "count": [849]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018845701590180397], "std": [0.13597993552684784], "count": [849]}, "next.done": {"min": [false], "max": [true], "mean": [0.001177856301531213], "std": [0.034299693235715044], "count": [849]}, "timestamp": {"min": [0.0], "max": [42.4], "mean": [21.2], "std": [12.2542509631012], "count": [849]}, "frame_index": {"min": [0], "max": [848], "mean": [424.0], "std": [245.085019262024], "count": [849]}, "episode_index": {"min": [105], "max": [105], "mean": [105.0], "std": [0.0], "count": [849]}, "index": {"min": [74009], "max": [74857], "mean": [74433.0], "std": [245.085019262024], "count": [849]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [849]}}} +{"episode_index": 106, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.06666666666666667]]], "max": [[[0.984313725490196]], [[0.9803921568627451]], [[0.9725490196078431]]], "mean": [[[0.6800142008463542]], [[0.6774895043466606]], [[0.6727788361194087]]], "std": [[[0.2594422360269993]], [[0.25698543573252963]], [[0.2526645793361191]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.67965299838197]], [[0.664764856675092]], [[0.6489769670075062]]], "std": [[[0.18742077181422157]], [[0.19341181029582746]], [[0.1989850124299292]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6483664209702436]], [[0.6340362812117034]], [[0.619073132683249]]], "std": [[[0.18235015274226965]], [[0.18630438486127396]], [[0.190600161554119]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [385]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [385]}, "observation.state": {"min": [3.075360414612851, -4.6171583970528856, 0.6999978607677056, 0.0, 0.0, -1.0, 3.930479408609244e-08, 0.2229845288180914, -0.21816850883682992, 0.17149678627155573, -0.9909142851829529, -0.019209325313568115, -0.2496364712715149, 0.009065243415534496, 0.00730514424772864, -0.04007608365073983], "max": [3.1366536571879897, -4.239736294392059, 0.7010378589550986, 0.0, 0.0, 1.0, 0.002159565221518278, 0.6892193666529098, 0.13653177240023684, 0.5961551161853474, -0.9604147672653198, 0.13961267471313477, -0.0166331734508276, 0.23720771074295044, 0.040019836130617464, -0.004536951449218944], "mean": [3.0879529663242336, -4.574245812894672, 0.700202469502569, 0.0, 0.0, -0.7714267631629845, 0.0017676925974653317, 0.4423424288746295, 0.014352747189620168, 0.42620913319146736, -0.9715116925053783, 0.05829731798791266, -0.1250996347516775, 0.14869539863248538, 0.03450198180728003, -0.034045954651769274], "std": [0.02153650697063848, 0.11148439418274603, 0.00034084700753257377, 0.0, 0.0, 0.6363152649809526, 0.0007642742146547866, 0.15875144823664547, 0.10789318857108787, 0.12976472712425896, 0.009604110952974646, 0.05539740848737361, 0.05514208646867096, 0.09383200102553678, 0.01080297866768629, 0.010992732133170327], "count": [385]}, "action": {"min": [-0.0642857142857143, 0.0, 0.0, 0.0, -1.0, -0.8571428571428572, -0.9071428571428573, -0.7000000000000001, -0.19142857142857142, -0.23142857142857146, -0.08, -1.0], "max": [0.5928571428571429, 0.6357142857142857, 0.002857142857142857, 0.0, 1.0, 0.7357142857142858, 0.7857142857142857, 1.0, 0.16285714285714287, 0.07428571428571429, 0.02, 1.0], "mean": [0.02319109461966605, 0.043042671614100206, 1.4842300556586271e-05, 0.0, -0.7038961038961039, 0.01962894248608534, 0.0005565862708719805, -0.03886827458256029, -3.710575139146263e-05, -0.0032653061224489823, -0.004155844155844157, -0.6519480519480519], "std": [0.09691337515978109, 0.1385117119092742, 0.00020539298705896753, 0.0, 0.7103029458758365, 0.2544000704481391, 0.28755014597134126, 0.2841270697519467, 0.04682077756813214, 0.03830136828844902, 0.011777110635276752, 0.7582636332840563], "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": [106], "max": [106], "mean": [106.0], "std": [0.0], "count": [385]}, "index": {"min": [74858], "max": [75242], "mean": [75050.0], "std": [111.13955191559843], "count": [385]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [385]}}} +{"episode_index": 107, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2895821172526447]], [[0.2935194721334714]], [[0.2967670556630494]]], "std": [[[0.22840280383271963]], [[0.2306777063519819]], [[0.2288268077600786]]], "count": [189]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3199846669986716]], [[0.306918203569767]], [[0.29185646453676956]]], "std": [[[0.20513573930909473]], [[0.2005893703369912]], [[0.19822348246388996]]], "count": [189]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33096475451798196]], [[0.31827567629156694]], [[0.3028577519422844]]], "std": [[[0.20928916951743642]], [[0.20598723605091449]], [[0.20472621039773786]]], "count": [189]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1091]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1091]}, "observation.state": {"min": [3.7946684813747935, -2.1132896603974016, 0.6999991140577327, 0.0, 0.0, -0.7071189880371094, 0.7070945501327515, 0.23384215528418784, -0.6406701279527223, 0.030099571546999382, -0.9842802286148071, -0.2789047062397003, -0.1863863468170166, 8.356430771527812e-05, 0.006062871544162648, -0.04000339686845461], "max": [3.7947328770354996, -2.113246866079828, 0.701966595820093, 0.0, 0.0, -0.7070721387863159, 0.7071413397789001, 0.553027621744659, 0.23253400677617675, 0.6267452113632989, 0.9914049506187439, 0.18802908062934875, 0.20289190113544464, 0.1286090910434723, 0.0400535657075191, -0.002936597899122361], "mean": [3.794689570089081, -2.113285552657407, 0.7014012757101821, 0.0, 0.0, -0.7071053425616676, 0.7071081675268116, 0.3854391771749286, -0.16463974599025752, 0.2867519081657518, 0.6159891533152321, -0.0350712920196771, 0.09066132150631395, 0.03512373429505379, 0.026745258148041268, -0.026629883134462604], "std": [4.413791671773702e-06, 4.313600703907657e-06, 0.0007363136650236107, 0.0, 0.0, 4.077486888107468e-06, 4.075421542502256e-06, 0.08651318007758337, 0.2792716986950038, 0.14066017565334338, 0.7514288663895036, 0.19114459835377692, 0.08883810368485451, 0.028291550721808775, 0.014929105489101478, 0.01520013288008158], "count": [1091]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8357142857142857, -0.5410714285714286, -0.594642857142857, -0.06857142857142857, -0.09642857142857142, -0.24000000000000002, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4714285714285715, 0.8678571428571429, 0.8571428571428572, 0.04928571428571429, 0.1457142857142857, 0.13285714285714284, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.01970505434070971, 0.013778316092706442, -0.009928636899305935, 0.00034961372266596876, 0.0053915149927982195, 0.002026973942647632, -0.15307057745187902], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16127782525746134, 0.2311517045390492, 0.27519708990799396, 0.011953120016369405, 0.023719652757148785, 0.043447315080089664, 0.98821525910024], "count": [1091]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014665444381535053], "std": [0.12020968645811081], "count": [1091]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009165902841429881], "std": [0.030261363921575028], "count": [1091]}, "timestamp": {"min": [0.0], "max": [54.5], "mean": [27.25], "std": [15.747221977225061], "count": [1091]}, "frame_index": {"min": [0], "max": [1090], "mean": [545.0], "std": [314.9444395445012], "count": [1091]}, "episode_index": {"min": [107], "max": [107], "mean": [107.0], "std": [0.0], "count": [1091]}, "index": {"min": [75243], "max": [76333], "mean": [75788.0], "std": [314.9444395445012], "count": [1091]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1091]}}} +{"episode_index": 108, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24398345525328272]], [[0.24702700101412262]], [[0.24647597767948323]]], "std": [[[0.15345855096792774]], [[0.14922618832411427]], [[0.14640058312910423]]], "count": [156]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4867299562725606]], [[0.4684075893979387]], [[0.4554157826695507]]], "std": [[[0.26678855514512173]], [[0.26949292636454136]], [[0.27759648745161697]]], "count": [156]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.050980392156862744]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4880195103679367]], [[0.4686063372351645]], [[0.455178348163434]]], "std": [[[0.2677307713601824]], [[0.2711733152258836]], [[0.2800881231012621]]], "count": [156]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [840]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [840]}, "observation.state": {"min": [0.7438054625549966, -2.3291914776172904, 0.6999985029956806, 0.0, 0.0, -1.0, 9.274369006107008e-08, 0.1567968317975289, -0.6691572798167031, 0.09117561750943326, -0.992493748664856, -0.5649297833442688, -0.1848546713590622, 7.284743333002552e-05, 0.00344588687203802, -0.040035218926166266], "max": [0.7888862510818258, -1.751210252713338, 0.7019024281863878, 0.0, 0.0, 1.0, 0.0008282710332423449, 0.4609119125310953, 0.2661671436637092, 0.5872863876797766, 0.9904914498329163, 0.5736919641494751, 0.11249379068613052, 0.1452053040266037, 0.040011006481983996, -0.00029559063522935835], "mean": [0.7497369487577311, -1.7853325304207894, 0.7011237283727602, 0.0, 0.0, -0.9714285643327804, 0.00012670810220351467, 0.29690293124618006, -0.09531315724052633, 0.34832664597732516, 0.11173854541210901, -0.06171313437322776, -0.03627693266114095, 0.04493717973130385, 0.026422855422334447, -0.024384214045368065], "std": [0.011483248359523133, 0.12872239773738214, 0.0007757372800665001, 0.0, 0.0, 0.23733210951486464, 0.0001053351633274947, 0.07830417970410053, 0.29672560937223175, 0.14707719035945716, 0.9075339406123585, 0.38386849272822277, 0.0894337219460719, 0.03740796630358293, 0.015614283944189102, 0.01775894527612366], "count": [840]}, "action": {"min": [-0.048214285714285716, -0.8785714285714287, 0.0, 0.0, -1.0, -0.45535714285714285, -0.7178571428571429, -0.5517857142857143, -0.11142857142857143, -0.12642857142857145, -0.16928571428571426, -1.0], "max": [0.5625000000000001, 0.0, 0.0, 0.0, 1.0, 0.4285714285714286, 0.8839285714285714, 0.7714285714285715, 0.14142857142857146, 0.12428571428571428, 0.18857142857142858, 1.0], "mean": [0.006926020408163266, -0.023769132653061225, 0.0, 0.0, -0.888095238095238, 0.010408163265306145, 0.0307142857142857, -0.007940051020408186, 0.001441326530612246, 0.009367346938775521, 0.005982142857142835, -0.17142857142857143], "std": [0.05481900540460824, 0.1208678326910101, 0.0, 0.0, 0.4596594914418296, 0.18741263062300373, 0.3314809003266118, 0.3127628485755983, 0.0266321075428922, 0.0388774787079515, 0.05605130317689312, 0.9851965514038085], "count": [840]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01904761977493763], "std": [0.13669238984584808], "count": [840]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011904761904761906], "std": [0.03448273418561962], "count": [840]}, "timestamp": {"min": [0.0], "max": [41.95], "mean": [20.975], "std": [12.124347061457234], "count": [840]}, "frame_index": {"min": [0], "max": [839], "mean": [419.5], "std": [242.48694122914466], "count": [840]}, "episode_index": {"min": [108], "max": [108], "mean": [108.0], "std": [0.0], "count": [840]}, "index": {"min": [76334], "max": [77173], "mean": [76753.5], "std": [242.48694122914466], "count": [840]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [840]}}} +{"episode_index": 109, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4963578619436056]], [[0.49485348621870623]], [[0.462747934036896]]], "std": [[[0.23478271275825394]], [[0.21059799832419518]], [[0.20277372045520176]]], "count": [175]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5609577339236477]], [[0.5367657645089287]], [[0.5129482428713673]]], "std": [[[0.21834335093531027]], [[0.2254489325169703]], [[0.22807506948001338]]], "count": [175]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5432169801514356]], [[0.5180859583579526]], [[0.4952319735999869]]], "std": [[[0.2104976046862742]], [[0.21919186359260281]], [[0.22428626455495734]]], "count": [175]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [981]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [981]}, "observation.state": {"min": [2.275512573537653, -0.770097728375225, 0.6999964636129672, 0.0, 0.0, 0.7040386199951172, 0.7065730690956116, 0.20132868083866806, -0.3133972953359714, 0.11741088168520797, -0.99267578125, -0.5940861105918884, -0.19225406646728516, 2.9905148039688356e-05, 0.0025227311005476963, -0.0400149369142815], "max": [2.8731599584468244, -0.7533277614261493, 0.7011316684887717, 0.0, 0.0, 0.7076400518417358, 0.7101616859436035, 0.5169727040588461, 0.4603425711629874, 0.5819465447632947, 0.9672269821166992, 0.5489447712898254, 0.32421034574508667, 0.17825530469417572, 0.04000796267483931, -0.0012392876356116362], "mean": [2.859897503005325, -0.7557813223634448, 0.7002971960285292, 0.0, 0.0, 0.7049673640764452, 0.7092393400958311, 0.3476562356977648, 0.04172733753410053, 0.34103405320680097, 0.11964376943677694, -0.156129798469315, 0.07169320837560866, 0.0472471769681018, 0.026735400994437195, -0.026397948383899635], "std": [0.07441494720834474, 0.0028378155535569455, 0.00031859993286873227, 0.0, 0.0, 0.0005294611158187923, 0.0005280070047240863, 0.08706669527818647, 0.2314673268740216, 0.12048592904114477, 0.8945618764368243, 0.3514409097397844, 0.16856781110097901, 0.0420698627904619, 0.016684077772392954, 0.017121987033380394], "count": [981]}, "action": {"min": [-0.17678571428571432, -0.75, -0.06857142857142857, 0.0, -1.0, -0.5571428571428572, -0.6910714285714286, -0.43928571428571433, -0.047142857142857146, -0.12642857142857145, -0.1992857142857143, -1.0], "max": [0.46071428571428574, 0.053571428571428575, 0.0, 0.0, 1.0, 0.31607142857142856, 0.6535714285714286, 0.8410714285714286, 0.10714285714285715, 0.11142857142857143, 0.1285714285714286, 1.0], "mean": [0.003664263870685889, -0.02152140672782876, -0.000581039755351682, 0.0, -0.8817533129459735, 0.0029871122761030568, 0.015230449978156382, -0.008923110528615117, 0.0016972477064220186, 0.008117081695063354, -0.010895587592835305, -0.26605504587155965], "std": [0.046442443844447144, 0.11240370462721704, 0.005529394819479966, 0.0, 0.4717108172480374, 0.14876897616323306, 0.22678679945436872, 0.23014224715812315, 0.019334022548963912, 0.029828811492470964, 0.04973492634167163, 0.9639578375459699], "count": [981]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016309887170791626], "std": [0.1266644299030304], "count": [981]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010193679918450561], "std": [0.03191126573394195], "count": [981]}, "timestamp": {"min": [0.0], "max": [49.0], "mean": [24.5], "std": [14.159507995218855], "count": [981]}, "frame_index": {"min": [0], "max": [980], "mean": [490.0], "std": [283.1901599043771], "count": [981]}, "episode_index": {"min": [109], "max": [109], "mean": [109.0], "std": [0.0], "count": [981]}, "index": {"min": [77174], "max": [78154], "mean": [77664.0], "std": [283.1901599043771], "count": [981]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [981]}}} +{"episode_index": 110, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.10588235294117647]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4745159781552891]], [[0.4777945261800566]], [[0.4546951787417737]]], "std": [[[0.2100485404612367]], [[0.20575471738176798]], [[0.18306478363871803]]], "count": [154]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.09803921568627451]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6268946438549674]], [[0.6363511864817838]], [[0.6076811516287979]]], "std": [[[0.16921692552068113]], [[0.1408570033342925]], [[0.13762600100848388]]], "count": [154]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6074534098307292]], [[0.6181030665884074]], [[0.5923505557229993]]], "std": [[[0.17455871883508758]], [[0.15035145264125802]], [[0.14519606047825778]]], "count": [154]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [827]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [827]}, "observation.state": {"min": [3.1579621934218416, -4.481065678668063, 0.699999398472062, 0.0, 0.0, -1.0, 0.0, 0.20180720033735433, -0.3693583058846688, 0.04860318139153308, -0.9978093504905701, -0.6721329689025879, -0.1455291211605072, 9.256567864213139e-05, 0.0036702948871129453, -0.040544676377968776], "max": [3.1580420184133238, -4.480898390057223, 0.7022794390138939, 0.0, 0.0, 1.0, 8.826814155327156e-05, 0.5399476834598276, 0.4182509401705987, 0.5939511189743979, 0.9927394986152649, 0.5967855453491211, 0.11087506264448166, 0.13232436776161194, 0.04000751657710421, -0.0033977749557843892], "mean": [3.157995600619393, -4.480933654811286, 0.7013258574051106, 0.0, 0.0, -0.3518742442563482, 4.719186024832176e-06, 0.3976976659799831, -0.02708918849804596, 0.30320429707725166, -0.3655008670064241, 0.044893342078164526, -0.02104382746950909, 0.03406438458106802, 0.028205637688637524, -0.02782035044142188], "std": [7.715842680139618e-06, 1.179770885584591e-05, 0.0008645208892143128, 0.0, 0.0, 0.9360472831160876, 7.180645094872822e-06, 0.09360627683383511, 0.23595308040389326, 0.12347464657154755, 0.8861499545423429, 0.2655788401321912, 0.07824702380896438, 0.02956377835424335, 0.01563776277536096, 0.015470165454646736], "count": [827]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6482142857142857, -0.9107142857142857, -0.5035714285714286, -0.08571428571428572, -0.16285714285714287, -0.2292857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.375, 0.8785714285714287, 0.8089285714285713, 0.18857142857142858, 0.22071428571428572, 0.07285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.011226032129901546, -0.011893245811020877, -0.018202625669372956, 0.006130592503022978, 0.006778372775954401, -0.013839177750906885, -0.313180169286578], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19295891228647669, 0.275629166114501, 0.27049218547053705, 0.031529297636378996, 0.039744845012016985, 0.048596290600151026, 0.9496937304024032], "count": [827]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019347038120031357], "std": [0.13774153590202332], "count": [827]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012091898428053204], "std": [0.034752376936396406], "count": [827]}, "timestamp": {"min": [0.0], "max": [41.3], "mean": [20.65], "std": [11.936708088916307], "count": [827]}, "frame_index": {"min": [0], "max": [826], "mean": [413.0], "std": [238.73416177832615], "count": [827]}, "episode_index": {"min": [110], "max": [110], "mean": [110.0], "std": [0.0], "count": [827]}, "index": {"min": [78155], "max": [78981], "mean": [78568.0], "std": [238.73416177832615], "count": [827]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [827]}}} +{"episode_index": 111, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.0]]], "max": [[[0.984313725490196]], [[0.9803921568627451]], [[0.9725490196078431]]], "mean": [[[0.49234155609397606]], [[0.47374730496549616]], [[0.4090543675304389]]], "std": [[[0.24425624870750298]], [[0.22612419922795657]], [[0.2860549213592797]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.054901960784313725]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6964305172061177]], [[0.684841594880787]], [[0.6713997664024665]]], "std": [[[0.20493473313554417]], [[0.20358375713865973]], [[0.20441236467947346]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6713024450311587]], [[0.658539761715174]], [[0.6450383785400102]]], "std": [[[0.1984259526159095]], [[0.19800231715982133]], [[0.19892156593520446]]], "count": [166]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [914]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [914]}, "observation.state": {"min": [3.413850673662175, -4.350077638058683, 0.6999991274815777, 0.0, 0.0, -1.0, 0.0, 0.24139617914946854, -0.5158568670231496, 0.11789161256344005, -0.9823105335235596, -0.8299547433853149, -0.10132092982530594, 0.0002753990702331066, 0.002437380830416082, -0.04000570948975913], "max": [3.413898182520925, -4.34992417477851, 0.7039884632834373, 0.0, 0.0, 1.0, 8.62042506923899e-05, 0.5189990748664286, 0.26613021071430776, 0.5865879832489129, 0.9997841119766235, 0.26309216022491455, 0.20868517458438873, 0.18000398576259613, 0.040632790296858394, -0.0007964311953916], "mean": [3.4138586325543923, -4.349955247188488, 0.7019572772197367, 0.0, 0.0, -0.15098468271334792, 5.222635342532375e-06, 0.373930931801694, -0.20157234107154215, 0.2858230115750235, 0.8512897096264544, -0.16095745255579638, 0.05765175321487033, 0.05871154815578223, 0.029980729107792172, -0.027455960263880357], "std": [7.037189611117361e-06, 1.5335743449671476e-05, 0.0014410962918277976, 0.0, 0.0, 0.9885361023179403, 9.834701901770102e-06, 0.09150977750878275, 0.23881902771394384, 0.10760854294383826, 0.39396343776651793, 0.28669250998771584, 0.05358994171968781, 0.048539606207551836, 0.015224491270233686, 0.01596961686493833], "count": [914]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7339285714285714, -0.6160714285714286, -0.35357142857142865, -0.17142857142857143, -0.2742857142857143, -0.2142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46607142857142864, 0.8196428571428573, 0.6482142857142857, 0.09642857142857142, 0.09857142857142857, 0.07285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.023386214442013116, -0.006963113472960327, -0.022249140356361434, -0.002663332291341043, -0.0016903719912472648, -0.019822600812754027, -0.21444201312910285], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14900910829886121, 0.2686950317060032, 0.2208070493916435, 0.0297976989929901, 0.027414508819348978, 0.05287403005827289, 0.9767367214378397], "count": [914]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017505470663309097], "std": [0.13114506006240845], "count": [914]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010940919037199124], "std": [0.033058960458945574], "count": [914]}, "timestamp": {"min": [0.0], "max": [45.65], "mean": [22.825], "std": [13.192445755052397], "count": [914]}, "frame_index": {"min": [0], "max": [913], "mean": [456.5], "std": [263.8489151010479], "count": [914]}, "episode_index": {"min": [111], "max": [111], "mean": [111.0], "std": [0.0], "count": [914]}, "index": {"min": [78982], "max": [79895], "mean": [79438.5], "std": [263.8489151010479], "count": [914]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [914]}}} +{"episode_index": 112, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6235936130659641]], [[0.6176712464258299]], [[0.5857596894021334]]], "std": [[[0.20693763493920786]], [[0.20224811813624227]], [[0.2159518169275701]]], "count": [181]}, "observation.images.robot0_agentview_left": {"min": [[[0.0784313725490196]], [[0.0784313725490196]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6497184405462699]], [[0.6457764772769109]], [[0.6357642797669072]]], "std": [[[0.17213113965286064]], [[0.17228864866935037]], [[0.17147025898731222]]], "count": [181]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.07058823529411765]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.673105320245005]], [[0.6681159580558419]], [[0.6548477772888441]]], "std": [[[0.17289173067067692]], [[0.1729991239327178]], [[0.17301417499887034]]], "count": [181]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1030]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1030]}, "observation.state": {"min": [0.7391862008020461, -2.2209138206149883, 0.6999983488029757, 0.0, 0.0, -1.0, 8.393475781076631e-08, 0.09860796010058126, -0.35130201811915707, 0.11186041575572325, -0.9991589784622192, -0.3655124604701996, -0.27250564098358154, 2.077010867651552e-05, 0.00251603227430194, -0.040030250119654394], "max": [0.8502733949751821, -1.4870682001616757, 0.701229163956723, 0.0, 0.0, 1.0, 0.001961768139153719, 0.41591902411449166, 0.3876329495899189, 0.5968359464320965, 0.9991375207901001, 0.3631613850593567, 0.2768428325653076, 0.10343769937753677, 0.0400098894210031, -0.0011051058402325102], "mean": [0.7469812818646164, -1.5103579139493912, 0.7001416120481524, 0.0, 0.0, 0.8970864091104674, 0.0014353362916522442, 0.28908839155383925, 0.05837853008933444, 0.36212140351028116, -0.10162813021141348, -0.02744929453412306, -0.02005480421725118, 0.03065653107015589, 0.026755114529810466, -0.026437243027063736], "std": [0.016043049103932006, 0.11549456913146247, 0.0003101502397190655, 0.0, 0.0, 0.4418528327519633, 0.00024385085162740915, 0.07097538590789615, 0.25866105861967814, 0.1355485893006272, 0.9553914059301083, 0.2065671405314838, 0.1774532100001503, 0.025374709325577262, 0.016506660946456354, 0.016868572862499945], "count": [1030]}, "action": {"min": [-0.46071428571428574, -0.7767857142857144, 0.0, 0.0, -1.0, -0.5196428571428572, -0.6535714285714286, -0.46607142857142864, -0.1392857142857143, -0.22071428571428572, -0.09, -1.0], "max": [0.6535714285714286, 0.048214285714285716, 0.012857142857142857, 0.0, 1.0, 0.5517857142857143, 0.8142857142857143, 0.8303571428571429, 0.08357142857142857, 0.16714285714285715, 0.13285714285714284, 1.0], "mean": [0.002330097087378642, -0.024075936199722613, 6.241331484049932e-05, 0.0, -0.8446601941747572, -0.0009466019417475735, 0.02863210818307905, -0.00563280166435501, -0.002515256588072123, 6.241331484050078e-05, 0.002377947295423029, -0.2524271844660194], "std": [0.08095050377528838, 0.12316559654091652, 0.0007038544571533502, 0.0, 0.5353028641588643, 0.15779719483465615, 0.2496391653116817, 0.24379702108624288, 0.023718857968904276, 0.0390671523085551, 0.03057833203172268, 0.9676158930807932], "count": [1030]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015533980913460255], "std": [0.12366355955600739], "count": [1030]}, "next.done": {"min": [false], "max": [true], "mean": [0.000970873786407767], "std": [0.03114371831523386], "count": [1030]}, "timestamp": {"min": [0.0], "max": [51.45], "mean": [25.724999999999998], "std": [14.866762424953189], "count": [1030]}, "frame_index": {"min": [0], "max": [1029], "mean": [514.5], "std": [297.33524849906377], "count": [1030]}, "episode_index": {"min": [112], "max": [112], "mean": [112.0], "std": [0.0], "count": [1030]}, "index": {"min": [79896], "max": [80925], "mean": [80410.5], "std": [297.33524849906377], "count": [1030]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1030]}}} +{"episode_index": 113, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5395418006069616]], [[0.5282797160205228]], [[0.48901581221681384]]], "std": [[[0.2409207445869462]], [[0.22559538558581782]], [[0.21617922802702713]]], "count": [147]}, "observation.images.robot0_agentview_left": {"min": [[[0.09411764705882353]], [[0.0784313725490196]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5251321634610875]], [[0.4879959128833825]], [[0.46353441563799996]]], "std": [[[0.2082432303646667]], [[0.222791843419429]], [[0.23071719844236413]]], "count": [147]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5600160360368106]], [[0.5257063734510732]], [[0.49955807925383694]]], "std": [[[0.22409400636127327]], [[0.23522201908368667]], [[0.23483193125130705]]], "count": [147]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [780]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [780]}, "observation.state": {"min": [2.7255088925187834, -0.8015637867108538, 0.6999961484858007, 0.0, 0.0, 0.7070744037628174, 0.7070597410202026, 0.21737936778513467, -0.45416663180690175, 0.10164983202255595, -0.9998021721839905, -0.21895544230937958, -0.1369611769914627, 4.628281749319285e-05, 0.001697304918206775, -0.040002075829339255], "max": [2.7255845932685046, -0.8015102031129187, 0.7017320735157134, 0.0, 0.0, 0.7071537375450134, 0.7071390748023987, 0.5738603079830465, 0.41834200632969454, 0.5975072802171711, 0.9997929930686951, 0.2556300163269043, 0.11738933622837067, 0.052096910774707794, 0.04000388873327675, -0.0015298271955970512], "mean": [2.7255556734943958, -0.8015200031870656, 0.700781255633083, 0.0, 0.0, 0.7071070130054767, 0.7071064991064561, 0.4236235464466407, 0.0426022076073656, 0.32295789558435073, -0.21749959205969785, -0.009142389067281514, -0.01979061174835153, 0.025432284230294335, 0.026465174549900584, -0.026146706363518745], "std": [5.458393703667298e-06, 5.124978539984405e-06, 0.0006239824005318738, 0.0, 0.0, 5.7387206752116925e-06, 5.739221061772833e-06, 0.1081084897125916, 0.31327434919840447, 0.1250960149409309, 0.9670725391371635, 0.11446981155093036, 0.05507672996279258, 0.014345521204828, 0.015973773706669463, 0.016255310026818563], "count": [780]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.567857142857143, -0.7125, -0.4125, -0.10500000000000001, -0.08785714285714287, -0.10928571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5303571428571429, 0.9375, 0.6589285714285714, 0.05785714285714285, 0.11142857142857143, 0.1285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.02019230769230767, 0.03870879120879121, -0.020460164835164787, -0.0006263736263736264, 0.006848901098901101, -0.006637362637362638, -0.20512820512820512], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21349307915395507, 0.3208057316721988, 0.2723116899406059, 0.015664886236093755, 0.022487174322188528, 0.0389985957717095, 0.9787351119996038], "count": [780]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020512821152806282], "std": [0.1417464166879654], "count": [780]}, "next.done": {"min": [false], "max": [true], "mean": [0.001282051282051282], "std": [0.035782783940904776], "count": [780]}, "timestamp": {"min": [0.0], "max": [38.95], "mean": [19.475], "std": [11.25832099678574], "count": [780]}, "frame_index": {"min": [0], "max": [779], "mean": [389.5], "std": [225.1664199357148], "count": [780]}, "episode_index": {"min": [113], "max": [113], "mean": [113.0], "std": [0.0], "count": [780]}, "index": {"min": [80926], "max": [81705], "mean": [81315.5], "std": [225.1664199357148], "count": [780]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [780]}}} +{"episode_index": 114, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.050980392156862744]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.559902344561368]], [[0.5574206342831315]], [[0.5504100944508056]]], "std": [[[0.18137333512094064]], [[0.17837414577318744]], [[0.1698083686678847]]], "count": [177]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6189934056608386]], [[0.6091402644821612]], [[0.5913502531008321]]], "std": [[[0.17472509381572215]], [[0.17529140988649886]], [[0.17165963414550386]]], "count": [177]}, "observation.images.robot0_agentview_right": {"min": [[[0.0784313725490196]], [[0.0784313725490196]], [[0.0784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6174157929180125]], [[0.6085508333668699]], [[0.5921925308195423]]], "std": [[[0.1825481230904314]], [[0.18303710587607103]], [[0.17887167208081486]]], "count": [177]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [997]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [997]}, "observation.state": {"min": [3.732623588961097, -2.103565566352125, 0.6999987607163459, 0.0, 0.0, -0.7071447968482971, 0.707068681716919, 0.2400087901785306, -0.608590176790961, 0.12425249117902759, -0.9977595210075378, -0.4166839122772217, -0.14595456421375275, 8.618830906925723e-05, 0.003010759408615833, -0.04000521199287404], "max": [3.732683944365566, -2.103539322677237, 0.7020420892464535, 0.0, 0.0, -0.7070919871330261, 0.7071215510368347, 0.5123063336172518, 0.2231063517027625, 0.5943641830288358, 0.9996312260627747, 0.4183175563812256, 0.21362529695034027, 0.06800274550914764, 0.040003548827538, -0.0031594982289439725], "mean": [3.7326697529240715, -2.103560411230922, 0.7012925915267644, 0.0, 0.0, -0.707106555357142, 0.7071069567468963, 0.39710311790587277, -0.11129875759404288, 0.32881716268476396, 0.20990841313374556, -0.009070421775490972, 0.027583983522255315, 0.027075165354006517, 0.024970664729144647, -0.02505605791143311], "std": [4.866535921680062e-06, 3.0275792301175015e-06, 0.000852239531031336, 0.0, 0.0, 4.369259668041321e-06, 4.367062036073318e-06, 0.07115797687030215, 0.2675359673566289, 0.11406986916197984, 0.942831961616337, 0.2376874575701994, 0.09360344398368915, 0.013160847488632126, 0.01748910300147501, 0.01737926537720919], "count": [997]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.43392857142857144, -0.6321428571428571, -0.44464285714285723, -0.06214285714285714, -0.1285714285714286, -0.09857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.31607142857142856, 0.8410714285714286, 0.7017857142857142, 0.038571428571428576, 0.15, 0.14142857142857146, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.013395543774179655, 0.018124014901848423, -0.013572861441467193, -0.0005244304341596212, 0.0015861871328270469, -0.0020181974494913163, -0.18756268806419257], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1476058392376227, 0.2255327064453735, 0.2377587460755733, 0.011910695071192435, 0.029289981606653595, 0.030902089247475006, 0.982252634532542], "count": [997]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016048144549131393], "std": [0.12566065788269043], "count": [997]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010030090270812437], "std": [0.03165443096902608], "count": [997]}, "timestamp": {"min": [0.0], "max": [49.8], "mean": [24.9], "std": [14.390448220955454], "count": [997]}, "frame_index": {"min": [0], "max": [996], "mean": [498.0], "std": [287.8089644191091], "count": [997]}, "episode_index": {"min": [114], "max": [114], "mean": [114.0], "std": [0.0], "count": [997]}, "index": {"min": [81706], "max": [82702], "mean": [82204.0], "std": [287.8089644191091], "count": [997]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [997]}}} +{"episode_index": 115, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5605504080828498]], [[0.5416572507222494]], [[0.4909218709609088]]], "std": [[[0.2247540736721785]], [[0.21066867247264212]], [[0.22925476415920143]]], "count": [160]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5234680605869667]], [[0.48849858153100106]], [[0.46094498615638885]]], "std": [[[0.20799446235801847]], [[0.22578222303745193]], [[0.24039387850841484]]], "count": [160]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5613907492394541]], [[0.5163332699794395]], [[0.47827088262520584]]], "std": [[[0.21980867402392912]], [[0.24233791353104767]], [[0.25863158562723004]]], "count": [160]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [870]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [870]}, "observation.state": {"min": [3.7818341701699025, -0.830381425384835, 0.6999966284955709, 0.0, 0.0, 0.7028262615203857, 0.7068637013435364, 0.10064631658085677, -0.38669276195579894, 0.10007906296140434, -0.9948457479476929, -0.3945159316062927, -0.26458385586738586, 0.00016456055163871497, 0.0008460541925774013, -0.04006563227942943], "max": [4.50137570421264, -0.7472940980926197, 0.701421447597423, 0.0, 0.0, 0.7073497176170349, 0.7113614678382874, 0.45397757234104696, 0.3883877563264546, 0.6059414731857748, 0.9948320388793945, 0.40080565214157104, 0.2402530461549759, 0.17424674332141876, 0.04015411889267474, -0.0003817385830107046], "mean": [4.477293689702712, -0.7570837405675012, 0.7005475190710541, 0.0, 0.0, 0.7039361077478562, 0.7102624673953002, 0.2894910128553638, 0.06564958507458152, 0.3423303291529984, -0.3448628519458332, -0.020190436118978194, -0.05787336945362475, 0.049421103964121506, 0.030471010261333472, -0.028424305977370553], "std": [0.11873266636694187, 0.017322356549196394, 0.0004730421724388804, 0.0, 0.0, 0.0007736686391619249, 0.0007699863058870821, 0.08294818555426446, 0.2621214185974282, 0.1390736497463382, 0.8813889159192186, 0.257304080424458, 0.17369416664600806, 0.0406043930131364, 0.01419283432053351, 0.014836306853210501], "count": [870]}, "action": {"min": [-0.1392857142857143, -0.9482142857142856, -0.047142857142857146, 0.0, -1.0, -0.5571428571428572, -0.5892857142857143, -0.4875000000000001, -0.08571428571428572, -0.10285714285714286, -0.14357142857142857, -1.0], "max": [0.6964285714285715, 0.0, 0.0, 0.0, 1.0, 0.5410714285714286, 0.7392857142857142, 0.7607142857142858, 0.06642857142857142, 0.10928571428571428, 0.18857142857142858, 1.0], "mean": [0.007641625615763548, -0.026773399014778328, -0.0006133004926108374, 0.0, -0.832183908045977, 0.020301724137931035, 0.040621921182266055, 0.008035714285714255, -0.002807881773399013, 0.007995073891625617, -0.0005763546798029547, -0.25517241379310346], "std": [0.07346394833541217, 0.1374356090915444, 0.0046539661428760875, 0.0, 0.5544997233446728, 0.19387938123800075, 0.2740346481559861, 0.24982634934959483, 0.01830918582351899, 0.0252406150020991, 0.052359748424855655, 0.9668955679074086], "count": [870]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018390804529190063], "std": [0.13435989618301392], "count": [870]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011494252873563218], "std": [0.033883684995364774], "count": [870]}, "timestamp": {"min": [0.0], "max": [43.45], "mean": [21.725], "std": [12.557360059609131], "count": [870]}, "frame_index": {"min": [0], "max": [869], "mean": [434.5], "std": [251.14720119218265], "count": [870]}, "episode_index": {"min": [115], "max": [115], "mean": [115.0], "std": [0.0], "count": [870]}, "index": {"min": [82703], "max": [83572], "mean": [83137.5], "std": [251.14720119218265], "count": [870]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [870]}}} +{"episode_index": 116, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2836944452298233]], [[0.2712262378019445]], [[0.20411572300530728]]], "std": [[[0.22332994706626927]], [[0.18600721681210328]], [[0.16459281854752783]]], "count": [192]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.03137254901960784]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3848665140812693]], [[0.3692322899313534]], [[0.34496133592393663]]], "std": [[[0.1989294331755852]], [[0.19564225658200024]], [[0.1942144160514754]]], "count": [192]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3817137821047914]], [[0.3660713763018839]], [[0.3420031556896135]]], "std": [[[0.19491184507289003]], [[0.19048969169795327]], [[0.1879388680367495]]], "count": [192]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1111]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1111]}, "observation.state": {"min": [1.9954442896996172, -0.8333004889420441, 0.6999979637103136, 0.0, 0.0, 0.7070869207382202, 0.7070931792259216, 0.17196341891212719, -0.4621604539935069, 0.05230365401089643, -0.9989561438560486, -0.3344852328300476, -0.19130077958106995, 0.0002559239510446787, 0.0054269037552365324, -0.04000165521007214], "max": [1.9954828875921664, -0.8332881462234121, 0.700118381790579, 0.0, 0.0, 0.7071202993392944, 0.7071265578269958, 0.6249428889020554, 0.44196339286108444, 0.5926734407334281, 0.9989711046218872, 0.3417324721813202, 0.15822619199752808, 0.12110177427530289, 0.04000856972880419, -0.005470129902213121], "mean": [1.995464490922732, -0.8332943806973722, 0.7000460384805103, 0.0, 0.0, 0.7071060343007587, 0.7071074798877555, 0.4203389441114, 0.015226729409047339, 0.2906043211001517, -0.33019776080343555, 0.009710609285843254, -0.06152022526548961, 0.058968438199463714, 0.02471121851004854, -0.024691134827011702], "std": [2.61626742222131e-06, 9.6496126084581e-07, 4.4565225525217334e-05, 0.0, 0.0, 2.9140276707132417e-06, 2.9151884869538125e-06, 0.11593947197408355, 0.32630484459147224, 0.1329738449559781, 0.9178070011729479, 0.17444618583824711, 0.0968763410256647, 0.03777484902200477, 0.016387706803534213, 0.016254522896430347], "count": [1111]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.43392857142857144, -0.7178571428571429, -0.4125, -0.14142857142857146, -0.1457142857142857, -0.12000000000000001, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46071428571428574, 0.7071428571428573, 0.5785714285714285, 0.10928571428571428, 0.135, 0.15214285714285716, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.01179921563584935, 0.025498264112125482, -0.01289378937893783, -0.00016780249453516707, 0.001031888903176033, 0.003062877716343063, -0.10171017101710171], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1600590533516578, 0.25749305272860007, 0.21288981184362535, 0.024632996435388306, 0.03206718440511912, 0.028138596819558773, 0.9948140736397251], "count": [1111]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014401440508663654], "std": [0.11913875490427017], "count": [1111]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009000900090009], "std": [0.02998799504762859], "count": [1111]}, "timestamp": {"min": [0.0], "max": [55.5], "mean": [27.75], "std": [16.035897230900428], "count": [1111]}, "frame_index": {"min": [0], "max": [1110], "mean": [555.0], "std": [320.7179446180086], "count": [1111]}, "episode_index": {"min": [116], "max": [116], "mean": [116.0], "std": [0.0], "count": [1111]}, "index": {"min": [83573], "max": [84683], "mean": [84128.0], "std": [320.7179446180086], "count": [1111]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1111]}}} +{"episode_index": 117, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07058823529411765]], [[0.050980392156862744]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4105965528301164]], [[0.31899354343788294]], [[0.2366930912990196]]], "std": [[[0.21259312832448748]], [[0.18876246134662744]], [[0.15652105694444435]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0784313725490196]], [[0.0784313725490196]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5519653906728708]], [[0.4487986246744792]], [[0.3838313209683287]]], "std": [[[0.18873750102257866]], [[0.21245713955178014]], [[0.2178974540472488]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.07450980392156863]], [[0.07450980392156863]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5540293842390471]], [[0.4530934424306832]], [[0.3890110048780254]]], "std": [[[0.19407162613286913]], [[0.2140611530209538]], [[0.2185443459296623]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [352]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [352]}, "observation.state": {"min": [3.162766096362908, -4.205817302545118, 0.6999965489994802, 0.0, 0.0, -1.0, 0.0, 0.20150473607752506, -0.3890203060813424, 0.20130398518246118, -0.9884107112884521, -0.11408454179763794, -0.3084157705307007, 0.0003698797372635454, 0.0017432728755272285, -0.04001619284293615], "max": [3.162782550828982, -4.205777003384328, 0.7001484533232973, 0.0, 0.0, 1.0, 3.0251696443883702e-05, 0.6646822561375441, 0.29197993191463834, 0.608982606234671, 0.978977382183075, 0.10902896523475647, 0.3213970959186554, 0.20442400872707367, 0.0396751385086928, -0.0031500657104355893], "mean": [3.162774118526474, -4.205796406217233, 0.7000446740361013, 0.0, 0.0, -0.011363636363636364, 5.0702872289587475e-06, 0.44818506994554747, -0.07041276200735073, 0.3897438762875689, 0.28783442892811517, -0.026997753376649183, 0.053624756295572625, 0.10390486722785268, 0.02441587044457655, -0.024931224782774656], "std": [2.073317532688212e-06, 5.336172295447454e-06, 4.204028436904432e-05, 0.0, 0.0, 0.9999354317997736, 5.619741911985321e-06, 0.12579217103244048, 0.2756083921437487, 0.11893168840781405, 0.921705507296222, 0.061994661492621825, 0.20738153217633268, 0.07974427971004985, 0.017473700176012998, 0.017205418907781593], "count": [352]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9571428571428572, -0.9214285714285714, -0.5928571428571429, -0.3342857142857143, -0.29714285714285715, -0.2285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.44285714285714284, 1.0, 1.0, 0.2257142857142857, 0.17714285714285713, 0.19714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.014529220779220798, 0.059922889610389586, -0.00874594155844155, 0.0002110389610389601, -0.0028003246753246754, -0.004131493506493508, -0.19318181818181818], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3024539187820043, 0.38939808319854424, 0.3063829105322, 0.07183973859506057, 0.054063725196140715, 0.045511159519530074, 0.9811629758220457], "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": [117], "max": [117], "mean": [117.0], "std": [0.0], "count": [352]}, "index": {"min": [84684], "max": [85035], "mean": [84859.5], "std": [101.61323732663968], "count": [352]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [352]}}} +{"episode_index": 118, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5239385148590687]], [[0.5159642292097503]], [[0.514275759229473]]], "std": [[[0.1556011320824424]], [[0.16053083167845525]], [[0.16113309024757289]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5985974234786688]], [[0.5417476824592141]], [[0.5248523505715762]]], "std": [[[0.1684020109641333]], [[0.17908654680494732]], [[0.18330106468776386]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6053305891448376]], [[0.5419366323433671]], [[0.526261526668773]]], "std": [[[0.1837098427053452]], [[0.19647248080464552]], [[0.20032248045245118]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [326]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [326]}, "observation.state": {"min": [5.338214737902079, -2.0038342149753072, 0.6999943094455474, 0.0, 0.0, -0.00027776413480751216, 1.0, 0.14633586922093933, -0.5662225769704436, 0.16776369203786168, -0.9893481135368347, -0.4544033110141754, -0.20277024805545807, 0.00087446573888883, 0.01805603118690374, -0.040281740612539974], "max": [5.338277413340787, -2.0036003658307897, 0.7036491444865839, 0.0, 0.0, -2.9487619030987844e-05, 1.0, 0.45246967411431527, 0.201567206921333, 0.5934290315804666, 0.9965062737464905, 0.4550013840198517, 0.288509726524353, 0.1677892506122589, 0.039967620742551724, -0.020530367667096452], "mean": [5.338260725682819, -2.003647253541201, 0.7007243308587361, 0.0, 0.0, -8.856455947994183e-05, 1.0, 0.3056651871294127, -0.1569408005284771, 0.37000621334675005, 0.34159149238668335, 0.04790900455662078, 0.03970678804936516, 0.04782049376406833, 0.032940653514208315, -0.03479969036756761], "std": [7.030543996966858e-06, 3.348270641511475e-05, 0.0013452168316224315, 0.0, 0.0, 3.712970741036867e-05, 0.0, 0.07969793820075372, 0.2891600060751165, 0.12328212226749846, 0.8889469677944339, 0.2713731575492869, 0.11053382413806197, 0.03269136697062812, 0.007817409485368045, 0.006419220371677922], "count": [326]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.75, -1.0, -0.7214285714285715, -0.15428571428571428, -0.24, -0.11714285714285716, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.8642857142857142, 1.0, 1.0, 0.07714285714285714, 0.21714285714285717, 0.2142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.04469763365468884, 0.06314636283961439, -0.047414548641542494, -0.012348816827344438, 0.0014548641542506608, 0.019614373356704646, -0.2147239263803681], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.33852580055192766, 0.4860392442761877, 0.4304783911268659, 0.04082938233724202, 0.08396453495316958, 0.0579314691969546, 0.9766747848899342], "count": [326]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04907975345849991], "std": [0.21603456139564514], "count": [326]}, "next.done": {"min": [false], "max": [true], "mean": [0.003067484662576687], "std": [0.055299866188098], "count": [326]}, "timestamp": {"min": [0.0], "max": [16.25], "mean": [8.125], "std": [4.705382556179678], "count": [326]}, "frame_index": {"min": [0], "max": [325], "mean": [162.5], "std": [94.10765112359356], "count": [326]}, "episode_index": {"min": [118], "max": [118], "mean": [118.0], "std": [0.0], "count": [326]}, "index": {"min": [85036], "max": [85361], "mean": [85198.5], "std": [94.10765112359356], "count": [326]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [326]}}} +{"episode_index": 119, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.03529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.614531756331131]], [[0.595835447349825]], [[0.5422579256847216]]], "std": [[[0.2602440081254819]], [[0.2291752832675774]], [[0.27219757297561054]]], "count": [146]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6993881987910613]], [[0.5997773848007739]], [[0.5113348682945594]]], "std": [[[0.19102359424653056]], [[0.18412258010496052]], [[0.20354440765820134]]], "count": [146]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6940163341094947]], [[0.5989246086634971]], [[0.5099566824167864]]], "std": [[[0.17884236335460185]], [[0.1791364099870943]], [[0.21339056380879734]]], "count": [146]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [772]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [772]}, "observation.state": {"min": [4.4866124886181336, -1.9670663640764319, 0.6999994556807172, 0.0, 0.0, 5.797191624878906e-05, 1.0, 0.14389169122118783, -0.8271267887644498, 0.15965207592683306, -0.9441636800765991, -0.4851822853088379, -0.22409579157829285, 2.3818351110094227e-05, 0.0033464790340233456, -0.04035704910739151], "max": [4.486653079530009, -1.9668985370632903, 0.7020523007439051, 0.0, 0.0, 0.00026048527797684073, 1.0, 0.5797156030541855, 0.06565955808034096, 0.5889053753242829, 0.9993176460266113, 0.4855992794036865, 0.2756267189979553, 0.2126798927783966, 0.040010313845840445, -0.0025681315063844127], "mean": [4.4866379671072565, -1.96699941874376, 0.700717409192477, 0.0, 0.0, 0.0001498230926346331, 1.0, 0.35779141169665746, -0.3149572732485579, 0.3271900943509447, 0.755123332297246, 0.004991727774972434, 0.03413255763310807, 0.04775097406621411, 0.02739976600558914, -0.02666144106233272], "std": [3.547309626277195e-06, 1.261219800448995e-05, 0.000578029229296843, 0.0, 0.0, 1.5693891546468416e-05, 0.0, 0.10044206500704767, 0.2891847959821502, 0.10294380942838664, 0.5939952883531951, 0.22889643679786167, 0.13494801432817544, 0.05370007976895549, 0.015023238064828073, 0.015316553668187719], "count": [772]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7178571428571429, -0.7982142857142857, -0.8678571428571429, -0.18857142857142858, -0.1285714285714286, -0.22714285714285717, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6107142857142858, 1.0, 0.9482142857142856, 0.08571428571428572, 0.19500000000000003, 0.15642857142857142, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.017348260547742418, 0.014482327905255363, -0.04240608808290137, -0.005057364914877867, 0.01136380458919319, 0.0014433752775721636, -0.12435233160621761], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22157299342243497, 0.3272006566000464, 0.2679975247790943, 0.02904214189903556, 0.04219579511440535, 0.048535246818391886, 0.9922381254638883], "count": [772]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020725388079881668], "std": [0.14246349036693573], "count": [772]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012953367875647669], "std": [0.035967469888380364], "count": [772]}, "timestamp": {"min": [0.0], "max": [38.55], "mean": [19.275], "std": [11.142850847067818], "count": [772]}, "frame_index": {"min": [0], "max": [771], "mean": [385.5], "std": [222.85701694135636], "count": [772]}, "episode_index": {"min": [119], "max": [119], "mean": [119.0], "std": [0.0], "count": [772]}, "index": {"min": [85362], "max": [86133], "mean": [85747.5], "std": [222.85701694135636], "count": [772]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [772]}}} +{"episode_index": 120, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47317049093807445]], [[0.47115998092352174]], [[0.4724303140079274]]], "std": [[[0.2814785902684405]], [[0.28203877890890905]], [[0.28016795009236917]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5619308597340303]], [[0.5352163911707262]], [[0.5284051699170879]]], "std": [[[0.2666338335514613]], [[0.28149171197975315]], [[0.27266359960573316]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5600117486691942]], [[0.5330283975040211]], [[0.5269381217208563]]], "std": [[[0.26303680649553574]], [[0.27875440671928176]], [[0.27087284899549857]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [404]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [404]}, "observation.state": {"min": [0.7497237433077484, -2.5999860984666046, 0.699998403344835, 0.0, 0.0, -1.0, 7.785102695834212e-08, 0.2070551166425354, -0.6322676252182542, 0.20200497533211348, -0.9849722385406494, -0.04538103938102722, -0.16878198087215424, 0.0008327212417498231, 0.019169504395178474, -0.0402470151256339], "max": [0.8096734634470005, -2.2148576189776215, 0.700684824857109, 0.0, 0.0, -0.9998763799667358, 0.015726447105407715, 0.5196988712784045, 0.24271855394394848, 0.6169425178192673, 0.9873921871185303, 0.6379481554031372, 0.16897042095661163, 0.3032534718513489, 0.04010948696589769, -0.020521236423335542], "mean": [0.7606978463853604, -2.2403493071884135, 0.7002410336453315, 0.0, 0.0, -0.9999275369809406, 0.011782721102522598, 0.3385436295653572, -0.18143728595961126, 0.4441102596814467, 0.5178803246800262, 0.20699316934488787, -0.042850159090421856, 0.1472740489378627, 0.033247558630183256, -0.03442077293149704], "std": [0.019059868935492774, 0.08385448113442863, 0.0002705770502181218, 0.0, 0.0, 1.8328762452864247e-05, 0.0024753603750306673, 0.09914429058472032, 0.30559135687656475, 0.128192150512717, 0.7788659362938708, 0.2093551124571234, 0.08581733462588198, 0.08718765831417695, 0.008785885313988898, 0.007702996463875946], "count": [404]}, "action": {"min": [-0.24285714285714285, -0.7357142857142858, 0.0, 0.0, -1.0, -0.6214285714285714, -1.0, -0.6857142857142858, -0.2857142857142857, -0.14285714285714285, -0.005714285714285714, -1.0], "max": [0.40714285714285714, 0.0, 0.06571428571428571, 0.0, 1.0, 0.8428571428571429, 1.0, 1.0, 0.18571428571428572, 0.27714285714285714, 0.24, 1.0], "mean": [0.011792786421499293, -0.06458628005657707, 0.0018670438472418664, 0.0, -0.6237623762376238, 0.020880480905233346, 0.04701202263083457, -0.0336633663366336, -0.006485148514851492, 0.015601131541725604, 0.02246817538896747, -0.35148514851485146], "std": [0.09411198526948057, 0.15362293331141177, 0.008007731599969186, 0.0, 0.7816140339006115, 0.2489010553645349, 0.4451928164558992, 0.30871294791866477, 0.06952042392694072, 0.06160977293225858, 0.05179258109401215, 0.9361934577711416], "count": [404]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.039603959769010544], "std": [0.19502688944339752], "count": [404]}, "next.done": {"min": [false], "max": [true], "mean": [0.0024752475247524753], "std": [0.0496902472769424], "count": [404]}, "timestamp": {"min": [0.0], "max": [20.15], "mean": [10.075000000000001], "std": [5.831219855227549], "count": [404]}, "frame_index": {"min": [0], "max": [403], "mean": [201.5], "std": [116.62439710455098], "count": [404]}, "episode_index": {"min": [120], "max": [120], "mean": [120.0], "std": [0.0], "count": [404]}, "index": {"min": [86134], "max": [86537], "mean": [86335.5], "std": [116.62439710455098], "count": [404]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [404]}}} +{"episode_index": 121, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5669080535290288]], [[0.5891356632008272]], [[0.5834210366641774]]], "std": [[[0.28820078697962087]], [[0.25277168546466755]], [[0.25132255773167583]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.08627450980392157]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6654852013681449]], [[0.6524353685566023]], [[0.6375912840600108]]], "std": [[[0.19272498398741805]], [[0.19721743332327807]], [[0.20254842640249296]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.03529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6799129022336473]], [[0.667185323079427]], [[0.6522060989679074]]], "std": [[[0.1948258344744722]], [[0.1993301299306541]], [[0.2045471787521296]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [317]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [317]}, "observation.state": {"min": [2.8450712433943997, -2.303188644282891, 0.6999871125519299, 0.0, 0.0, -0.7071616053581238, 0.7070519328117371, 0.2079476605664916, -0.39578453697476723, 0.1394179719783083, -0.9937161803245544, -0.43896493315696716, -0.2731609344482422, 0.00011278992315055802, 0.00015665245317676897, -0.04000899549512573], "max": [3.201212607042703, -2.227104959394072, 0.7001087475832825, 0.0, 0.0, -0.7042316198348999, 0.709970235824585, 0.4425643295760051, 0.2575594826940959, 0.5813281650131481, 0.9872130155563354, 0.43992966413497925, 0.32993683218955994, 0.040607500821352005, 0.04000178890527243, -0.004451584368945965], "mean": [2.874139652110569, -2.292975400047342, 0.7000090465124071, 0.0, 0.0, -0.704627429085199, 0.7095763117357007, 0.32402090148962537, -0.06444305038774308, 0.3748880915596703, -0.1870308281495368, -0.05454149649534316, -0.01787428541420386, 0.016497545268491082, 0.025640155930989905, -0.026749711089769132], "std": [0.09035538840527253, 0.02082897733786566, 2.22266312602785e-05, 0.0, 0.0, 0.0009080869949776773, 0.0009041768717398545, 0.07248738608113629, 0.23978187416488175, 0.1385248284980359, 0.925802830860067, 0.25241786598168603, 0.2010984951856608, 0.013666477966505917, 0.017340186130966443, 0.015948667926398003], "count": [317]}, "action": {"min": [-0.4714285714285715, -0.75, -0.005714285714285714, 0.0, -1.0, -0.9142857142857143, -1.0, -0.7071428571428572, -0.13714285714285715, -0.07714285714285714, -0.15714285714285714, -1.0], "max": [0.6071428571428572, 0.0, 0.0, 0.0, 1.0, 0.9642857142857144, 1.0, 1.0, 0.011428571428571429, 0.1657142857142857, 0.3514285714285714, 1.0], "mean": [0.013114015322217216, -0.048129788192879684, -2.7039206849932402e-05, 0.0, -0.6403785488958991, 0.03519603424966193, 0.051509689049121184, 0.03544389364578633, -0.013780982424515543, 0.010428120775123931, 0.019107706173952233, -0.2618296529968454], "std": [0.11537858354969496, 0.15183975955820936, 0.0003578086208432478, 0.0, 0.768059446992209, 0.3024804990940363, 0.4583964263660123, 0.3904767380305517, 0.03169013499554816, 0.04534612126478652, 0.09090092250607519, 0.9651141035191381], "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": [121], "max": [121], "mean": [121.0], "std": [0.0], "count": [317]}, "index": {"min": [86538], "max": [86854], "mean": [86696.0], "std": [91.50956234186677], "count": [317]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [317]}}} +{"episode_index": 122, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44012656559361013]], [[0.4698532286082673]], [[0.43735532703332647]]], "std": [[[0.2836649658408442]], [[0.2692752124605896]], [[0.286818011093095]]], "count": [173]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6068567782076364]], [[0.5634640919031314]], [[0.5437301184360124]]], "std": [[[0.2849494831170733]], [[0.31291465476015523]], [[0.29472658656142403]]], "count": [173]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5615914720182691]], [[0.5069289529889697]], [[0.4893782080293958]]], "std": [[[0.2833734127939259]], [[0.30870093604800497]], [[0.2874643629401511]]], "count": [173]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [971]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [971]}, "observation.state": {"min": [3.273579580093695, -0.786126859971902, 0.6999982594805306, 0.0, 0.0, 0.7070850729942322, 0.7070738673210144, 0.10170270757644384, -0.394567879091837, 0.10523560696171275, -0.9943661093711853, -0.34979578852653503, -0.16701248288154602, 0.0010280451970174909, 0.003161689963443043, -0.040015917796947624], "max": [3.273643253490681, -0.7860857130518137, 0.7016880393117795, 0.0, 0.0, 0.7071396708488464, 0.7071284651756287, 0.4799817525990036, 0.5702682483072508, 0.5857734498226116, 0.995391309261322, 0.44108134508132935, 0.20703713595867157, 0.23277777433395386, 0.04020592273257961, -0.0050627919849867194], "mean": [3.2736230605977434, -0.7860985571275921, 0.7007824774550113, 0.0, 0.0, 0.7071067173375406, 0.7071067956645506, 0.30267932864026237, 0.19042942854145875, 0.3331922503900909, -0.19132419834421788, 0.04683968417123958, -0.01040232245459855, 0.07881088592625203, 0.029327905077579645, -0.028996752913269825], "std": [4.646715519670996e-06, 3.838613033341263e-06, 0.000672992686488135, 0.0, 0.0, 4.335265319249615e-06, 4.337607025478712e-06, 0.10755840884279337, 0.3133835308760944, 0.1376026368900279, 0.943458050575943, 0.22023436322878523, 0.11790343064326239, 0.048623502259610915, 0.013633992968849248, 0.013143771184923927], "count": [971]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8517857142857143, -0.7446428571428572, -0.4928571428571429, -0.12214285714285715, -0.23357142857142857, -0.13071428571428573, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6910714285714286, 1.0, 0.7607142857142858, 0.11357142857142859, 0.14357142857142857, 0.09857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0054509342356922, 0.032882153891422794, -0.010890834191555041, -0.002403266146829484, 0.003314697660732678, -0.002513608945122857, -0.13903192584963955], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.248527700343094, 0.3177384379694384, 0.259903444429864, 0.025726756956659536, 0.040088161066374084, 0.034233325779448674, 0.9902878993477376], "count": [971]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016477858647704124], "std": [0.1273041069507599], "count": [971]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010298661174047373], "std": [0.032074997945205845], "count": [971]}, "timestamp": {"min": [0.0], "max": [48.5], "mean": [24.25], "std": [14.015170352157694], "count": [971]}, "frame_index": {"min": [0], "max": [970], "mean": [485.0], "std": [280.30340704315387], "count": [971]}, "episode_index": {"min": [122], "max": [122], "mean": [122.0], "std": [0.0], "count": [971]}, "index": {"min": [86855], "max": [87825], "mean": [87340.0], "std": [280.30340704315387], "count": [971]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [971]}}} +{"episode_index": 123, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.047058823529411764]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5688064433976716]], [[0.5640138379863665]], [[0.5551930999157476]]], "std": [[[0.18446247267119964]], [[0.18085738526310974]], [[0.17366893305127515]]], "count": [125]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6180422415939032]], [[0.6113779325597427]], [[0.5995817172181372]]], "std": [[[0.19492473974188784]], [[0.1980152684166767]], [[0.1969262696534487]]], "count": [125]}, "observation.images.robot0_agentview_right": {"min": [[[0.06666666666666667]], [[0.06666666666666667]], [[0.06666666666666667]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5919456648284315]], [[0.5874370236864277]], [[0.5800709836473652]]], "std": [[[0.19163927052589835]], [[0.19444149196102184]], [[0.19456284987826675]]], "count": [125]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [631]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [631]}, "observation.state": {"min": [2.7437928845834327, -0.8287225538349867, 0.6999990063040291, 0.0, 0.0, 0.7070823311805725, 0.7070214152336121, 0.17168768383911504, -0.6394925121765485, 0.09854561757344538, -0.9910209774971008, -0.6177780032157898, -0.1541864275932312, 6.231756560737267e-05, 0.00347981620284811, -0.0400041899931806], "max": [2.743895927872227, -0.8286707690367611, 0.7018892509821908, 0.0, 0.0, 0.7071921825408936, 0.7071312069892883, 0.4903847825924669, 0.011399995350219072, 0.6116290487608355, 0.9969347715377808, 0.6190106868743896, 0.12347421795129776, 0.05524446442723274, 0.040009988281728984, -0.003105203618479255], "mean": [2.743879233519605, -0.8286914220261504, 0.7011137311219686, 0.0, 0.0, 0.7071080801037336, 0.7071054369069506, 0.3551717961897744, -0.26970195676984254, 0.3135401124251868, 0.1455362972858024, 0.002994151186735241, 0.0012315797755400992, 0.016568437157114473, 0.028223570396513305, -0.02795403464995952], "std": [1.1439878918293687e-05, 3.361552629204966e-06, 0.0006879022452111458, 0.0, 0.0, 1.1655066004994948e-05, 1.1648069584938168e-05, 0.08988527255473824, 0.19823344362272102, 0.11674059215568067, 0.9292824395587196, 0.3316726222413888, 0.06981568596422527, 0.009347541641354285, 0.01572750423729009, 0.016283287154017285], "count": [631]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.675, -0.567857142857143, -0.4928571428571429, -0.11357142857142859, -0.08571428571428572, -0.17142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3803571428571429, 1.0, 0.7767857142857144, 0.055714285714285716, 0.1157142857142857, 0.375, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0032091917591125386, -0.0237548109576636, -0.03382386235001112, -0.003338238623500116, 0.006686665157346622, -0.005318089200815037, -0.35340729001584786], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20460074983000517, 0.31148968433813795, 0.27919538176763237, 0.02024995708653198, 0.024128853521014508, 0.08345268293608187, 0.9354695544824843], "count": [631]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025356577709317207], "std": [0.15720568597316742], "count": [631]}, "next.done": {"min": [false], "max": [true], "mean": [0.001584786053882726], "std": [0.039777814256770634], "count": [631]}, "timestamp": {"min": [0.0], "max": [31.5], "mean": [15.75], "std": [9.10768905925098], "count": [631]}, "frame_index": {"min": [0], "max": [630], "mean": [315.0], "std": [182.1537811850196], "count": [631]}, "episode_index": {"min": [123], "max": [123], "mean": [123.0], "std": [0.0], "count": [631]}, "index": {"min": [87826], "max": [88456], "mean": [88141.0], "std": [182.1537811850196], "count": [631]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [631]}}} +{"episode_index": 124, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.265432565994419]], [[0.26933061366964584]], [[0.2515525331870252]]], "std": [[[0.1710182659640674]], [[0.1683420816277967]], [[0.13876817796442315]]], "count": [201]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.06274509803921569]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3987005123428316]], [[0.36804411778995644]], [[0.3487353251859765]]], "std": [[[0.2306879458220391]], [[0.22826845935847645]], [[0.23683286491187291]]], "count": [201]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.054901960784313725]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3829786518540874]], [[0.35394033019501525]], [[0.3354595990730325]]], "std": [[[0.22596847676233642]], [[0.21933063749282972]], [[0.22526515207139525]]], "count": [201]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1178]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1178]}, "observation.state": {"min": [2.678492994480394, -0.8300070533607999, 0.6999989905656204, 0.0, 0.0, 0.7070436477661133, 0.707078218460083, 0.09971190399961338, -0.09513692747547742, 0.028674042849322734, -0.9987319111824036, -0.9918580055236816, -0.258934885263443, 2.7518690330907702e-06, -0.0012341575979976567, -0.04060451053132275], "max": [2.6786227364416946, -0.8299437589528544, 0.7021272568983118, 0.0, 0.0, 0.7071352601051331, 0.7071698904037476, 0.5271299944915419, 0.8095612119562898, 0.5917675909248356, 0.9956828355789185, 0.9819628000259399, 0.23796509206295013, 0.16874399781227112, 0.040011096347786386, -0.002577973732674657], "mean": [2.678522602187966, -0.8299541423829969, 0.7008491944739815, 0.0, 0.0, 0.7071047375177891, 0.7071087745940139, 0.3610609386294781, 0.2771898069480015, 0.2940257699399776, -0.09278097633645571, -0.10617252360517081, -0.008762086214693753, 0.05489412536776546, 0.02601056159881391, -0.026334832624734832], "std": [9.251746570429718e-06, 4.2157029318266685e-06, 0.0005975444719894726, 0.0, 0.0, 7.754084910155037e-06, 7.754847667459016e-06, 0.10453385139972622, 0.25064574044400223, 0.1455178619266325, 0.7709209526183617, 0.5992734113820849, 0.14765532205510434, 0.042179592753504865, 0.017134927862640273, 0.01689115463723192], "count": [1178]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9267857142857143, -1.0, -0.40178571428571436, -0.08785714285714287, -0.21857142857142856, -0.1157142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6160714285714286, 0.7178571428571429, 0.7178571428571429, 0.09857142857142857, 0.15, 0.3342857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.013392857142857128, 0.01826491632306578, -0.025234962406015048, -0.0007858355566335216, 0.0011405529953917094, 0.019385762794081995, -0.24108658743633277], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20007954453668692, 0.2715395952514137, 0.23414030977645567, 0.023718937568146234, 0.042060597662263235, 0.07232484582673036, 0.9705036101727336], "count": [1178]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013582343235611916], "std": [0.11574914306402206], "count": [1178]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008488964346349745], "std": [0.029123458061813996], "count": [1178]}, "timestamp": {"min": [0.0], "max": [58.85], "mean": [29.425], "std": [17.00295930125106], "count": [1178]}, "frame_index": {"min": [0], "max": [1177], "mean": [588.5], "std": [340.05918602502123], "count": [1178]}, "episode_index": {"min": [124], "max": [124], "mean": [124.0], "std": [0.0], "count": [1178]}, "index": {"min": [88457], "max": [89634], "mean": [89045.5], "std": [340.05918602502123], "count": [1178]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1178]}}} +{"episode_index": 125, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.07450980392156863]], [[0.06666666666666667]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6291817142262178]], [[0.6231504708084405]], [[0.6194165685317096]]], "std": [[[0.2361385881903218]], [[0.23589881007654898]], [[0.23638050765916732]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6772927228142234]], [[0.6636930541992188]], [[0.6492500598383885]]], "std": [[[0.20433977737420636]], [[0.20274409136666707]], [[0.2021338763239477]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.09411764705882353]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6774295809876686]], [[0.6612049752029718]], [[0.6437686875287225]]], "std": [[[0.21135568507775845]], [[0.2063703952388525]], [[0.2056729949775739]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [233]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [233]}, "observation.state": {"min": [-0.8461240457955541, -1.9632291522323035, 0.6999980984484423, 0.0, 0.0, -0.0001470952993258834, 1.0, 0.19876333905790555, -0.09816486209453101, 0.1020421493100826, -0.9937106966972351, -0.20162618160247803, -0.24292801320552826, 0.00010140045924345031, 0.0009841447313668579, -0.03974604570446099], "max": [-0.8460876199293643, -1.9630638061880958, 0.7007641238368646, 0.0, 0.0, 3.207190093235113e-05, 1.0, 0.5042369968062024, 0.3928173076140318, 0.5960352749259272, 0.9724819660186768, 0.2005653977394104, 0.24586515128612518, 0.20452818274497986, 0.04046043303582998, -0.0022120092850023737], "mean": [-0.8460929293111139, -1.96315820477849, 0.7002215951189682, 0.0, 0.0, -8.670546078236695e-05, 1.0, 0.3732627425067326, 0.14199290333082976, 0.31390489904191665, -0.6923234577854304, 0.07218981217672897, 0.09958514554302164, 0.11394052933882187, 0.02640970506826199, -0.026192683477588016], "std": [5.114108852325981e-06, 1.7378745428492826e-05, 0.0002676986074111185, 0.0, 0.0, 2.121864464220199e-05, 0.0, 0.09151269892397144, 0.18628390251408847, 0.12316413031590301, 0.671592379963194, 0.12446491402371712, 0.13796710944364401, 0.08375233356090184, 0.015967250531208434, 0.015686659858173056], "count": [233]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8214285714285715, -1.0, -0.7785714285714286, -0.11142857142857143, -0.13142857142857142, -0.09142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6785714285714286, 1.0, 1.0, 0.2914285714285714, 0.2857142857142857, -0.0, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.01526670754138568, 0.00892090741876153, -0.06931330472103005, -0.002427958307786627, 0.024463519313304715, -0.0069773145309625995, -0.2532188841201717], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.32682995068687287, 0.48325276164262937, 0.4020074676621635, 0.05741069739301039, 0.08410034748254168, 0.017859011856731097, 0.9674090121168681], "count": [233]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.06866952776908875], "std": [0.25289130210876465], "count": [233]}, "next.done": {"min": [false], "max": [true], "mean": [0.004291845493562232], "std": [0.06537144296878891], "count": [233]}, "timestamp": {"min": [0.0], "max": [11.6], "mean": [5.8], "std": [3.363034344160048], "count": [233]}, "frame_index": {"min": [0], "max": [232], "mean": [116.0], "std": [67.26068688320095], "count": [233]}, "episode_index": {"min": [125], "max": [125], "mean": [125.0], "std": [0.0], "count": [233]}, "index": {"min": [89635], "max": [89867], "mean": [89751.0], "std": [67.26068688320095], "count": [233]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [233]}}} +{"episode_index": 126, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6721792536716835]], [[0.6650214801863128]], [[0.64878760842716]]], "std": [[[0.21589645666663054]], [[0.21458589776005763]], [[0.20911199430618385]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.08235294117647059]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5702158861347273]], [[0.5688190451229319]], [[0.5666050145766314]]], "std": [[[0.1943676498535029]], [[0.1922579278909248]], [[0.18445095829425598]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.08235294117647059]], [[0.08235294117647059]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5888481792375153]], [[0.5871273953306909]], [[0.5837571309407552]]], "std": [[[0.20603226785335405]], [[0.2039965012806977]], [[0.1964921014153674]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [287]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [287]}, "observation.state": {"min": [0.8135389093736703, -1.5714586102905468, 0.6999960452077209, 0.0, 0.0, -1.0, 0.0, 0.1559131149551476, -0.5261075142819374, 0.12837999932755373, -0.9963488578796387, -0.40611639618873596, -0.17454029619693756, 0.0007808678783476353, 0.004972072549988201, -0.04000493521360614], "max": [0.813606125023739, -1.5713544663864396, 0.700656019142233, 0.0, 0.0, 1.0, 3.844684761133976e-05, 0.46530941494442746, 0.3354498259317378, 0.5889628990174263, 0.9978291988372803, 0.3246304988861084, 0.2058766633272171, 0.15257130563259125, 0.03994938077217454, -0.0037880108168062703], "mean": [0.8135476203355891, -1.5714340849392272, 0.7001662935577532, 0.0, 0.0, 0.03832752613240418, 9.99216944636876e-06, 0.29043198092599587, -0.1513545954914767, 0.3552213260744265, 0.5316507394720869, -0.15104346114895484, 0.047184466153143124, 0.0445957005904981, 0.02390531682588928, -0.02388964138354238], "std": [7.283834802395203e-06, 1.2010165225766034e-05, 0.0002115713329770706, 0.0, 0.0, 0.999265230427122, 9.922361053000105e-06, 0.09017928180566516, 0.32975013122196534, 0.121050442949458, 0.8021485596135414, 0.19501110682074332, 0.08862281365136891, 0.031504997972816425, 0.016338108481989525, 0.01657847933996607], "count": [287]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7000000000000001, -0.9214285714285714, -0.8357142857142857, -0.1457142857142857, -0.22, -0.26857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.9071428571428573, 1.0, 0.807142857142857, 0.15714285714285714, 0.18, 0.35428571428571426, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.02451468392234943, 0.04375311100049768, -0.024888003982080666, 0.0014335490293678479, -0.0023295171727227447, 0.006540567446490792, -0.10801393728222997], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2741786571805237, 0.5481565695546172, 0.37414238120164944, 0.054084863072183034, 0.05718744217436416, 0.1320739663040669, 0.99414937979802], "count": [287]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05574912950396538], "std": [0.22943665087223053], "count": [287]}, "next.done": {"min": [false], "max": [true], "mean": [0.003484320557491289], "std": [0.058925207405183845], "count": [287]}, "timestamp": {"min": [0.0], "max": [14.3], "mean": [7.15], "std": [4.142463035441596], "count": [287]}, "frame_index": {"min": [0], "max": [286], "mean": [143.0], "std": [82.84926070883192], "count": [287]}, "episode_index": {"min": [126], "max": [126], "mean": [126.0], "std": [0.0], "count": [287]}, "index": {"min": [89868], "max": [90154], "mean": [90011.0], "std": [82.84926070883192], "count": [287]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [287]}}} +{"episode_index": 127, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5694907850220782]], [[0.5685431642164898]], [[0.5700567293866711]]], "std": [[[0.2559691311059085]], [[0.2580610163360022]], [[0.25970983707608014]]], "count": [143]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6405855794739498]], [[0.5996622687878146]], [[0.5758960865626982]]], "std": [[[0.28643083327996577]], [[0.30935604451850107]], [[0.2864007236639331]]], "count": [143]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5849732947548966]], [[0.5559616183018498]], [[0.5329885324038516]]], "std": [[[0.313028414916483]], [[0.3203513523655285]], [[0.2924076306185799]]], "count": [143]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [754]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [754]}, "observation.state": {"min": [1.690473472554294, -0.805769146336228, 0.6999960675627108, 0.0, 0.0, 0.707076907157898, 0.7070793509483337, 0.11775611713317558, -0.23447643037816612, 0.10567570384571034, -0.9972900152206421, -0.3963101804256439, -0.14360472559928894, 0.00020644208416342735, 0.0012640222971271793, -0.04001094497845714], "max": [1.6905417759667323, -0.8057390989145553, 0.7018002195633661, 0.0, 0.0, 0.7071341276168823, 0.7071366310119629, 0.4710203530898624, 0.6487198088663941, 0.5975917528101472, 0.99871426820755, 0.11741533875465393, 0.15995758771896362, 0.2080376297235489, 0.04000113695926616, -0.0034178889121204052], "mean": [1.690492068394633, -0.8057465048217578, 0.7003908275773635, 0.0, 0.0, 0.7071057408652824, 0.7071077748540225, 0.3249063580226076, 0.30734099075580584, 0.29836982765133, 0.012659647894791013, -0.07244818695680058, -0.03293210167333294, 0.050970500387978276, 0.023158707986167003, -0.023836705801390596], "std": [8.171083354094013e-06, 4.080055854580151e-06, 0.0005683167660122096, 0.0, 0.0, 6.228927114078472e-06, 6.228683310269559e-06, 0.0945253863774973, 0.2964799656116867, 0.12121679203417991, 0.9758657925582764, 0.17872542368403244, 0.06881799229756458, 0.043769168121519056, 0.016748012737976204, 0.016251711988664687], "count": [754]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7339285714285714, -0.8678571428571429, -0.40714285714285714, -0.12000000000000001, -0.20357142857142857, -0.09642857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5517857142857143, 0.9857142857142858, 0.6107142857142858, 0.1157142857142857, 0.19714285714285715, 0.12214285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0032398635846911696, 0.04839901477832511, -0.02356716559302775, 0.001938234179613492, 0.00445907540735128, 0.0021286472148541137, -0.042440318302387266], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25943276169743096, 0.3740005782652502, 0.261668041684171, 0.0262706397426565, 0.039417126526920296, 0.03568464762630559, 0.9990990037941103], "count": [754]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02122015878558159], "std": [0.144117534160614], "count": [754]}, "next.done": {"min": [false], "max": [true], "mean": [0.001326259946949602], "std": [0.03639369425467438], "count": [754]}, "timestamp": {"min": [0.0], "max": [37.65], "mean": [18.825], "std": [10.88304300276352], "count": [754]}, "frame_index": {"min": [0], "max": [753], "mean": [376.5], "std": [217.66086005527038], "count": [754]}, "episode_index": {"min": [127], "max": [127], "mean": [127.0], "std": [0.0], "count": [754]}, "index": {"min": [90155], "max": [90908], "mean": [90531.5], "std": [217.66086005527038], "count": [754]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [754]}}} +{"episode_index": 128, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.023529411764705882]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5548935768342793]], [[0.5513419031506083]], [[0.5271137650992639]]], "std": [[[0.2582206944531903]], [[0.2548307588433049]], [[0.2668772012112054]]], "count": [182]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5614280508345917]], [[0.5176168858093116]], [[0.5063902493464333]]], "std": [[[0.26933038936962334]], [[0.2910299121336385]], [[0.26958481265458234]]], "count": [182]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5495131249521293]], [[0.5033383383213562]], [[0.4905283409468806]]], "std": [[[0.28031783778971847]], [[0.29907662319689843]], [[0.2752188394051044]]], "count": [182]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1034]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1034]}, "observation.state": {"min": [0.825721360438809, -1.594588575526316, 0.6999993470978766, 0.0, 0.0, -1.0, 0.0, 0.1663507126557744, -0.5608431282457453, 0.16628979502468166, -0.9992157220840454, -0.21349653601646423, -0.17350180447101593, 2.8806429327232763e-05, 0.0028352471561635087, -0.04001282689223704], "max": [0.82575257717891, -1.594550868675092, 0.7013868035754283, 0.0, 0.0, 1.0, 3.216254117432982e-05, 0.5839050404823145, 0.3781669883231662, 0.5819584024837043, 0.9995328187942505, 0.2130960375070572, 0.2068692147731781, 0.23966892063617706, 0.0400596424093379, -0.0019133938440260587], "mean": [0.8257266830737894, -1.5945645414991572, 0.7003887304274307, 0.0, 0.0, -0.30947775628626695, 3.8008398218531193e-06, 0.38086828370831693, 0.07803611766255299, 0.3280815392083769, 0.8030234205768925, 0.054029921377780246, 0.055406315055663645, 0.08006033410952668, 0.025952947022721457, -0.025906817727288138], "std": [3.90621418985627e-06, 3.2185543687362445e-06, 0.0004192195892647144, 0.0, 0.0, 0.9509066822585697, 5.251998315979374e-06, 0.10561415934148359, 0.30764106969547533, 0.10326913142703924, 0.5602308036753606, 0.10959548921406548, 0.1155250606956653, 0.059488426771922794, 0.015796340146313117, 0.01608713458667428], "count": [1034]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6642857142857143, -0.5625000000000001, -0.39642857142857146, -0.09642857142857142, -0.09428571428571429, -0.2014285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.41785714285714287, 0.7232142857142858, 0.5357142857142857, 0.11142857142857143, 0.09857142857142857, 0.10500000000000001, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.006294901906604036, 0.025366123238463656, -0.011641682785299727, -0.0037178778668140395, 0.004468085106382984, 0.0004020447637468923, -0.15860735009671179], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19729113227666403, 0.26018421269451814, 0.19550246175535627, 0.020074302110484357, 0.027500682677644373, 0.03915860527840776, 0.9873417384549775], "count": [1034]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015473888255655766], "std": [0.12342790514230728], "count": [1034]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009671179883945841], "std": [0.031083479071543903], "count": [1034]}, "timestamp": {"min": [0.0], "max": [51.65], "mean": [25.825], "std": [14.924497478977308], "count": [1034]}, "frame_index": {"min": [0], "max": [1033], "mean": [516.5], "std": [298.48994957954613], "count": [1034]}, "episode_index": {"min": [128], "max": [128], "mean": [128.0], "std": [0.0], "count": [1034]}, "index": {"min": [90909], "max": [91942], "mean": [91425.5], "std": [298.48994957954613], "count": [1034]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1034]}}} +{"episode_index": 129, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2901958790840555]], [[0.2832690723750438]], [[0.20734145425748424]]], "std": [[[0.2028366087753643]], [[0.18484952606437946]], [[0.1461415974572513]]], "count": [175]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4406215697216387]], [[0.42495447495404415]], [[0.41143789835270045]]], "std": [[[0.23596410479570434]], [[0.23645142292650986]], [[0.24331963980760107]]], "count": [175]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.047058823529411764]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43909226703376664]], [[0.4251948946570816]], [[0.4123896976759454]]], "std": [[[0.2327070784782907]], [[0.23236513901070274]], [[0.23899396770973144]]], "count": [175]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [985]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [985]}, "observation.state": {"min": [0.7376397922656304, -2.481129674494563, 0.6999948187571157, 0.0, 0.0, -1.0, 8.466456336009287e-08, 0.15959959308382787, -0.5710525705801444, 0.08615117847342435, -0.9958919286727905, -0.32902106642723083, -0.19380652904510498, 0.00017569238843861967, 0.0032646145596911995, -0.0400438271792233], "max": [0.8506979355255568, -1.9806672950378184, 0.7003806866906517, 0.0, 0.0, -0.9999955892562866, 0.002997748553752899, 0.38453568489190254, 0.554493217799328, 0.5997267447008379, 0.9978386759757996, 0.325199693441391, 0.1577996462583542, 0.10781581699848175, 0.04000421299592694, -0.0017932456320237178], "mean": [0.7496690201841482, -1.9945910160755587, 0.700042722002734, 0.0, 0.0, -0.9999997792510211, 0.0005687197391609699, 0.29285267018910904, 0.09860435052301302, 0.3183249792590675, 0.13421084245449397, -0.07725840039210877, -0.0016751807977547065, 0.04565434202548591, 0.024962124653051386, -0.024133903633234994], "std": [0.020977666440208053, 0.07521407512089613, 9.241602833465697e-05, 0.0, 0.0, 5.693224838724613e-07, 0.00037079459661825504, 0.06000518934408624, 0.3865358177529512, 0.14093640813345054, 0.9684546315052496, 0.1526795332245053, 0.10891005550487298, 0.029234352255347568, 0.016698189489357897, 0.017711658131992394], "count": [985]}, "action": {"min": [-0.3375, -0.9053571428571429, 0.0, 0.0, -1.0, -0.7714285714285715, -0.8571428571428572, -0.40714285714285714, -0.07714285714285715, -0.1157142857142857, -0.08785714285714287, -1.0], "max": [1.0, 0.0, 0.03214285714285715, 0.0, 1.0, 0.4821428571428571, 0.8892857142857145, 0.7071428571428573, 0.09, 0.22500000000000003, 0.1457142857142857, 1.0], "mean": [0.005643582306018854, -0.017855329949238583, 0.00011965192168237854, 0.0, -0.8802030456852792, 0.000978970268310377, 0.037701232777374964, -0.011519216823785318, -0.001646845540246555, 0.0034829586656997856, -0.0013379260333575113, -0.14517766497461929], "std": [0.07385580157007911, 0.10489577696700689, 0.00159530291944571, 0.0, 0.47459730126325966, 0.16699747423294356, 0.34488047981801895, 0.24059384421631141, 0.021203886343504202, 0.04350482843360331, 0.031179173437399264, 0.9894056021634897], "count": [985]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01624365523457527], "std": [0.12641122937202454], "count": [985]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010152284263959391], "std": [0.03184647135301141], "count": [985]}, "timestamp": {"min": [0.0], "max": [49.2], "mean": [24.6], "std": [14.21724305201258], "count": [985]}, "frame_index": {"min": [0], "max": [984], "mean": [492.0], "std": [284.3448610402516], "count": [985]}, "episode_index": {"min": [129], "max": [129], "mean": [129.0], "std": [0.0], "count": [985]}, "index": {"min": [91943], "max": [92927], "mean": [92435.0], "std": [284.3448610402516], "count": [985]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [985]}}} +{"episode_index": 130, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0784313725490196]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5362120792164522]], [[0.5092476196289062]], [[0.4587290134803922]]], "std": [[[0.18749478972359657]], [[0.18910387863621714]], [[0.20530170940998216]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5800783960678998]], [[0.4962237895890778]], [[0.46562542784447764]]], "std": [[[0.18226832547030272]], [[0.2165872293095398]], [[0.22038389788583887]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5761330111634497]], [[0.4894570791207108]], [[0.46586060886757047]]], "std": [[[0.17356189954134738]], [[0.21523592423119814]], [[0.2203600680718254]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [260]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [260]}, "observation.state": {"min": [2.592622770133196, -0.823303482998799, 0.6999951649035995, 0.0, 0.0, 0.7070863842964172, 0.707080066204071, 0.20331122133839674, 0.013230543531370653, 0.19232919549433225, -0.992990255355835, -0.05688662827014923, -0.3463871479034424, 0.00019906580564565957, 0.008140146314817276, -0.0394945986337409], "max": [2.5926715313140765, -0.8232862261309821, 0.7000308230217974, 0.0, 0.0, 0.707133412361145, 0.7071270942687988, 0.48604663382254065, 0.42182164825811963, 0.5905932525443788, 0.9907096028327942, 0.10794411599636078, 0.12546764314174652, 0.24163664877414703, 0.04002031084119441, -0.007355010572083429], "mean": [2.5926477272246635, -0.8232933900986041, 0.700008140032786, 0.0, 0.0, 0.7071069919146025, 0.7071065187454224, 0.3482393283157901, 0.28154436594667515, 0.36023458933161856, -0.9348607608905205, 0.03535532292265158, -0.0003549724116055586, 0.19265810122518676, 0.028672143641510512, -0.028233797843874447], "std": [4.734578994453449e-06, 1.7305036752014476e-06, 1.0378560326493262e-05, 0.0, 0.0, 4.434734419227302e-06, 4.435910331915205e-06, 0.08367443681969149, 0.11588232468733105, 0.10470177020670143, 0.26972370444813426, 0.05088948454595352, 0.08811592655820251, 0.06755047088508444, 0.014395793692072757, 0.014197819767258367], "count": [260]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.75, -0.8714285714285716, -0.44285714285714284, -0.15714285714285714, -0.26, -0.11142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4, 1.0, 0.9357142857142857, 0.3314285714285714, 0.16857142857142857, 0.011428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.019230769230769273, 0.04967032967032972, -0.02491758241758241, 0.00032967032967033243, -0.010824175824175821, -0.006538461538461539, -0.3230769230769231], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2272167033077578, 0.3346398067559644, 0.30201539324996735, 0.06910746039318012, 0.07226181366256106, 0.019938181844851, 0.946372707644904], "count": [260]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0615384615957737], "std": [0.24031536281108856], "count": [260]}, "next.done": {"min": [false], "max": [true], "mean": [0.0038461538461538464], "std": [0.061897988228581086], "count": [260]}, "timestamp": {"min": [0.0], "max": [12.95], "mean": [6.475], "std": [3.7527489924054342], "count": [260]}, "frame_index": {"min": [0], "max": [259], "mean": [129.5], "std": [75.05497984810869], "count": [260]}, "episode_index": {"min": [130], "max": [130], "mean": [130.0], "std": [0.0], "count": [260]}, "index": {"min": [92928], "max": [93187], "mean": [93057.5], "std": [75.05497984810869], "count": [260]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [260]}}} +{"episode_index": 131, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.050980392156862744]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5938898713124824]], [[0.5858233154665111]], [[0.569430942449095]]], "std": [[[0.22583453076970997]], [[0.21968954724591014]], [[0.2262178245904054]]], "count": [130]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7815524245962658]], [[0.659446841048619]], [[0.5286965325587116]]], "std": [[[0.17609839867128396]], [[0.19872151650765438]], [[0.2548317575444488]]], "count": [130]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.79122371207535]], [[0.694438185655873]], [[0.5856502306263551]]], "std": [[[0.18546622796554202]], [[0.21400476344762334]], [[0.25910041337284256]]], "count": [130]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [661]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [661]}, "observation.state": {"min": [-0.7637751382634967, -2.009093944562673, 0.6999970757629541, 0.0, 0.0, -0.0001976028725039214, 1.0, 0.16526085012194003, -0.41796010773535297, 0.1291593515425119, -0.9979122877120972, -0.22119343280792236, -0.14251187443733215, 0.0001998231455218047, 0.0005426456649940083, -0.04000227081585638], "max": [-0.763733488897284, -2.0089966468684755, 0.7008907485681347, 0.0, 0.0, -6.899960135342553e-05, 1.0, 0.48677367534932064, 0.2703973247696141, 0.6032359073231842, 0.9992324709892273, 0.412699818611145, 0.16657105088233948, 0.23350109159946442, 0.04001782092427607, -0.005774735151533934], "mean": [-0.7637389427129003, -2.0090127612835738, 0.7001047272808902, 0.0, 0.0, -8.947804179916133e-05, 1.0, 0.3415551088033121, -0.028891762207536375, 0.31771696480159034, -0.0532708899336395, 0.10129224806573135, 0.029354670034268338, 0.07980171225880661, 0.0278548769147694, -0.02904439396670648], "std": [3.4708435631106645e-06, 8.204893053864503e-06, 0.00024280046153507675, 0.0, 0.0, 1.0779757501452472e-05, 0.0, 0.07430491899891158, 0.2008649976616948, 0.10620888444885769, 0.9703017643799847, 0.162254993577934, 0.0748669082846473, 0.07908749305908178, 0.015322669744401496, 0.013507233335757627], "count": [661]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5732142857142857, -0.7446428571428572, -0.46071428571428574, -0.12214285714285715, -0.08357142857142857, -0.10285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.43392857142857144, 0.8678571428571429, 0.7660714285714286, 0.09857142857142857, 0.1392857142857143, 0.13285714285714284, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0211205964988113, 0.006783553058137013, -0.01479090123189974, 0.005968229954614223, 0.009864923276421002, -0.005958504430516539, -0.27382753403933435], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1829543482387766, 0.28089656291811205, 0.27719775845068806, 0.02953248376432167, 0.0345539557390313, 0.035439364693564006, 0.9617788111629052], "count": [661]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024205747991800308], "std": [0.15368743240833282], "count": [661]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015128593040847202], "std": [0.0388660592395314], "count": [661]}, "timestamp": {"min": [0.0], "max": [33.0], "mean": [16.5], "std": [9.540702280230738], "count": [661]}, "frame_index": {"min": [0], "max": [660], "mean": [330.0], "std": [190.81404560461476], "count": [661]}, "episode_index": {"min": [131], "max": [131], "mean": [131.0], "std": [0.0], "count": [661]}, "index": {"min": [93188], "max": [93848], "mean": [93518.0], "std": [190.81404560461476], "count": [661]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [661]}}} +{"episode_index": 132, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5183879086506021]], [[0.5126301463578595]], [[0.5115260753756256]]], "std": [[[0.2686334082934985]], [[0.27025280700086285]], [[0.2733740255531459]]], "count": [168]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6167552990739753]], [[0.551039222553442]], [[0.5253310177729132]]], "std": [[[0.2993763352819533]], [[0.3347278727459438]], [[0.3066085276288762]]], "count": [168]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6492476252280698]], [[0.5955466358601547]], [[0.5665662567822539]]], "std": [[[0.3003252919920718]], [[0.33090332047096743]], [[0.30291020565792354]]], "count": [168]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [931]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [931]}, "observation.state": {"min": [2.92315724644931, -1.7191064526654414, 0.6999959695296866, 0.0, 0.0, 7.968805584823713e-05, 1.0, 0.1356603650969599, -0.33471172452813636, 0.12416421172807002, -0.9961011409759521, -0.6328657269477844, -0.19061633944511414, 1.3209189091867302e-05, 0.0029297318164319608, -0.040002388570778646], "max": [2.923208141203968, -1.7189983561899262, 0.7027927888088883, 0.0, 0.0, 0.0001712201483314857, 1.0, 0.49560921618064935, 0.508698170062831, 0.6048701203114483, 0.9991371035575867, 0.6063626408576965, 0.1993815153837204, 0.09310642629861832, 0.040007203000413466, -0.0007837530465931115], "mean": [2.923196432545506, -1.7190627974288561, 0.7011420356857831, 0.0, 0.0, 0.00015045588757109024, 1.0, 0.31897606121253314, 0.06111696792732334, 0.34710198949850846, 0.027789869254693053, -0.054412657020875645, 0.0008803133580935709, 0.02997391714841203, 0.02478143228741272, -0.024677395625643195], "std": [5.905291294567445e-06, 8.781724524984453e-06, 0.0009966399802641083, 0.0, 0.0, 8.484090637735045e-06, 0.0, 0.09779284656476137, 0.2656787649644428, 0.11765703868901495, 0.9250594011687102, 0.36257010741887613, 0.08757836942683915, 0.02249060177516219, 0.016969484659457853, 0.016837646141094148], "count": [931]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.675, -0.6964285714285715, -0.5785714285714285, -0.09214285714285715, -0.15642857142857142, -0.15857142857142859, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6267857142857143, 0.7339285714285714, 0.7232142857142858, 0.13714285714285715, 0.15, 0.11785714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.00790049102347707, 0.007463173239220466, -0.016215283105723507, -0.004877244130735, 0.0028494706153137915, -0.011839803590609184, -0.1385606874328679], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19694250958036716, 0.2532336319833068, 0.2477899485553609, 0.024138871591409854, 0.04091939117482768, 0.05987492814910601, 0.990353944758201], "count": [931]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017185822129249573], "std": [0.12996333837509155], "count": [931]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010741138560687433], "std": [0.03275607020832848], "count": [931]}, "timestamp": {"min": [0.0], "max": [46.5], "mean": [23.25], "std": [13.437819763637256], "count": [931]}, "frame_index": {"min": [0], "max": [930], "mean": [465.0], "std": [268.75639527274507], "count": [931]}, "episode_index": {"min": [132], "max": [132], "mean": [132.0], "std": [0.0], "count": [931]}, "index": {"min": [93849], "max": [94779], "mean": [94314.0], "std": [268.75639527274507], "count": [931]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [931]}}} +{"episode_index": 133, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.67923281946066]], [[0.6893048454733456]], [[0.6848272384861883]]], "std": [[[0.231199707421952]], [[0.238998790462429]], [[0.2869340761723422]]], "count": [185]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5709541761502427]], [[0.5321007446871273]], [[0.5136734650838799]]], "std": [[[0.21916471270107804]], [[0.2402359745290969]], [[0.2622413172099648]]], "count": [185]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.050980392156862744]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5793662939996522]], [[0.5410822975793463]], [[0.5228506102609963]]], "std": [[[0.21510284591245832]], [[0.23654639848208678]], [[0.25908286687811405]]], "count": [185]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1060]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1060]}, "observation.state": {"min": [3.7568332264172466, -2.484327646561177, 0.6999988517051223, 0.0, 0.0, -0.00011489323514979333, 1.0, 0.19368875647262485, -0.6001808367055625, 0.1798827749069395, -0.9977182149887085, -0.5343033075332642, -0.14369042217731476, 0.00010525306424824521, 0.0011640885453675655, -0.039934530241480644], "max": [3.756878166594195, -2.484273447790321, 0.7015507524322724, 0.0, 0.0, -5.903455166844651e-05, 1.0, 0.4648248668857109, 0.3783854341520221, 0.5920935644756284, 0.9366540312767029, 0.8350694179534912, 0.1568380445241928, 0.16940990090370178, 0.04001224555812048, -0.0010578152679669565], "mean": [3.7568713386510493, -2.4842890058995177, 0.7005503310858249, 0.0, 0.0, -7.531962147831503e-05, 1.0, 0.3526501185570046, 0.02943292327634483, 0.3381064263332577, -0.5661240311726085, 0.292823831104445, -0.03542137196957313, 0.06577387714192501, 0.024728407736902457, -0.024233220568860236], "std": [3.318745445009453e-06, 5.365165844340527e-06, 0.00042660360927207773, 0.0, 0.0, 5.618901505986644e-06, 0.0, 0.07314609158291631, 0.34385726465425787, 0.10231227235046936, 0.6410012759233494, 0.41384130579624373, 0.06088111426907716, 0.048198921218349615, 0.016100455836682015, 0.01640487493670886], "count": [1060]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6589285714285714, -0.5303571428571429, -0.2785714285714286, -0.053571428571428575, -0.14142857142857146, -0.165, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5035714285714286, 0.9107142857142857, 0.5089285714285714, 0.12428571428571428, 0.13714285714285715, 0.15857142857142859, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.001758760107816696, 0.02640161725067383, -0.011745283018867915, 0.002302560646900273, 0.003153638814016167, -0.006624663072776259, -0.06037735849056604], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18521336847288658, 0.2816288145330337, 0.17544723793737083, 0.020280617151015576, 0.02968603647662722, 0.04828714726310384, 0.9981756231153333], "count": [1060]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015094339847564697], "std": [0.12192825973033905], "count": [1060]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009433962264150943], "std": [0.030700264330703733], "count": [1060]}, "timestamp": {"min": [0.0], "max": [52.95], "mean": [26.475], "std": [15.299775325147753], "count": [1060]}, "frame_index": {"min": [0], "max": [1059], "mean": [529.5], "std": [305.99550650295504], "count": [1060]}, "episode_index": {"min": [133], "max": [133], "mean": [133.0], "std": [0.0], "count": [1060]}, "index": {"min": [94780], "max": [95839], "mean": [95309.5], "std": [305.99550650295504], "count": [1060]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1060]}}} +{"episode_index": 134, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2796768302169501]], [[0.30641792446959254]], [[0.28882072777841605]]], "std": [[[0.16903077137037287]], [[0.20402338638005332]], [[0.16414816485405637]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.544611177930645]], [[0.5170720771340763]], [[0.5108604993633196]]], "std": [[[0.29216719745323516]], [[0.3018488884047037]], [[0.3078751315141518]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5520695064769071]], [[0.5096205492206648]], [[0.49881385174919574]]], "std": [[[0.27596011159394185]], [[0.2928666369069651]], [[0.3030876480945484]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [239]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [239]}, "observation.state": {"min": [4.064069494768581, -0.8394996235878529, 0.6999982968266519, 0.0, 0.0, 0.7070773243904114, 0.7070742249488831, 0.24490423669602157, -0.06775631446781372, 0.12320464585215873, -0.9964950084686279, -0.25769656896591187, -0.1365102380514145, 0.0009568393579684198, 0.005574751138473501, -0.03994064714817195], "max": [4.064135608602495, -0.8394590476784372, 0.7008249954066563, 0.0, 0.0, 0.707139253616333, 0.7071361541748047, 0.5617201068854805, 0.2208719524949978, 0.5880993232857608, 0.996544361114502, 0.12340040504932404, 0.13607774674892426, 0.10788076370954514, 0.0400020247162561, -0.00601777562773931], "mean": [4.064108316753248, -0.8394677404300483, 0.700224032992271, 0.0, 0.0, 0.7071075369623415, 0.7071059765177292, 0.4570654002751268, 0.09518807239801695, 0.32502637368785464, -0.005118171041480667, -0.04492713217954755, -0.07215371848377262, 0.030016493425601275, 0.028546758645089428, -0.028947564789810306], "std": [8.91217065656767e-06, 6.157374107474741e-06, 0.00030183667039136773, 0.0, 0.0, 8.973309823840823e-06, 8.974139054481589e-06, 0.10138622552427055, 0.12409620135749101, 0.12129792511356034, 0.9802458550440469, 0.15960894218532196, 0.06712782152895139, 0.03138661353986155, 0.014928753049915264, 0.014392309156648212], "count": [239]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.55, -0.9642857142857144, -0.6928571428571428, -0.2057142857142857, -0.14285714285714285, -0.18, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5285714285714286, 1.0, 0.9714285714285714, 0.1, 0.21714285714285717, 0.35428571428571426, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.051434548714883344, -0.0007172743574417377, -0.054303646144650344, -0.006957561267184698, 0.009157202630005978, -0.0018529587567244483, -0.36401673640167365], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22217801167947365, 0.3473405524671952, 0.3595238143545756, 0.04722212349971723, 0.06433064883052544, 0.09016052762021066, 0.9313924068938262], "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": [134], "max": [134], "mean": [134.0], "std": [0.0], "count": [239]}, "index": {"min": [95840], "max": [96078], "mean": [95959.0], "std": [68.99275324264136], "count": [239]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [239]}}} +{"episode_index": 135, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0196078431372549]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5606487265859035]], [[0.5712233330046771]], [[0.5601679629271299]]], "std": [[[0.2852504881308551]], [[0.28960803227533494]], [[0.28800492412404044]]], "count": [171]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5269031980882173]], [[0.48890797383549317]], [[0.4613430202096144]]], "std": [[[0.3471487836597822]], [[0.3516165495333628]], [[0.3207719941310094]]], "count": [171]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5975494094321985]], [[0.5588167081854101]], [[0.5265856025170028]]], "std": [[[0.3256998977554447]], [[0.3376970590611933]], [[0.3125108153162074]]], "count": [171]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [956]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [956]}, "observation.state": {"min": [3.4369358452216954, -4.374270034557341, 0.6999990905582526, 0.0, 0.0, -1.0, 0.0, 0.23100934937709106, -0.5684177612660135, 0.10403129647811526, -0.9978170990943909, -0.579224705696106, -0.19207550585269928, 1.6399488231400028e-05, 0.004199300871562554, -0.04000277160678408], "max": [3.4369798090911527, -4.374137171109375, 0.7033229278378874, 0.0, 0.0, 1.0, 7.153650221880525e-05, 0.48151151238630696, 0.26046303631305534, 0.6305145415089102, 0.9988458752632141, 0.6287367343902588, 0.38861456513404846, 0.08595433086156845, 0.04000202263917517, -0.0038970195242139937], "mean": [3.4369506672171393, -4.37417584783887, 0.7016750910535768, 0.0, 0.0, 0.38702928870292885, 5.371177525669611e-06, 0.36602626153314965, -0.12659946709569428, 0.308977685290887, -0.009097576141357422, -0.020325961168154015, 0.006355190223665464, 0.018812653613688984, 0.024904713879999735, -0.02492084633898574], "std": [5.059029748486527e-06, 1.1340113706713981e-05, 0.001232693069040736, 0.0, 0.0, 0.9220674214427632, 7.463359642566818e-06, 0.07646827085371646, 0.2604051699755905, 0.11777338815888924, 0.9567917810755528, 0.2671837016330792, 0.10957014581926733, 0.01632556487385896, 0.017099949368695775, 0.017059218555546585], "count": [956]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4928571428571429, -0.594642857142857, -0.3696428571428571, -0.08142857142857143, -0.09428571428571429, -0.22714285714285717, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3267857142857143, 0.7178571428571429, 0.8678571428571429, 0.07928571428571429, 0.10500000000000001, 0.14142857142857146, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.018817244471010172, -0.005508442916915719, -0.01270920502092038, 0.0010109085475194263, 0.0018156007172743563, 0.0005424387328153041, -0.16317991631799164], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.15157823145013144, 0.24801239048323476, 0.2698832570698832, 0.01578362103225523, 0.027143283083688467, 0.05876401004823421, 0.9865963282469888], "count": [956]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01778242737054825], "std": [0.13215979933738708], "count": [956]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010460251046025104], "std": [0.0323253915070344], "count": [956]}, "timestamp": {"min": [0.0], "max": [47.75], "mean": [23.875], "std": [13.798663884594045], "count": [956]}, "frame_index": {"min": [0], "max": [955], "mean": [477.5], "std": [275.97327769188087], "count": [956]}, "episode_index": {"min": [135], "max": [135], "mean": [135.0], "std": [0.0], "count": [956]}, "index": {"min": [96079], "max": [97034], "mean": [96556.5], "std": [275.97327769188087], "count": [956]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [956]}}} +{"episode_index": 136, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.25199954044117645]], [[0.28292987060546876]], [[0.2483413792030484]]], "std": [[[0.14146522603276457]], [[0.19610803314992953]], [[0.1317881922668024]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4935937625660616]], [[0.4723196070053998]], [[0.45657381783279716]]], "std": [[[0.2755129029491024]], [[0.2807065816734796]], [[0.2909121766060896]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.047058823529411764]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4871897529153263]], [[0.46950420484355854]], [[0.45558778171913294]]], "std": [[[0.2708079346628218]], [[0.27449510938830374]], [[0.282030696966356]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [366]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [366]}, "observation.state": {"min": [1.346362567419808, -0.8118135517910505, 0.6999983194398106, 0.0, 0.0, 0.702737033367157, 0.703832745552063, 0.22359563919779613, -0.05587898822754056, 0.10350655709221679, -0.9916250109672546, -0.030686214566230774, -0.1484754979610443, 0.006676783785223961, 0.0061544154148683635, -0.04001821095572197], "max": [1.8239480046916685, -0.7955559049929144, 0.7003906894589468, 0.0, 0.0, 0.7103657126426697, 0.7114496827125549, 0.5269249826581764, 0.3261487667661953, 0.6010323410921111, 0.9919072985649109, 0.7070823907852173, 0.1447192281484604, 0.21910060942173004, 0.03953677534650285, -0.0065033505306185185], "mean": [1.5871312510375846, -0.8041632192367715, 0.7001440880157836, 0.0, 0.0, 0.7052396283449371, 0.7089616083056549, 0.31471514170459114, 0.08663117173187075, 0.3640891071952422, 0.7920429042128266, 0.31633039905888133, 0.070123773994423, 0.1455525551551108, 0.019046769374770126, -0.01924887753419631], "std": [0.23396507105991424, 0.007971598570890031, 0.00010289302503816553, 0.0, 0.0, 0.0022962685675469233, 0.00228524454463554, 0.09687644165344186, 0.1690828674308621, 0.12159340864806183, 0.39824402322717456, 0.2813711239175283, 0.058491725354945644, 0.07287608049715363, 0.01537779332197892, 0.015555393044358148], "count": [366]}, "action": {"min": [-0.3357142857142857, 0.0, -0.04857142857142857, 0.0, -1.0, -0.5285714285714286, -0.45714285714285713, -0.7428571428571429, -0.30285714285714294, -0.07142857142857142, -0.12, -1.0], "max": [0.0, 0.7785714285714286, 0.06, 0.0, 1.0, 0.55, 0.9571428571428572, 1.0, 0.03142857142857143, 0.14285714285714285, 0.48, 1.0], "mean": [-0.012119437939110068, 0.04486729117876659, -0.000772833723653396, 0.0, -0.8087431693989071, 0.03126463700234189, 0.0580210772833724, -0.030971896955503463, -0.012529274004683828, 0.008095238095238098, 0.027790788446526184, 0.2185792349726776], "std": [0.04994886431865316, 0.1658766321902531, 0.008728998357338185, 0.0, 0.5881619555450783, 0.1934979261391185, 0.2320737803950004, 0.3338020146438075, 0.04647797895417972, 0.028669166680844512, 0.11437298361974131, 0.9758192035611722], "count": [366]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.04371584579348564], "std": [0.20446215569972992], "count": [366]}, "next.done": {"min": [false], "max": [true], "mean": [0.00273224043715847], "std": [0.05219938025831366], "count": [366]}, "timestamp": {"min": [0.0], "max": [18.25], "mean": [9.125], "std": [5.282735244801377], "count": [366]}, "frame_index": {"min": [0], "max": [365], "mean": [182.5], "std": [105.65470489602754], "count": [366]}, "episode_index": {"min": [136], "max": [136], "mean": [136.0], "std": [0.0], "count": [366]}, "index": {"min": [97035], "max": [97400], "mean": [97217.5], "std": [105.65470489602754], "count": [366]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [366]}}} +{"episode_index": 137, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5398400053943299]], [[0.5354959992591335]], [[0.5235207530154244]]], "std": [[[0.22793789061833364]], [[0.22169043763167076]], [[0.2064170043828983]]], "count": [178]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5498954909098361]], [[0.5156082439065426]], [[0.4890015549375034]]], "std": [[[0.20796323442875964]], [[0.21944943433956934]], [[0.22825197523842886]]], "count": [178]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5758886915073702]], [[0.5435276183611393]], [[0.5184416201756005]]], "std": [[[0.2144120370906381]], [[0.22352388184256905]], [[0.22747021477973434]]], "count": [178]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1006]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1006]}, "observation.state": {"min": [5.281082955965638, -2.0968215144677007, 0.6999988095977744, 0.0, 0.0, -0.0001443703076802194, 1.0, 0.17889275924400483, -0.5663563193305277, 0.12371434713710838, -0.9948294758796692, -0.41841429471969604, -0.14428842067718506, 4.98918816447258e-05, 0.004050936309609434, -0.04000555317535897], "max": [5.281131070164123, -2.0967532304373107, 0.702356739235017, 0.0, 0.0, -6.638329796260223e-05, 1.0, 0.5738562641656513, 0.23971419557411267, 0.6033331851852545, 0.9951167702674866, 0.42785120010375977, 0.1913893073797226, 0.09857496619224548, 0.04000691350783397, -0.0036326029679459694], "mean": [5.281125329056516, -2.0967725292902424, 0.7009398880605843, 0.0, 0.0, -8.367021288740111e-05, 1.0, 0.36452392036679704, -0.025373869969263906, 0.3256284114303951, 0.3819146266514454, 0.06734123663832368, 0.05206668775743448, 0.042395235768133525, 0.025287197706705407, -0.025324208692563896], "std": [5.954396749965738e-06, 6.659711651503937e-06, 0.000788264650168445, 0.0, 0.0, 8.327286334618371e-06, 0.0, 0.11454322128213397, 0.27630732636779215, 0.11798962872285117, 0.888240873278014, 0.21401731077673133, 0.09811353516763568, 0.026392324389736908, 0.01665968563414309, 0.016679137365208315], "count": [1006]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5625000000000001, -0.6375000000000001, -0.42321428571428565, -0.0642857142857143, -0.10285714285714286, -0.12214285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40714285714285714, 0.7125, 0.6160714285714286, 0.060000000000000005, 0.075, 0.1157142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.007338114172110196, 0.02031028117012218, -0.017956546435671655, -0.0008392502130076663, -0.000973445044021585, 0.00014697529111048466, -0.16302186878727634], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19377918796794916, 0.2413321133263801, 0.21399205716078157, 0.016743296467643304, 0.018101404809546813, 0.03658287986921768, 0.986622455804198], "count": [1006]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01590457186102867], "std": [0.12510642409324646], "count": [1006]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009940357852882703], "std": [0.03151265901420946], "count": [1006]}, "timestamp": {"min": [0.0], "max": [50.25], "mean": [25.125], "std": [14.520352096281965], "count": [1006]}, "frame_index": {"min": [0], "max": [1005], "mean": [502.5], "std": [290.40704192563925], "count": [1006]}, "episode_index": {"min": [137], "max": [137], "mean": [137.0], "std": [0.0], "count": [1006]}, "index": {"min": [97401], "max": [98406], "mean": [97903.5], "std": [290.40704192563925], "count": [1006]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1006]}}} +{"episode_index": 138, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.027450980392156862]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3943326631433824]], [[0.3901061868106617]], [[0.39036809405158546]]], "std": [[[0.2778267705824312]], [[0.2771850588465438]], [[0.2769490036512637]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.03137254901960784]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5161508244533165]], [[0.45811158303653493]], [[0.42847632374482997]]], "std": [[[0.29041099494595857]], [[0.30088108915117073]], [[0.2876247821782559]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4924521526261872]], [[0.43644706995346966]], [[0.4049053213082108]]], "std": [[[0.2853685591359026]], [[0.2896885895554319]], [[0.27266299655534815]]], "count": [100]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [312]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [312]}, "observation.state": {"min": [4.118790954870301, -2.6947349613811657, 0.6999981848496422, 0.0, 0.0, -0.707292914390564, 0.7069205641746521, 0.18720138234118666, -0.4212737911268656, 0.20570925507347726, -0.9923474788665771, -0.7004908323287964, -0.23335334658622742, 0.00011369626736268401, 0.000759235745909209, -0.04004296931098113], "max": [4.1195251461771045, -2.694349792246684, 0.7006716933928875, 0.0, 0.0, -0.7066749930381775, 0.707538366317749, 0.5590787981660013, 0.48289522055945877, 0.573244613043912, 0.9920816421508789, 0.7051796317100525, 0.2975223660469055, 0.194346621632576, 0.0395683857690818, -0.004424171911812882], "mean": [4.119113070715156, -2.6945481584229682, 0.7003605989834231, 0.0, 0.0, -0.7070647856363883, 0.7071487139432858, 0.35825583484996865, -0.028327418193587122, 0.4021343415374969, 0.5435617778163689, 0.06998191733295336, 0.07764821613613421, 0.10148360321135186, 0.019615996072073514, -0.02184646242470417], "std": [0.0002216845169846626, 0.0001244464817210525, 0.0002553924583012374, 0.0, 0.0, 0.00018081763408123896, 0.00018076076837277122, 0.1082284751346536, 0.35424163481978693, 0.09923879535325554, 0.6889738990058074, 0.4325491697012123, 0.12543608212922225, 0.07613760559448414, 0.017147939380244018, 0.01670472384959688], "count": [312]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6428571428571428, -0.942857142857143, -0.6, -0.2542857142857143, -0.12857142857142856, -0.022857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4857142857142857, 1.0, 0.9857142857142858, 0.15142857142857147, 0.13142857142857142, 0.3742857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.023763736263736266, 0.07188644688644691, -0.0024496336996337295, -0.016877289377289377, 0.002793040293040298, 0.04064102564102566, 0.08333333333333333], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.30567966864956103, 0.4775504934160276, 0.37490891630778367, 0.05263697947992239, 0.05309343357091815, 0.09175626583529044, 0.9965217285917802], "count": [312]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05128205195069313], "std": [0.22057245671749115], "count": [312]}, "next.done": {"min": [false], "max": [true], "mean": [0.003205128205128205], "std": [0.05652305156586025], "count": [312]}, "timestamp": {"min": [0.0], "max": [15.55], "mean": [7.775], "std": [4.503308968599275], "count": [312]}, "frame_index": {"min": [0], "max": [311], "mean": [155.5], "std": [90.0661793719855], "count": [312]}, "episode_index": {"min": [138], "max": [138], "mean": [138.0], "std": [0.0], "count": [312]}, "index": {"min": [98407], "max": [98718], "mean": [98562.5], "std": [90.0661793719855], "count": [312]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [312]}}} +{"episode_index": 139, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.554833978989545]], [[0.5467679557052313]], [[0.5316980261709175]]], "std": [[[0.23568386906673194]], [[0.2225726560563467]], [[0.19834622894678627]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5485145126043581]], [[0.4944995386460248]], [[0.45740122237859987]]], "std": [[[0.2209895314913954]], [[0.24636897440166744]], [[0.25171700573661593]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.08627450980392157]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5608229866775811]], [[0.5107561328364354]], [[0.4758104337804458]]], "std": [[[0.22271794388122415]], [[0.24798236972330534]], [[0.2513964948058959]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [331]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [331]}, "observation.state": {"min": [2.500312100281188, -2.695837120154763, 0.6999959078835668, 0.0, 0.0, -0.00015098445874173194, 1.0, 0.19849516341038687, -0.48860984198079516, 0.09949059901623902, -0.9948485493659973, -0.4143545627593994, -0.25748369097709656, 0.0002873926132451743, 0.0041971159502989935, -0.04000389527433569], "max": [2.50036232608643, -2.6956942788024842, 0.7011678688889095, 0.0, 0.0, 3.004319114552345e-05, 1.0, 0.5775482017106044, 0.11497494154546972, 0.6047868729928276, 0.9914693236351013, 0.28536757826805115, 0.2720407247543335, 0.1130601018667221, 0.03989753741417911, -0.0056741241747700726], "mean": [2.5003544514502187, -2.6957212979092424, 0.7002138299368865, 0.0, 0.0, -5.166313948064813e-06, 1.0, 0.40283598077895005, -0.15529616890833825, 0.3725981468785369, 0.024872651453104626, -0.25985322046315923, 0.057591404743071256, 0.0519318109412686, 0.024734804820644815, -0.02448124879712204], "std": [7.2193379892750275e-06, 1.7549527548264497e-05, 0.00041773319604093337, 0.0, 0.0, 2.2586791218207655e-05, 0.0, 0.12251015757029964, 0.23618156135742982, 0.15225409853380859, 0.9468997411529904, 0.123155406008557, 0.11424516094523363, 0.03171178400805639, 0.014221293448483914, 0.01428930880757819], "count": [331]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8285714285714285, -0.7000000000000001, -0.13428571428571429, -0.1457142857142857, -0.3514285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6857142857142858, 1.0, 0.9714285714285714, 0.08285714285714285, 0.21142857142857144, 0.2885714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.047065170479067754, 0.03472162278808801, -0.030729391454467025, -0.0029348295209322417, 0.007259387138541211, 0.00980578334052656, -0.015105740181268883], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.35561393080058645, 0.3794439110274592, 0.42935581157033914, 0.02178583225139635, 0.05864074750999712, 0.10980931412563213, 0.9998859017975847], "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": [139], "max": [139], "mean": [139.0], "std": [0.0], "count": [331]}, "index": {"min": [98719], "max": [99049], "mean": [98884.0], "std": [95.55103348473003], "count": [331]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [331]}}} +{"episode_index": 140, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6686688692996138]], [[0.6618616437090343]], [[0.6554177520987681]]], "std": [[[0.20983484986136428]], [[0.20449657588652903]], [[0.21842319979758126]]], "count": [165]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.043137254901960784]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5174406348787739]], [[0.5502275008384628]], [[0.5548427914978136]]], "std": [[[0.23044219285760306]], [[0.18739138149740434]], [[0.1822052983695702]]], "count": [165]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.514931716420292]], [[0.5506377698747587]], [[0.5594260929173397]]], "std": [[[0.22444689347943877]], [[0.18628181120364526]], [[0.1880893089450611]]], "count": [165]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [906]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [906]}, "observation.state": {"min": [2.9728669023498964, -1.4373095808094842, 0.6999989082376803, 0.0, 0.0, -6.995638250373304e-05, 1.0, 0.1890421358756913, -0.14108356282312795, 0.17613904440424732, -0.9958094358444214, -0.9348224997520447, -0.2677020728588104, 0.00011299944162601605, 0.0023226102901543035, -0.03996231138558205], "max": [2.9729513859579737, -1.4372166473310295, 0.701291968333823, 0.0, 0.0, 3.8198166294023395e-05, 1.0, 0.5225250474271119, 0.5334233460826386, 0.6231919044405517, 0.9961017370223999, 0.9312732815742493, 0.18109039962291718, 0.1675233691930771, 0.04002252835649517, -0.003029918668119118], "mean": [2.9729251169383994, -1.4372384612848337, 0.7003549142133525, 0.0, 0.0, -2.5695826163207476e-06, 1.0, 0.35869538803168716, 0.17148426267740738, 0.3844502255243816, -0.5572633080135118, 0.05567900983670163, -0.06251618454108446, 0.05718062471477089, 0.027316813668158205, -0.027227826789454634], "std": [4.585413951356575e-06, 8.209295618489622e-06, 0.00034748742649724323, 0.0, 0.0, 1.1603458220651464e-05, 0.0, 0.0893421498845692, 0.21348858864450743, 0.10752404326504135, 0.6723271140458933, 0.46774716404916244, 0.08409004254351907, 0.03601753841793145, 0.015638420990450142, 0.01548150206031116], "count": [906]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7660714285714286, -0.6214285714285714, -0.39642857142857146, -0.16071428571428573, -0.1907142857142857, -0.255, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.594642857142857, 0.8089285714285713, 0.6160714285714286, 0.12000000000000001, 0.1842857142857143, 0.38785714285714284, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00034886471144752145, 0.01658585619678335, -0.012003311258278146, -0.012060075685903499, 0.0024266792809839086, -0.006364711447492894, -0.24061810154525387], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22670360408920837, 0.2506269156928109, 0.24744552982618204, 0.03931930583535481, 0.0440468793585709, 0.09902025955544154, 0.9706198685421393], "count": [906]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017660044133663177], "std": [0.1317124366760254], "count": [906]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011037527593818985], "std": [0.03320443478254155], "count": [906]}, "timestamp": {"min": [0.0], "max": [45.25], "mean": [22.625], "std": [13.07697563149319], "count": [906]}, "frame_index": {"min": [0], "max": [905], "mean": [452.5], "std": [261.5395126298638], "count": [906]}, "episode_index": {"min": [140], "max": [140], "mean": [140.0], "std": [0.0], "count": [906]}, "index": {"min": [99050], "max": [99955], "mean": [99502.5], "std": [261.5395126298638], "count": [906]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [906]}}} +{"episode_index": 141, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10980392156862745]], [[0.0]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.559967563951107]], [[0.5586413202180074]], [[0.5577249412612504]]], "std": [[[0.21878070015176304]], [[0.2167568219145825]], [[0.21397925419380578]]], "count": [138]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.09803921568627451]], [[0.09803921568627451]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6662538130061808]], [[0.6513933399110464]], [[0.6359640045035932]]], "std": [[[0.1825589803801084]], [[0.18813869002266928]], [[0.19317721445307215]]], "count": [138]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.10196078431372549]], [[0.10196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6587308631630302]], [[0.6440273635053404]], [[0.6288539573190293]]], "std": [[[0.18533745909242985]], [[0.19027991931860572]], [[0.19456484021999193]]], "count": [138]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [718]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [718]}, "observation.state": {"min": [3.1061145243063337, -4.303915330471651, 0.699993982726486, 0.0, 0.0, -1.0, 3.1444947978798155e-08, 0.2020393005754153, -0.5977959101654493, 0.1004841623328927, -0.9972853064537048, -0.4247228503227234, -0.1565990000963211, 0.00011887523578479886, -0.0002475700427254693, -0.040008173351093475], "max": [3.10616670554253, -4.303853085793235, 0.7019018578309488, 0.0, 0.0, 1.0, 4.26782135036774e-05, 0.5597142123181826, 0.2020567696230149, 0.6069677469854489, 0.9980437159538269, 0.42271146178245544, 0.11788547039031982, 0.1135333850979805, 0.04000285654821205, -0.002213425897508996], "mean": [3.1061261856492477, -4.303886124884975, 0.7007732751172471, 0.0, 0.0, -0.1309192200557103, 5.770589900478779e-06, 0.37123802714021825, -0.15159640312548137, 0.3548274433031715, 0.09693920753460408, 0.03341888448529589, -0.0014944227867363985, 0.03566448029057249, 0.025596268355200066, -0.02553083959276969], "std": [4.656668243693414e-06, 5.978022221379636e-06, 0.0006635059855593408, 0.0, 0.0, 0.9913930390213552, 6.96282028109163e-06, 0.09261190801335319, 0.28146745726800815, 0.12551492753114726, 0.978587991324396, 0.1551802708554899, 0.07709720762900009, 0.0235037531021608, 0.01585987349743996, 0.015903704249126762], "count": [718]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8089285714285713, -0.8785714285714287, -0.44464285714285723, -0.10714285714285715, -0.14357142857142857, -0.1542857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5625000000000001, 1.0, 0.9803571428571428, 0.07285714285714286, 0.135, 0.09642857142857142, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.01635495423796265, 0.024639375248706765, -0.0165265618782333, -3.581376840429888e-05, 0.009780143255073615, 0.00040290489454834614, -0.14763231197771587], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25218797945866217, 0.31800144186217055, 0.3140193747165026, 0.02585909774157871, 0.03981855641885607, 0.043474484541886, 0.9890423147975587], "count": [718]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022284122183918953], "std": [0.1476060152053833], "count": [718]}, "next.done": {"min": [false], "max": [true], "mean": [0.001392757660167131], "std": [0.03729367086071277], "count": [718]}, "timestamp": {"min": [0.0], "max": [35.85], "mean": [17.925], "std": [10.363427280586283], "count": [718]}, "frame_index": {"min": [0], "max": [717], "mean": [358.5], "std": [207.26854561172567], "count": [718]}, "episode_index": {"min": [141], "max": [141], "mean": [141.0], "std": [0.0], "count": [718]}, "index": {"min": [99956], "max": [100673], "mean": [100314.5], "std": [207.26854561172567], "count": [718]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [718]}}} +{"episode_index": 142, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.996078431372549]], [[0.9568627450980393]], [[0.996078431372549]]], "mean": [[[0.43333984375]], [[0.45997379184181714]], [[0.43893344513960225]]], "std": [[[0.23229453176171566]], [[0.20732070448977558]], [[0.18798321238763616]]], "count": [170]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.050980392156862744]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5100453934015012]], [[0.4722770358286927]], [[0.44423913341905]]], "std": [[[0.2124434422991542]], [[0.23154441883415716]], [[0.24507796960764133]]], "count": [170]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5462209991490278]], [[0.5017326244103455]], [[0.46423974165866944]]], "std": [[[0.2192535369879808]], [[0.23982217047203583]], [[0.2532059861494685]]], "count": [170]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [944]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [944]}, "observation.state": {"min": [3.245357816574314, -0.7629948833382617, 0.6999982901307363, 0.0, 0.0, 0.707049548625946, 0.70706707239151, 0.17840131496806932, -0.20316562576536423, 0.11965492958143675, -0.9999195337295532, -0.053774625062942505, -0.23535314202308655, 9.084302291739732e-05, 0.0037007616348901113, -0.04000955961896859], "max": [3.245482453574974, -0.7629272867055648, 0.7051856857358308, 0.0, 0.0, 0.7071464657783508, 0.70716392993927, 0.47254221989688283, 0.3812456694161357, 0.5866142826208851, 0.9994587302207947, 0.04880165308713913, 0.20469613373279572, 0.11814703792333603, 0.040005471058598904, -0.0015951955666710898], "mean": [3.2453906404810136, -0.7629344674929046, 0.7026728443180947, 0.0, 0.0, 0.7071070549851757, 0.7071064574864961, 0.3472979822080851, 0.11567886791859441, 0.30108587968159933, -0.09510215434987666, -0.0004797848809699891, -0.06136959867823141, 0.04858990775868487, 0.023768385462438448, -0.023468675118512857], "std": [9.244960787066903e-06, 9.922085300357861e-06, 0.0020915102955992456, 0.0, 0.0, 6.39741325318562e-06, 6.3959874232343055e-06, 0.07921639456934955, 0.19882655891048995, 0.12608967663251802, 0.9867101658864057, 0.02578858394330716, 0.09752361191757647, 0.03248515840303169, 0.017194639307776982, 0.017575506818220274], "count": [944]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7125, -0.6107142857142858, -0.4821428571428571, -0.09642857142857142, -0.11357142857142859, -0.03642857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.525, 0.8464285714285713, 0.6910714285714286, 0.06857142857142857, 0.14785714285714285, 0.03642857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.013602829903147802, 0.03250037832929784, -0.010935608353510894, -0.003479872881355933, 0.007216253026634385, 0.0008262711864406783, -0.09957627118644068], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1771621423833778, 0.21831038093992897, 0.2589925826971766, 0.018651483526026868, 0.029634040602640303, 0.006749569075586866, 0.9950299323219352], "count": [944]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016949152573943138], "std": [0.1290809065103531], "count": [944]}, "next.done": {"min": [false], "max": [true], "mean": [0.001059322033898305], "std": [0.032529984179627304], "count": [944]}, "timestamp": {"min": [0.0], "max": [47.15], "mean": [23.575], "std": [13.625458707874754], "count": [944]}, "frame_index": {"min": [0], "max": [943], "mean": [471.5], "std": [272.5091741574951], "count": [944]}, "episode_index": {"min": [142], "max": [142], "mean": [142.0], "std": [0.0], "count": [944]}, "index": {"min": [100674], "max": [101617], "mean": [101145.5], "std": [272.5091741574951], "count": [944]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [944]}}} +{"episode_index": 143, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06274509803921569]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47353164688194743]], [[0.4875492842009225]], [[0.4379750715421636]]], "std": [[[0.23336399473180341]], [[0.20063629754462756]], [[0.23174726121281944]]], "count": [156]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.09803921568627451]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5969373262845552]], [[0.4685885920843448]], [[0.437893468474191]]], "std": [[[0.15017577799385248]], [[0.24833267720880098]], [[0.24809180203997855]]], "count": [156]}, "observation.images.robot0_agentview_right": {"min": [[[0.06274509803921569]], [[0.10196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5880978840808284]], [[0.4598847666836792]], [[0.42911029737040046]]], "std": [[[0.14995025159252798]], [[0.24396913396082962]], [[0.24304717755032007]]], "count": [156]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [842]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [842]}, "observation.state": {"min": [2.553551776367053, -1.759402836755227, 0.6999988449761835, 0.0, 0.0, -0.7070716619491577, 0.7071418762207031, 0.22778960480687105, -0.5145411172630814, 0.11727532097138382, -0.9883552193641663, -0.8239392638206482, -0.16291865706443787, 0.00014291962725110352, 0.0021518466700256645, -0.040003715655709406], "max": [2.5535933009387417, -1.7593642552997506, 0.7012967682284549, 0.0, 0.0, -0.7070292830467224, 0.707184374332428, 0.5535606710765777, 0.3376233747279911, 0.5928429547212042, 0.9957652688026428, 0.8132023215293884, 0.19491775333881378, 0.06107458099722862, 0.040028859623853344, -0.0028273779958978896], "mean": [2.553568545975451, -1.7593958091581847, 0.7003049524458809, 0.0, 0.0, -0.7070533142661822, 0.7071601972160882, 0.4125811163158333, -0.140906510700198, 0.29731477943156365, 0.5913199476561467, -0.047395530114760026, 0.03702337893963564, 0.027830908886875103, 0.03170593943436228, -0.028906807500426117], "std": [5.030180040096803e-06, 4.057698670057309e-06, 0.00034037553539235677, 0.0, 0.0, 4.701265637888697e-06, 4.710557570472788e-06, 0.08734767397428563, 0.2583730328505684, 0.09874855205456654, 0.7090197213570987, 0.3686391817586888, 0.08447884046494142, 0.014443271159563526, 0.013914232012199101, 0.01455068361500828], "count": [842]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5571428571428572, -0.6857142857142857, -0.40714285714285714, -0.07714285714285715, -0.12428571428571428, -0.11785714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45535714285714285, 0.7125, 0.8892857142857145, 0.0642857142857143, 0.08357142857142857, 0.025714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.02164489311163898, -0.004530030539531701, -0.014735324058364339, 0.0017203936206311508, 0.00090855106888361, -0.01840770274855786, -0.2684085510688836], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14045814572564924, 0.2802431459449098, 0.22866888694353874, 0.015764938615910367, 0.026512841721872314, 0.03155706797600957, 0.96330516956627], "count": [842]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01900237612426281], "std": [0.13653309643268585], "count": [842]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011876484560570072], "std": [0.0344418052256532], "count": [842]}, "timestamp": {"min": [0.0], "max": [42.05], "mean": [21.025], "std": [12.153214595324153], "count": [842]}, "frame_index": {"min": [0], "max": [841], "mean": [420.5], "std": [243.06429190648305], "count": [842]}, "episode_index": {"min": [143], "max": [143], "mean": [143.0], "std": [0.0], "count": [842]}, "index": {"min": [101618], "max": [102459], "mean": [102038.5], "std": [243.06429190648305], "count": [842]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [842]}}} +{"episode_index": 144, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.13333333333333333]], [[0.0]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5683390762033581]], [[0.5668639395163262]], [[0.5656979532745445]]], "std": [[[0.1982871477626583]], [[0.19645577721625815]], [[0.19372926055036396]]], "count": [163]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6292814165049048]], [[0.6176968392232516]], [[0.6036728993744738]]], "std": [[[0.21424575595012704]], [[0.21287641810676225]], [[0.21550734502743385]]], "count": [163]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6286741207383908]], [[0.6163673311855538]], [[0.6017849251636884]]], "std": [[[0.22486605359980472]], [[0.22271142394886048]], [[0.2236931613610297]]], "count": [163]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [893]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [893]}, "observation.state": {"min": [3.1751955975327872, -0.7719556357406017, 0.6999952735641078, 0.0, 0.0, 0.707078754901886, 0.7070782780647278, 0.1566272262072843, -0.12999398893788872, 0.10495911275853276, -0.9984857439994812, -0.39131176471710205, -0.39708229899406433, 0.0009199648047797382, 0.004653305714308403, -0.04000363080052393], "max": [3.1752740021170083, -0.7718910095027531, 0.7031681319783827, 0.0, 0.0, 0.7071352005004883, 0.7071347832679749, 0.5052181771440556, 0.5662435419069887, 0.6016517333364101, 0.999521791934967, 0.40709564089775085, 0.20125272870063782, 0.14413060247898102, 0.04002251518548873, -0.0006642808734651919], "mean": [3.1752288169629677, -0.7719008730395096, 0.7006331673805201, 0.0, 0.0, 0.707106747325564, 0.7071067638787016, 0.3149077321777824, 0.23557220508008644, 0.3394217545986617, -0.33693324151258053, 0.09143834206935807, -0.07283703803126931, 0.0637598016310649, 0.028804443681936635, -0.027477791430942988], "std": [7.895255594677472e-06, 6.347119175276985e-06, 0.0008583684492509101, 0.0, 0.0, 4.6898905249390645e-06, 4.690029726571178e-06, 0.0897324442297276, 0.22038964620665866, 0.13056404862023566, 0.9006192652881284, 0.18796132331100252, 0.14227532611011734, 0.045361733779742563, 0.01480070995624479, 0.016191332414636196], "count": [893]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4982142857142858, -0.7178571428571429, -0.34821428571428575, -0.075, -0.15857142857142859, -0.11142857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6214285714285714, 0.6535714285714286, 0.6589285714285714, 0.08571428571428572, 0.1007142857142857, 0.1157142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.005975043992961157, 0.016305391137418017, -0.007954727243641036, -0.0018237082066869315, 0.005113581826907698, -0.0034914413693809, -0.3146696528555431], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18635670698911122, 0.2607938065518524, 0.2660158908093605, 0.02130743131998819, 0.03248329657669767, 0.034475084278273754, 0.9492012481933284], "count": [893]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01791713386774063], "std": [0.13265033066272736], "count": [893]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011198208286674132], "std": [0.03344498213453097], "count": [893]}, "timestamp": {"min": [0.0], "max": [44.6], "mean": [22.299999999999997], "std": [12.88933667804515], "count": [893]}, "frame_index": {"min": [0], "max": [892], "mean": [446.0], "std": [257.78673356090303], "count": [893]}, "episode_index": {"min": [144], "max": [144], "mean": [144.0], "std": [0.0], "count": [893]}, "index": {"min": [102460], "max": [103352], "mean": [102906.0], "std": [257.78673356090303], "count": [893]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [893]}}} +{"episode_index": 145, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.24957297800688136]], [[0.2620134873068151]], [[0.2506433385496764]]], "std": [[[0.16273717725689477]], [[0.17475400855490605]], [[0.1502266239343283]]], "count": [153]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4842523207438996]], [[0.4725757548522754]], [[0.46249057916926983]]], "std": [[[0.27890576474587075]], [[0.2807604739082242]], [[0.28602055922097736]]], "count": [153]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.043137254901960784]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4824430859487637]], [[0.47107722443616434]], [[0.4611247929826419]]], "std": [[[0.272165577822279]], [[0.2731875971877611]], [[0.27780824285909206]]], "count": [153]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [821]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [821]}, "observation.state": {"min": [1.5609817645863013, -0.762487349154454, 0.6999984901489572, 0.0, 0.0, 0.6809986233711243, 0.7071066498756409, 0.1469622499840797, -0.4047701326477069, 0.09217391609502168, -0.9947947859764099, -0.6370716094970703, -0.24154868721961975, 4.4902506488142535e-05, 0.0030363117646679716, -0.040028231602282395], "max": [1.9053262626445682, -0.7456445859797272, 0.7010354463937022, 0.0, 0.0, 0.7071068286895752, 0.7322847247123718, 0.4506042704972788, 0.6217353445573416, 0.5952125783726645, 0.9993589520454407, 0.6272510290145874, 0.20981371402740479, 0.1352803260087967, 0.04001708344768736, -0.0012281376180763755], "mean": [1.5679799771421101, -0.7510588730589413, 0.7005191894349861, 0.0, 0.0, 0.682532382650294, 0.7308450312184649, 0.2970349339210855, 0.18248965021201796, 0.3498602927103038, 0.2165020524221274, 0.010301237020655179, -0.028453496464439662, 0.04471018579582812, 0.02479679866339287, -0.02395946103146768], "std": [0.04110565029742273, 0.002213695062159057, 0.0003418358113659504, 0.0, 0.0, 0.0028042332287246514, 0.002688857574154019, 0.06684965824306906, 0.3358723997317964, 0.149081304301756, 0.9027610769539435, 0.35181758550380193, 0.10222064138335614, 0.03177907887230574, 0.016849608151679636, 0.017507034734992006], "count": [821]}, "action": {"min": [0.0, 0.0, -0.1157142857142857, 0.0, -1.0, -0.8571428571428572, -0.7392857142857142, -0.5839285714285714, -0.135, -0.14357142857142857, -0.1542857142857143, -1.0], "max": [0.6214285714285714, 0.9107142857142857, 0.0, 0.0, 1.0, 0.46071428571428574, 0.8517857142857143, 0.9214285714285715, 0.12214285714285715, 0.15, 0.23785714285714282, 1.0], "mean": [0.01939272663998608, 0.0401687837132417, -0.001834870367148077, 0.0, -0.8489646772228989, -0.01591482512615278, 0.07408647990255793, -0.0141008352183748, 0.0020854358795893506, 0.006632155907429962, 0.003922916304158671, -0.13763702801461633], "std": [0.0836456133807592, 0.15404003363083116, 0.01220437955026962, 0.0, 0.5284495972444422, 0.21383985216364598, 0.348572940070817, 0.31254733291238396, 0.03365142771872484, 0.03908112494613696, 0.06357451852346226, 0.9904827350940094], "count": [821]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01948842965066433], "std": [0.1382339596748352], "count": [821]}, "next.done": {"min": [false], "max": [true], "mean": [0.001218026796589525], "std": [0.03487897944768904], "count": [821]}, "timestamp": {"min": [0.0], "max": [41.0], "mean": [20.5], "std": [11.850105484762572], "count": [821]}, "frame_index": {"min": [0], "max": [820], "mean": [410.0], "std": [237.00210969525145], "count": [821]}, "episode_index": {"min": [145], "max": [145], "mean": [145.0], "std": [0.0], "count": [821]}, "index": {"min": [103353], "max": [104173], "mean": [103763.0], "std": [237.00210969525145], "count": [821]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [821]}}} +{"episode_index": 146, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4329761993941897]], [[0.42740143129543834]], [[0.4211083974671478]]], "std": [[[0.18729086132426068]], [[0.17854168131261175]], [[0.16852126752483101]]], "count": [185]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6280657929873807]], [[0.6385483970298423]], [[0.6127218687768077]]], "std": [[[0.17622098214417234]], [[0.1573832061341754]], [[0.15161819041534663]]], "count": [185]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6291643413792354]], [[0.6403500853004315]], [[0.6149972383775089]]], "std": [[[0.16883111328133144]], [[0.14766881208955457]], [[0.1421122175650707]]], "count": [185]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1059]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1059]}, "observation.state": {"min": [1.6570017428472612, -2.9577462468725133, 0.6999986774672756, 0.0, 0.0, -0.00019956279720645398, 1.0, 0.1820258263110246, -0.25664395056474554, 0.03905518910508088, -0.9994642734527588, -0.3453121781349182, -0.19180983304977417, 1.53369182953611e-05, 0.004950416524668121, -0.03999417001426351], "max": [1.657223770447882, -2.9575187029527257, 0.7124672447690534, 0.0, 0.0, 0.0001133823607233353, 1.0, 0.6251173179377725, 0.43293305610067767, 0.6027198980738635, 0.9821248054504395, 0.350763201713562, 0.2201724797487259, 0.10908408463001251, 0.04036665197902798, -0.0015819714666006509], "mean": [1.6572052641920405, -2.9576082760014257, 0.7062598466568502, 0.0, 0.0, -4.189429156704874e-06, 1.0, 0.3838562149394316, 0.00877018526353817, 0.3091705362088936, -0.5231827328067776, 0.05065823322455764, 0.037531674631992175, 0.045766352935604784, 0.028353195314137002, -0.02725769733495291], "std": [1.769369798042391e-05, 1.8420962480358088e-05, 0.004183856727580551, 0.0, 0.0, 2.6131220371827402e-05, 0.0, 0.09404832263434446, 0.17809403309723132, 0.14994719900805073, 0.8219951462215457, 0.1897340212333133, 0.08661890091008002, 0.03213302167994241, 0.015529460906863747, 0.016055097671999433], "count": [1059]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6267857142857143, -0.6589285714285714, -0.40714285714285714, -0.030000000000000002, -0.12000000000000001, -0.10285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4928571428571429, 0.6053571428571428, 0.8035714285714287, 0.053571428571428575, 0.22285714285714286, 0.1007142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.02204573047349248, -0.004345406717927947, -0.030539255362201534, 0.0034641845406717946, 0.007047753945770951, 0.008634156212059894, -0.26912181303116145], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.17788805489850482, 0.20576138852932055, 0.2662272400297354, 0.011830806182488746, 0.03836038653464049, 0.03619806452218602, 0.963106146668591], "count": [1059]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015108592808246613], "std": [0.12198493629693985], "count": [1059]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009442870632672333], "std": [0.03071474214785759], "count": [1059]}, "timestamp": {"min": [0.0], "max": [52.9], "mean": [26.450000000000003], "std": [15.285341561988945], "count": [1059]}, "frame_index": {"min": [0], "max": [1058], "mean": [529.0], "std": [305.7068312397789], "count": [1059]}, "episode_index": {"min": [146], "max": [146], "mean": [146.0], "std": [0.0], "count": [1059]}, "index": {"min": [104174], "max": [105232], "mean": [104703.0], "std": [305.7068312397789], "count": [1059]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1059]}}} +{"episode_index": 147, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.023529411764705882]], [[0.0196078431372549]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4869340922037761]], [[0.4730407517377068]], [[0.4650192159016927]]], "std": [[[0.252921323326555]], [[0.25005435891930655]], [[0.2548552322096574]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.043137254901960784]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5868396678251379]], [[0.5512531690410539]], [[0.5388903096516927]]], "std": [[[0.27291079302782223]], [[0.29294615510844924]], [[0.2785081691724022]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.0392156862745098]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5841549544988894]], [[0.5529215417001762]], [[0.539152422138289]]], "std": [[[0.2781271771019136]], [[0.29328354456349515]], [[0.27615795771816826]]], "count": [100]}, "annotation.human.task_description": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [350]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [350]}, "observation.state": {"min": [4.893427046774954, -2.3179596545585555, 0.6999957611730482, 0.0, 0.0, -0.0001830167166190222, 1.0, 0.10829064268835253, -0.5989813558842831, 0.11753338833087223, -0.9959349632263184, -0.5198845267295837, -0.19959285855293274, 0.0003178816696163267, 0.009791594558969207, -0.040013376970349165], "max": [4.893457747418982, -2.3177917549309264, 0.7013986719951745, 0.0, 0.0, 4.640752376872115e-05, 1.0, 0.4310866361173584, 0.2136468830159699, 0.5807971964678771, 0.9931520223617554, 0.5278136134147644, 0.16480447351932526, 0.13898314535617828, 0.03976085402735625, -0.009740845851632228], "mean": [4.893446982507635, -2.3178219890447957, 0.7002179199487581, 0.0, 0.0, -9.238342188037254e-06, 1.0, 0.24428254469924643, -0.14064831097975378, 0.36593644677029746, 0.6323748108318874, -0.03046099073120526, -0.07016671844625047, 0.06370853183050973, 0.02360690684907317, -0.02360758540774139], "std": [4.4290514852354605e-06, 2.5003447169915623e-05, 0.00047533239240326854, 0.0, 0.0, 3.108311753872079e-05, 0.0, 0.09352580748600972, 0.31786976985974547, 0.12076541062840536, 0.6519495319536766, 0.3956604785991718, 0.0845381737629415, 0.03820960258574681, 0.014087881549694594, 0.01426647403301087], "count": [350]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6, -0.9714285714285714, -0.6500000000000001, -0.12285714285714287, -0.1142857142857143, -0.39714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.35000000000000003, 0.8857142857142857, 0.9285714285714287, 0.09142857142857143, 0.2257142857142857, 0.4, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.016346938775510213, 0.06057142857142848, -0.020204081632653074, -0.0018857142857142887, 0.018718367346938762, 0.02401632653061228, 0.06285714285714286], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23236515393810978, 0.4459512321518196, 0.3561217472655504, 0.03839780727461589, 0.05859314167683673, 0.15464933632626968, 0.9980225346112337], "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": [147], "max": [147], "mean": [147.0], "std": [0.0], "count": [350]}, "index": {"min": [105233], "max": [105582], "mean": [105407.5], "std": [101.03588471429346], "count": [350]}, "task_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [350]}}} +{"episode_index": 148, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5349035911779391]], [[0.5438383439570318]], [[0.5245279547494368]]], "std": [[[0.21733153443647682]], [[0.21888252522841964]], [[0.20601481436485206]]], "count": [133]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5295845991177104]], [[0.52467046189621]], [[0.51359206273741]]], "std": [[[0.21423553042327756]], [[0.21493469032689602]], [[0.21122424687229008]]], "count": [133]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.09803921568627451]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.545965785831191]], [[0.5408445929384296]], [[0.5300909367139126]]], "std": [[[0.20446565527068067]], [[0.20535078849511604]], [[0.20200199132796803]]], "count": [133]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [680]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [680]}, "observation.state": {"min": [0.7751680566209129, -2.102328560387843, 0.6999869043656111, 0.0, 0.0, -1.0, 0.0, 0.19967567583284074, -0.2899598329885047, 0.11033015184406014, -0.9962499737739563, -0.59949791431427, -0.22964778542518616, 0.00010679760453058407, 0.003599168230757469, -0.04002402728918737], "max": [0.7752319090355788, -2.10222150261015, 0.7010017508189447, 0.0, 0.0, 1.0, 8.233742119045928e-05, 0.4254104127591383, 0.5295745141293939, 0.6233945213679982, 0.9963431358337402, 0.6554645299911499, 0.454796701669693, 0.29490169882774353, 0.039927713458607385, -0.0056764038197835934], "mean": [0.775187560654739, -2.1023004823742135, 0.7001472800117292, 0.0, 0.0, -0.19411764705882353, 6.1353808762794584e-06, 0.3144930838792667, 0.13377405114188592, 0.3345946307625245, 0.7328726599321645, 0.3346008893650244, 0.15235873026608981, 0.06566932881070149, 0.027673246784565248, -0.028873233839108902], "std": [4.662420553111769e-06, 8.475969161860129e-06, 0.0002692984571388696, 0.0, 0.0, 0.9809782561812264, 9.492957171934438e-06, 0.055434032022867626, 0.24894711378715187, 0.11174522364587443, 0.48244873892578316, 0.2591609843351586, 0.13456414534844505, 0.07338637313759058, 0.01519476850816256, 0.01406675116165825], "count": [680]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5625000000000001, -0.8035714285714287, -0.5089285714285714, -0.09642857142857142, -0.11357142857142859, -0.10928571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.7607142857142858, 0.7660714285714286, 1.0, 0.07714285714285715, 0.2057142857142857, 0.3085714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0025840336134453526, 0.0008035714285714326, 0.00046481092436976364, 0.0002521008403361341, 0.014574579831932763, 0.014391806722689072, -0.2823529411764706], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19401762504140535, 0.28996889887740857, 0.32325030069975985, 0.021791452855540648, 0.0511521060686227, 0.06350036155222989, 0.9593105944421761], "count": [680]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0235294122248888], "std": [0.15157762169837952], "count": [680]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014705882352941176], "std": [0.038320041825868775], "count": [680]}, "timestamp": {"min": [0.0], "max": [33.95], "mean": [16.975], "std": [9.81494396316148], "count": [680]}, "frame_index": {"min": [0], "max": [679], "mean": [339.5], "std": [196.29887926322962], "count": [680]}, "episode_index": {"min": [148], "max": [148], "mean": [148.0], "std": [0.0], "count": [680]}, "index": {"min": [105583], "max": [106262], "mean": [105922.5], "std": [196.29887926322962], "count": [680]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [680]}}} +{"episode_index": 149, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.050980392156862744]], [[0.047058823529411764]], [[0.0]]], "max": [[[0.9490196078431372]], [[0.7372549019607844]], [[0.7372549019607844]]], "mean": [[[0.3603692255955116]], [[0.27336206892424936]], [[0.19829644715552236]]], "std": [[[0.19973039084987973]], [[0.13772119254580587]], [[0.14803798236548635]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.06274509803921569]], [[0.06274509803921569]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5717789258769914]], [[0.4616890922995175]], [[0.3939450300628064]]], "std": [[[0.17043504997946174]], [[0.20473766832423337]], [[0.21386519942934068]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.548362642774395]], [[0.44841986802045036]], [[0.38504972450405944]]], "std": [[[0.1966508790807782]], [[0.21660907224599565]], [[0.22063659236883082]]], "count": [100]}, "annotation.human.task_description": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [311]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [311]}, "observation.state": {"min": [3.106085340136431, -4.469079884716997, 0.6999968794075005, 0.0, 0.0, -1.0, 0.0, 0.24315945813144202, -0.0074116070035783466, 0.18758427688728707, -0.9974876046180725, -0.29873740673065186, -0.1315462291240692, 2.859314190573059e-05, 0.0040438855538351744, -0.039914479261177443], "max": [3.1061869293881785, -4.469031945674709, 0.701431040453936, 0.0, 0.0, 1.0, 4.5798653445672244e-05, 0.6456283730417267, 0.27571512028625644, 0.5895298090375902, 0.9583020210266113, 0.2962881028652191, 0.1547732651233673, 0.05464370548725128, 0.040003593503528216, -0.0038299446622475706], "mean": [3.1060947688743035, -4.469057789971355, 0.7002411435603861, 0.0, 0.0, 0.2604501607717042, 7.731479568014021e-06, 0.4303390332590429, 0.12612859254695918, 0.3427826597924532, -0.6227764757499817, 0.019606900536170726, -0.05140859250374546, 0.013455103918669241, 0.022545373303001354, -0.022284925868043832], "std": [1.4065130732077131e-05, 6.6148920877806355e-06, 0.0005062633394035569, 0.0, 0.0, 0.9654872934192295, 9.791415714278124e-06, 0.11146166088171733, 0.11056351012618493, 0.10130971505734293, 0.7537840133649413, 0.18509769595865325, 0.07926548033099708, 0.014374745573708254, 0.01717783948356158, 0.017097423910375345], "count": [311]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.8357142857142857, -0.6214285714285714, -0.05142857142857143, -0.15714285714285714, -0.32857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.807142857142857, 1.0, 0.8, 0.06857142857142857, 0.16285714285714287, 0.2142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.05140101056499769, 0.06205787781350491, -0.046440055121727115, -0.0025447864033073036, 0.005457050987597611, 0.0002204869085898111, -0.04823151125401929], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3442698453072084, 0.35381516911059624, 0.24886043487008294, 0.011470161986809887, 0.04136254034835439, 0.08489551491250769, 0.9988361834265705], "count": [311]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.05144694447517395], "std": [0.2209075689315796], "count": [311]}, "next.done": {"min": [false], "max": [true], "mean": [0.003215434083601286], "std": [0.05661355904070421], "count": [311]}, "timestamp": {"min": [0.0], "max": [15.5], "mean": [7.75], "std": [4.488875137492688], "count": [311]}, "frame_index": {"min": [0], "max": [310], "mean": [155.0], "std": [89.77750274985377], "count": [311]}, "episode_index": {"min": [149], "max": [149], "mean": [149.0], "std": [0.0], "count": [311]}, "index": {"min": [106263], "max": [106573], "mean": [106418.0], "std": [89.77750274985377], "count": [311]}, "task_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [311]}}} +{"episode_index": 150, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.06666666666666667]], [[0.0]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5464023298793872]], [[0.5448463422287223]], [[0.5433515562411276]]], "std": [[[0.1647435522166759]], [[0.16386836541381106]], [[0.1633256318345095]]], "count": [161]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5889172926728437]], [[0.5028145539805596]], [[0.47463092425319314]]], "std": [[[0.16970347014835258]], [[0.23586350223655256]], [[0.23964048439903024]]], "count": [161]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5848733537976162]], [[0.4954761899558566]], [[0.46823680665370765]]], "std": [[[0.17540891841606313]], [[0.24339050598517453]], [[0.2471621458044907]]], "count": [161]}, "annotation.human.task_description": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [877]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [877]}, "observation.state": {"min": [4.0346061527379025, -2.6976183914889083, 0.6999985689788794, 0.0, 0.0, -0.707221508026123, 0.7069920897483826, 0.19107204274197143, -0.14710500677046268, 0.123607908872985, -0.999038577079773, -0.27109795808792114, -0.14886677265167236, 0.00025788432685658336, 0.005307996115896458, -0.04000769596081023], "max": [4.034774727396129, -2.697583486066515, 0.7009532882391467, 0.0, 0.0, -0.7071229815483093, 0.7070905566215515, 0.5248105232483606, 0.6248114891168637, 0.5933862589067073, 0.9991796612739563, 0.3279901146888733, 0.06875476241111755, 0.08252725750207901, 0.04000455632995778, -0.005252636113996271], "mean": [4.034736560223048, -2.6976140158401285, 0.7004401245027979, 0.0, 0.0, -0.7071636533927482, 0.7070498595623769, 0.36894836199654596, 0.2723499239277215, 0.33264064303778285, -0.20566874008494065, 0.1224767389912222, -0.002038664504532545, 0.028330905747784678, 0.028444742948466526, -0.028348085691848292], "std": [1.2388291929073946e-05, 3.124220867656815e-06, 0.0003248239930354832, 0.0, 0.0, 7.553864453840904e-06, 7.543401010833557e-06, 0.09618359618031987, 0.2740892300920493, 0.11604123593149814, 0.9552796671694972, 0.16346272324213743, 0.048497423417191605, 0.016177693899465773, 0.014177881460968534, 0.014304241610903871], "count": [877]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.4928571428571429, -0.7017857142857142, -0.41785714285714287, -0.06214285714285714, -0.08785714285714287, -0.09642857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45, 0.7660714285714286, 0.675, 0.07285714285714286, 0.20785714285714288, 0.2507142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.007812754520280185, 0.04053591790193852, -0.016651734810229676, -0.0012290275289135045, 0.004136667209643261, -1.2216973448440436e-05, -0.233751425313569], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.17064659394661236, 0.29300580785193303, 0.2416041589740642, 0.013438654800150504, 0.03196757527010137, 0.031593279473537815, 0.9722963905948956], "count": [877]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01824401319026947], "std": [0.13383260369300842], "count": [877]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011402508551881414], "std": [0.033748343413794166], "count": [877]}, "timestamp": {"min": [0.0], "max": [43.8], "mean": [21.9], "std": [12.658396422928144], "count": [877]}, "frame_index": {"min": [0], "max": [876], "mean": [438.0], "std": [253.16792845856287], "count": [877]}, "episode_index": {"min": [150], "max": [150], "mean": [150.0], "std": [0.0], "count": [877]}, "index": {"min": [106574], "max": [107450], "mean": [107012.0], "std": [253.16792845856287], "count": [877]}, "task_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [877]}}} +{"episode_index": 151, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.548802659382635]], [[0.559452631733488]], [[0.5403309210001551]]], "std": [[[0.2067715921662174]], [[0.19887499522504862]], [[0.189458981056234]]], "count": [157]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.08235294117647059]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6087658993266146]], [[0.6019017573642839]], [[0.5882985512981317]]], "std": [[[0.18608476754025988]], [[0.18622681394591648]], [[0.1829643526382123]]], "count": [157]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.08235294117647059]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6094489644406603]], [[0.6033082354362053]], [[0.5880923158148486]]], "std": [[[0.177609077892285]], [[0.1767936658899949]], [[0.17497301260140663]]], "count": [157]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [847]}, "annotation.human.task_name": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [847]}, "observation.state": {"min": [0.7579901562096819, -1.9702474062215334, 0.6999980681116164, 0.0, 0.0, -1.0, 0.0, 0.21980105152098328, -0.7445134545436949, 0.14842502863183138, -0.9949472546577454, -0.5455320477485657, -0.22806450724601746, 5.7823610404739156e-05, 0.003943257369019793, -0.04000663027258015], "max": [0.7580130466980183, -1.9702043608153308, 0.7006781517323752, 0.0, 0.0, 1.0, 3.8445406971732154e-05, 0.4695861245442628, 0.037419163314920345, 0.5914265659778998, 0.9894052147865295, 0.4726739227771759, 0.33037301898002625, 0.1427665650844574, 0.04000935290506694, -0.003491858204746634], "mean": [0.7580024383294737, -1.9702234699377525, 0.7002595351414649, 0.0, 0.0, -0.2680047225501771, 3.660257893966687e-06, 0.3378843386713316, -0.3310495615446357, 0.34447144973807137, 0.4935951828252889, -0.13852815289564932, 0.12208242987142656, 0.05957130157072917, 0.02725419914179468, -0.027079282325261245], "std": [1.5943224845774596e-06, 4.117861980512785e-06, 0.0002228911387870216, 0.0, 0.0, 0.9634175982878836, 4.850060025725763e-06, 0.06501835566678639, 0.26193481354859877, 0.09466210866091908, 0.7716710997323709, 0.30760795936700475, 0.16197958171341628, 0.048831933165357284, 0.016519027384425188, 0.016662528362284452], "count": [847]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6482142857142857, -0.5892857142857143, -0.375, -0.19714285714285715, -0.1842857142857143, -0.135, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.47678571428571426, 0.9267857142857143, 0.6482142857142857, 0.05142857142857143, 0.11142857142857143, 0.11357142857142859, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00036051610726935563, 0.008209647495361757, -0.01615997638724916, -0.0064437510541406695, 0.0010372744138977886, -0.004232585596221939, -0.29634002361275086], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.17632129810922312, 0.27725230338274, 0.22611251298782056, 0.02577093160912331, 0.03400449170192618, 0.03743334770111719, 0.9550825045016703], "count": [847]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018890200182795525], "std": [0.13613729178905487], "count": [847]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011806375442739079], "std": [0.03434011705371662], "count": [847]}, "timestamp": {"min": [0.0], "max": [42.3], "mean": [21.15], "std": [12.225383429569806], "count": [847]}, "frame_index": {"min": [0], "max": [846], "mean": [423.0], "std": [244.50766859139614], "count": [847]}, "episode_index": {"min": [151], "max": [151], "mean": [151.0], "std": [0.0], "count": [847]}, "index": {"min": [107451], "max": [108297], "mean": [107874.0], "std": [244.50766859139614], "count": [847]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [847]}}} diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/meta/info.json b/pretrain/composite/DivideBasins/20250718/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..339568776c8b5623441cf4b15c84ae5e3cd8b0bc --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 152, + "total_frames": 108298, + "total_tasks": 4, + "total_videos": 456, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:152" + }, + "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/composite/DivideBasins/20250718/lerobot/meta/modality.json b/pretrain/composite/DivideBasins/20250718/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/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/composite/DivideBasins/20250718/lerobot/meta/stats.json b/pretrain/composite/DivideBasins/20250718/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..cad6b80175a2782df4fee073df67b6e0548cf53e --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 1.4071173667907715 + ], + "std": [ + 1.1450191736221313 + ], + "min": [ + 0.0 + ], + "max": [ + 3.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 3.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 4.0 + ], + "std": [ + 0.0 + ], + "min": [ + 4.0 + ], + "max": [ + 4.0 + ], + "q01": [ + 4.0 + ], + "q99": [ + 4.0 + ] + }, + "observation.state": { + "mean": [ + 2.7242629528045654, + -1.8256882429122925, + 0.7008090019226074, + 0.0, + 0.0, + 0.157739520072937, + 0.6245386600494385, + 0.3581240475177765, + 0.019273268058896065, + 0.3323225975036621, + -0.014327678829431534, + 0.021205952391028404, + 0.002815956249833107, + 0.059190794825553894, + 0.02652447484433651, + -0.02639898657798767 + ], + "std": [ + 1.3202459812164307, + 1.0518741607666016, + 0.0012733926996588707, + 0.0, + 0.0, + 0.6735429167747498, + 0.3623623549938202, + 0.10543464124202728, + 0.31404343247413635, + 0.1319984644651413, + 0.9408969283103943, + 0.29959744215011597, + 0.12735140323638916, + 0.06752991676330566, + 0.016094937920570374, + 0.01616070047020912 + ], + "min": [ + -0.8461240530014038, + -4.61715841293335, + 0.6997852921485901, + 0.0, + 0.0, + -1.0, + 0.0, + 0.03369487449526787, + -0.8271268010139465, + 0.028674043715000153, + -0.9999553561210632, + -0.9918580055236816, + -0.48205623030662537, + 1.962339183592121e-06, + -0.004303621128201485, + -0.040637530386447906 + ], + "max": [ + 6.162978172302246, + -0.7442542910575867, + 0.7124672532081604, + 0.0, + 0.0, + 1.0, + 1.0, + 0.7572935819625854, + 0.8095611929893494, + 0.7445235848426819, + 0.99997478723526, + 0.9945046901702881, + 0.5436798930168152, + 0.6443832516670227, + 0.04063279181718826, + 0.00017431259038858116 + ], + "q01": [ + -0.7432947158813477, + -4.480928421020508, + 0.6999979019165039, + 0.0, + 0.0, + -1.0, + 2.956323328362487e-07, + 0.13929127156734467, + -0.6763563752174377, + 0.07022683322429657, + -0.9990095496177673, + -0.7211719155311584, + -0.28256115317344666, + 0.0007666319143027067, + 0.002319537801668048, + -0.0400213748216629 + ], + "q99": [ + 6.159257888793945, + -0.7474666833877563, + 0.7056529521942139, + 0.0, + 0.0, + 1.0, + 1.0, + 0.6250535249710083, + 0.6424916982650757, + 0.6057427525520325, + 0.9990037083625793, + 0.8984395861625671, + 0.312799334526062, + 0.31510013341903687, + 0.040018919855356216, + -0.0019045276567339897 + ] + }, + "action": { + "mean": [ + 0.002559275133535266, + 0.0009300892124883831, + -0.0001330588129349053, + 0.0, + -0.9503037929534912, + 0.01095947902649641, + 0.021391872316598892, + -0.016447879374027252, + -0.00184650719165802, + 0.0034230800811201334, + 0.0007912755245342851, + -0.19850781559944153 + ], + "std": [ + 0.040059659630060196, + 0.06809670478105545, + 0.0036449404433369637, + 0.0, + 0.31152069568634033, + 0.21164081990718842, + 0.3098794221878052, + 0.2794824242591858, + 0.03231927379965782, + 0.04369332641363144, + 0.06189482659101486, + 0.979870080947876 + ], + "min": [ + -0.699999988079071, + -0.9785714149475098, + -0.18642857670783997, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.38857144117355347, + -0.3085714280605316, + -0.5028571486473083, + -1.0 + ], + "max": [ + 1.0, + 0.9107142686843872, + 0.09214285761117935, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.43714284896850586, + 0.5342857241630554, + 0.6257143020629883, + 1.0 + ], + "q01": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -0.6215894222259521, + -0.7928571701049805, + -0.5285714268684387, + -0.12285714596509933, + -0.13500000536441803, + -0.16928571462631226, + -1.0 + ], + "q99": [ + 0.06428571790456772, + 0.06964285671710968, + 0.0, + 0.0, + 1.0, + 0.5196428298950195, + 1.0, + 0.8714285492897034, + 0.08857142925262451, + 0.15142856538295746, + 0.24857142567634583, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.02249349094927311 + ], + "std": [ + 0.14828193187713623 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.0014035346684977412 + ], + "std": [ + 0.03743747994303703 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 21.355100631713867 + ], + "std": [ + 14.775233268737793 + ], + "min": [ + 0.0 + ], + "max": [ + 74.69999694824219 + ], + "q01": [ + 0.3499999940395355 + ], + "q99": [ + 56.400001525878906 + ] + }, + "frame_index": { + "mean": [ + 427.1020202636719 + ], + "std": [ + 295.504638671875 + ], + "min": [ + 0.0 + ], + "max": [ + 1494.0 + ], + "q01": [ + 7.0 + ], + "q99": [ + 1128.0 + ] + }, + "episode_index": { + "mean": [ + 76.48272705078125 + ], + "std": [ + 43.27384948730469 + ], + "min": [ + 0.0 + ], + "max": [ + 151.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 150.0 + ] + }, + "index": { + "mean": [ + 54148.5 + ], + "std": [ + 31262.9375 + ], + "min": [ + 0.0 + ], + "max": [ + 108297.0 + ], + "q01": [ + 1082.969970703125 + ], + "q99": [ + 107214.03125 + ] + }, + "task_index": { + "mean": [ + 1.4071173667907715 + ], + "std": [ + 1.1450191736221313 + ], + "min": [ + 0.0 + ], + "max": [ + 3.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 3.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/composite/DivideBasins/20250718/lerobot/meta/tasks.jsonl b/pretrain/composite/DivideBasins/20250718/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02fb692efcd1cfa1c8c499efc18e962005dfeb3d --- /dev/null +++ b/pretrain/composite/DivideBasins/20250718/lerobot/meta/tasks.jsonl @@ -0,0 +1,5 @@ +{"task_index": 0, "task": "Move any existing items from the left basin to the right basin for drying. Then move the cup from the counter to the left basin of the sink for washing."} +{"task_index": 1, "task": "Move any existing items from the left basin to the right basin for drying. Then move the glass cup from the counter to the left basin of the sink for washing."} +{"task_index": 2, "task": "Move any existing items from the left basin to the right basin for drying. Then move the mug from the counter to the left basin of the sink for washing."} +{"task_index": 3, "task": "Move any existing items from the left basin to the right basin for drying. Then move the measuring cup from the counter to the left basin of the sink for washing."} +{"task_index": 4, "task": "DivideBasins"} diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e641808c27a70d6150ad8a47b42cc8895e74162d --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,495 @@ +{ + "layout_id": 35, + "style_id": 52, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_3_right_group_1_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.521075, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stack_3_right_group_1_3", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.6430999999999996, + 0.65 + ], + "offset": [ + 1.025, + -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 up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_3_right_group_1_3", + "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": [ + 4.385392594380816, + -3.5674018627260105, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2291f97f8511240ff7d62f7a2460a25343ca31ff --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,495 @@ +{ + "layout_id": 35, + "style_id": 22, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_1_left_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.8779999999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stack_1_left_group_1_2", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.9908765049800784, + 0.65 + ], + "offset": [ + -0.8799999999999994, + -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 up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_1_left_group_1_2", + "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": [ + 0.9202671179322058, + -1.5112399807744405, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12ced78f055be8cf43148be8cbe5b0913966e98e --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,396 @@ +{ + "layout_id": 44, + "style_id": 31, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_1_left_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.320005, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stack_1_left_group_1_2", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.44200200000000034, + 0.650008 + ], + "offset": [ + 0.04999999999999982, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_1_left_group_1_2", + "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": [ + 2.681546442387101, + -2.643355193733435, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6009dc7232f17d14626780e0be9babc395aa030f --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,435 @@ +{ + "layout_id": 30, + "style_id": 14, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_1_left_group_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.6779999999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stack_1_left_group_3", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.7999999999999996, + 0.65 + ], + "offset": [ + 2.220446049250313e-16, + 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 up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_1_left_group_3", + "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": [ + 0.8740013430610155, + -2.272893503473514, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c5b022518023a9eb76a30e137540cd055d2ddfb --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 33, + "style_id": 15, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_4_main_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.8779999999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "stack_4_main_group_1_2", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0000000000000004, + 0.65 + ], + "offset": [ + 0.2999999999999998, + 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" + }, + "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" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_4_main_group_1_2", + "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": [ + 4.282491316521295, + -0.8603508847303397, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..795906c3c4a5509aa439d3532f13f062975a6536 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 23, + "style_id": 32, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "bottom_right_group_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.6779999999999999, + 0.71 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "bottom_right_group_2", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 2.5, + 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" + }, + "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" + }, + "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_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": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "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": "HingeCabinet" + }, + "box_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" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "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_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_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_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_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "bottom_right_group_2", + "counter": "counter_1_right_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": [ + 4.447956507097229, + -2.9619312560409354, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6eb2d9bdf7f5a805bfbb320e0bb2843c54db186f --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,537 @@ +{ + "layout_id": 12, + "style_id": 12, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_4_main_group_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.42800000000000005, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stack_4_main_group_2", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.5140000000000011, + 0.65 + ], + "offset": [ + 1.1799999999999997, + -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_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" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_4_main_group_2", + "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": [ + 3.2576194564371943, + -0.8680824594710671, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a65a37cdbb7ea96d0855e4d571d7a5d4b6cc5b43 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,420 @@ +{ + "layout_id": 11, + "style_id": 25, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_3_main_group_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.328, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "stack_3_main_group_2", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.44999999999999996, + 0.65 + ], + "offset": [ + -0.3405, + 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 up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_3_main_group_2", + "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": [ + 3.2216917730655843, + -0.9178030059043759, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88ed6bacb1c5629ff1bc3d8086450e92e22cb598 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,408 @@ +{ + "layout_id": 36, + "style_id": 35, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_1_left_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.43486100000000005, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stack_1_left_group_1_2", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.5567000000000002, + 0.65 + ], + "offset": [ + 1.1759, + -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_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 up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_1_left_group_1_2", + "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": [ + 0.9217173978176381, + -0.77766328346428, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b102750863bff772427d696d1f2a7b881492706 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,462 @@ +{ + "layout_id": 13, + "style_id": 18, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_4_front_group_1_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.07339999999999999 + ], + "size": [ + 0.278, + 0.51 + ], + "height": 0.17679999999999998, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stack_4_front_group_1_3", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.4000000000000006, + 0.81 + ], + "offset": [ + -0.5249999999999997, + 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" + }, + "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" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_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" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "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" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "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" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "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": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_4_front_group_1_3", + "counter": "dining_front_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": [ + 2.259959092512917, + -2.036514583227801, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba6319bea8844758b4277139e756c04c2fcc6984 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,453 @@ +{ + "layout_id": 27, + "style_id": 56, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_2_left_group_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.07339999999999999 + ], + "size": [ + 0.41800000000000004, + 0.51 + ], + "height": 0.17679999999999998, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stack_2_left_group_3", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.7000000000000004, + 0.65 + ], + "offset": [ + -0.0239999999999998, + 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" + }, + "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 up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_2_left_group_3", + "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": [ + 0.8626041109511895, + -1.0627330409676354, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..323dbf7ee61e03a01b6ca71a994bc5f8c5f18020 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,420 @@ +{ + "layout_id": 11, + "style_id": 15, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_1_main_group_4", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.528, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stack_1_main_group_4", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.6499999999999999, + 0.65 + ], + "offset": [ + -0.24050000000000005, + 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 up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_1_main_group_4", + "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": [ + 1.492452710934598, + -0.8748427112123588, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b20778060f7421314cb460d2370443039968d75 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,447 @@ +{ + "layout_id": 47, + "style_id": 43, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_02_front_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 1.0632039999999998, + 0.5100100000000001 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_05_front_group_1", + "sample_region_kwargs": { + "ref": "stack_02_front_group_1_2", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.185217, + 0.649981 + ], + "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 up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_02_front_group_1_2", + "counter": "counter_05_front_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": [ + 2.0267554890121358, + -2.289399507419919, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712248166391399 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..354b36e134218d3de301d468d0eac7ec6a07e1ed --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,408 @@ +{ + "layout_id": 36, + "style_id": 60, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_2_right_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.9279999999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stack_2_right_group_1_2", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.0499999999999992, + 0.65 + ], + "offset": [ + 4.440892098500626e-16, + 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 up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_2_right_group_1_2", + "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": [ + 2.048545529606685, + -3.0196193361032497, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0e87019e9e162be071c738f2297ab2e3bb54a6b8 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,414 @@ +{ + "layout_id": 14, + "style_id": 26, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_2_main_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.369, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stack_2_main_group_1_2", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.2809999999999995, + 0.65 + ], + "offset": [ + -0.3165000000000002, + 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" + }, + "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" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "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": "Pick up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_2_main_group_1_2", + "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": [ + 1.7215268556713568, + -0.8819361631421522, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0670678f52ac98647e07b9d90c2d0b36abab6b21 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,537 @@ +{ + "layout_id": 29, + "style_id": 60, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_5_island_group_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.42700000000000005, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stack_5_island_group_3", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.7909999999999986, + 1.8 + ], + "offset": [ + 1.4270000000000005, + 2.0816681711721685e-17, + 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 up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_5_island_group_3", + "counter": "island_island_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": [ + 1.0725501477960349, + -5.177727513089183, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.4228548662085245e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe8031cc56227511f474664b1be2d6f4fe8e63ea --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 33, + "style_id": 38, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_4_island_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.378, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stack_4_island_group_1_2", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.6999999999999997, + 1.1661 + ], + "offset": [ + 1.5499999999999998, + 2.0816681711721685e-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_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" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_4_island_group_1_2", + "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": [ + 1.3142616054488605, + -1.672738783803525, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5706453736350774 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..66df662330d98d46e399a4cd1bf0b71c5d6d4b09 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 23, + "style_id": 26, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_3_right_group_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.4469999999999999, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "stack_3_right_group_3", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.569, + 0.65 + ], + "offset": [ + 0.9655, + 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" + }, + "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" + }, + "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_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": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "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": "HingeCabinet" + }, + "box_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" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "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_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_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_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_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_3_right_group_3", + "counter": "counter_1_right_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": [ + 4.72007368413106, + -2.3539077853862094, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ffcf74fb901cef3e4e3dfeb2e0bd7fdd5ced1b63 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,405 @@ +{ + "layout_id": 58, + "style_id": 60, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_07_island_group_1_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.44866900000000004, + 0.509998 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stack_07_island_group_1_3", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.6728019999999988, + 0.911783 + ], + "offset": [ + -0.11940000000000062, + 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 up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_07_island_group_1_3", + "counter": "island_1_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": [ + 5.092072539981185, + -2.06655487247782, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.7122376720160215 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5cdaa2fc4086ccd22743ae33380b4efbeb9c8bea --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,372 @@ +{ + "layout_id": 34, + "style_id": 48, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_2_left_group_1_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.7628999999999999, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stack_2_left_group_1_3", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.262718321477426, + 0.65 + ], + "offset": [ + -0.7054000000000005, + -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" + }, + "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" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_2_left_group_1_3", + "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": [ + 0.8978918937240807, + -2.623661822843655, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de9561e3b072119f6bb56ef0ad859aa2e9374ef7 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,459 @@ +{ + "layout_id": 33, + "style_id": 21, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_1_right_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.8779999999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stack_1_right_group_1_2", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + 0.49999999999999994, + 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" + }, + "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" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_1_right_group_1_2", + "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": [ + 5.815818395075, + 0.1605965088306518, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a048b3ca45e95ebbe7fd7b1d9edb3a93d4548ea6 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,531 @@ +{ + "layout_id": 20, + "style_id": 32, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_3_main_group_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.534, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "stack_3_main_group_2", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.6559999999999995, + 0.65 + ], + "offset": [ + -0.3280000000000003, + 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 up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_3_main_group_2", + "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": [ + 2.5961744809648435, + -0.8806089951078616, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b58a42c90b2d9abbd4b53829a80c2725d25f0ce3 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 25, + "style_id": 53, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_4_island_group_2_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.641, + 0.56 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stack_4_island_group_2_2", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "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" + }, + "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" + }, + "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": "Pick up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_4_island_group_2_2", + "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": [ + 3.7115212129449553, + -1.6939498459634736, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592687818336 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c7c2020637e27e14fa433a5dc0ce472fc69956e --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,441 @@ +{ + "layout_id": 48, + "style_id": 54, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_06_right_group_1_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.330488, + 0.509998 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "stack_06_right_group_1_3", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.4524399999999984, + 0.650012 + ], + "offset": [ + 1.4124000000000003, + -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 up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_06_right_group_1_3", + "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": [ + 3.49109513950835, + -3.941649574426012, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7da5005bb31c84b36913215bcf461eac6fd3befb --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,456 @@ +{ + "layout_id": 31, + "style_id": 22, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_4_right_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.728, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "stack_4_right_group_1_2", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.1808765049800805, + 0.65 + ], + "offset": [ + 0.9750000000000005, + -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" + }, + "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 up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_4_right_group_1_2", + "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": [ + 4.73545388234163, + -6.3818155398997, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..49b30e8eff8b3f048cbc1e5c6bee49621810817f --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,444 @@ +{ + "layout_id": 53, + "style_id": 31, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_6_right_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.47802400000000006, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_5_right_group_1", + "sample_region_kwargs": { + "ref": "stack_6_right_group_1_2", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.5999989999999991, + 0.650035 + ], + "offset": [ + 4.440892098500626e-16, + 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 up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_6_right_group_1_2", + "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": [ + 4.894637807728699, + -2.34011288893363, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0df390a2882e93d92cdc49320ddd884405dcc880 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,468 @@ +{ + "layout_id": 28, + "style_id": 31, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_4_island_group_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.07339999999999999 + ], + "size": [ + 0.309, + 0.51 + ], + "height": 0.17679999999999998, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stack_4_island_group_3", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.410989771688205, + 0.65 + ], + "offset": [ + 1.1455000000000004, + -3.469446951953614e-17, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_4_island_group_3", + "counter": "counter_1_island_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": [ + 2.3536598570427856, + -1.6025536945820469, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..48f396b5fb19e4317ee49ca2359cb77de6b356ce --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 23, + "style_id": 33, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_3_left_group_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw003/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.4549999999999999, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_2_left_group", + "sample_region_kwargs": { + "ref": "stack_3_left_group_3", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.5769999999999986, + 0.65 + ], + "offset": [ + 0.5645000000000007, + 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" + }, + "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" + }, + "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_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": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "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": "HingeCabinet" + }, + "box_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" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "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_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_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_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_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_3_left_group_3", + "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": [ + 0.8557443502558222, + -2.5169591797211686, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bfc1a85cb1f7bb2822b6283ffd0ea11519989580 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,384 @@ +{ + "layout_id": 52, + "style_id": 38, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_01_right_group_1_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.47800000000000004, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "stack_01_right_group_1_3", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.6003999999999987, + 0.65 + ], + "offset": [ + 0.8273000000000004, + -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" + }, + "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 up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_01_right_group_1_3", + "counter": "counter_4_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": [ + 2.352691829358042, + -2.142765328054105, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d6167aca4857ab837d66b7bee78f8e030f115312 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,447 @@ +{ + "layout_id": 47, + "style_id": 32, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_03_main_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.5022149999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_01_main_group_1", + "sample_region_kwargs": { + "ref": "stack_03_main_group_1_2", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.624211, + 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 up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_03_main_group_1_2", + "counter": "counter_01_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": [ + 4.386686578329828, + -1.1722195424884538, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378857158503 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d056af84d1423e5df113fa1166bb70ba9b1f58ce --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,492 @@ +{ + "layout_id": 43, + "style_id": 46, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_1_left_group_1_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.385, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stack_1_left_group_1_3", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.2833999999999999, + 0.65 + ], + "offset": [ + 0.6308, + -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" + }, + "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_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_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.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "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_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "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" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_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": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_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" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "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" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_1_left_group_1_3", + "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": [ + 2.6220843311298982, + -0.8520681912466816, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4512a1debc20f75aeb381209fc44bbb0a8a9b74b --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,468 @@ +{ + "layout_id": 28, + "style_id": 37, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_1_main_group_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw002/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.044 + ], + "size": [ + 0.378, + 0.51 + ], + "height": 0.118, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stack_1_main_group_2", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_1_main_group_2", + "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": [ + 0.6731793115034568, + -0.9320281171949173, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cbff666d6ae4686baaa96b3789f3965cc4f5a3a1 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,495 @@ +{ + "layout_id": 35, + "style_id": 20, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_2_dining_area_group_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.47800000000000004, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_island_group", + "sample_region_kwargs": { + "ref": "stack_2_dining_area_group_2", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 1.2000014762142677, + 1.3 + ], + "offset": [ + 0.2999992618928662, + 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" + }, + "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 up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_2_dining_area_group_2", + "counter": "counter_1_island_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": [ + 3.6298112050021687, + -3.953223064005374, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415921820563995 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c5204307c6407e9b2f2b8b230337500fe94c591 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,408 @@ +{ + "layout_id": 36, + "style_id": 27, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_2_right_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.9279999999999999, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_2_right_group_1", + "sample_region_kwargs": { + "ref": "stack_2_right_group_1_2", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0499999999999992, + 0.65 + ], + "offset": [ + 4.440892098500626e-16, + 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 up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_2_right_group_1_2", + "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": [ + 2.099839170490287, + -3.1076238634735507, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3144855b4d16d5a782042c37c1f0d4fded03f3e6 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,456 @@ +{ + "layout_id": 26, + "style_id": 34, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_3_main_group_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.6799999999999999, + 0.56 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stack_3_main_group_2", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8019999999999993, + 0.65 + ], + "offset": [ + -0.04900000000000038, + 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 up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_3_main_group_2", + "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": [ + 3.517939824820422, + -1.072826525027815, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c76ac13e285e76c67d1983f5fbb76a4635b47a53 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,465 @@ +{ + "layout_id": 51, + "style_id": 29, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_04_main_group_1_2", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw006/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.065 + ], + "size": [ + 0.776443, + 0.51 + ], + "height": 0.16, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "stack_04_main_group_1_2", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8984619999999995, + 0.65 + ], + "offset": [ + -0.4492000000000002, + 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 up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_04_main_group_1_2", + "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": [ + 1.1308564785443902, + -0.9271292333774281, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7939de0df48484a2adfd6e00e9178e9ed1da8ff6 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,372 @@ +{ + "layout_id": 34, + "style_id": 35, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_4_left_group_1_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw001/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.086 + ], + "size": [ + 0.7628999999999999, + 0.51 + ], + "height": 0.20199999999999999, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "stack_4_left_group_1_3", + "min_size": [ + 0.08596219379999996, + 0.08659293719999997, + 0.10499803439999995 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "stackable", + "receptacle" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8849000000000022, + 0.65 + ], + "offset": [ + 1.2795999999999994, + -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" + }, + "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" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_4_left_group_1_3", + "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": [ + 0.9494801066855793, + -0.5508526400088273, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c5649c7f2a749db422d4ae5c6bfa4ba9c1bf280 --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,537 @@ +{ + "layout_id": 29, + "style_id": 18, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_3_main_group_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw004/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.07339999999999999 + ], + "size": [ + 0.5779999999999998, + 0.51 + ], + "height": 0.17679999999999998, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "stack_3_main_group_3", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 2.0999999999999988, + 0.65 + ], + "offset": [ + 0.35000000000000053, + 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 up the straw from the left drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_3_main_group_3", + "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": [ + 3.960983397896157, + -0.9257062192623271, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3c09da70f256b1a10d7ab974bc83702e50d6cec --- /dev/null +++ b/pretrain/composite/PlaceStraw/20250829/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,486 @@ +{ + "layout_id": 23, + "style_id": 36, + "object_cfgs": [ + { + "name": "straw", + "obj_groups": "straw", + "placement": { + "fixture": "stack_1_left_group_3", + "size": [ + 0.2, + 0.2 + ], + "pos": [ + null, + 0 + ] + }, + "object_scale": [ + 1.75, + 1.0, + 1.75 + ], + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "straw" + ], + "groups": [ + "straw" + ], + "cat": "straw", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw007/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + -0.015000000000000013, + -0.0776 + ], + "size": [ + 0.4549999999999999, + 0.51 + ], + "height": 0.1852, + "name": "int" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "stack_1_left_group_3", + "min_size": [ + 0.07443605229999997, + 0.07443472634999998, + 0.11499999999999996 + ] + }, + "size": [ + 0.15, + 0.15 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cup", + "receptacle", + "stackable" + ], + "groups": [ + "cup" + ], + "cat": "cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml" + }, + "reset_region": { + "size": [ + 0.5770000000000002, + 0.65 + ], + "offset": [ + -0.28349999999999986, + 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" + }, + "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" + }, + "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_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": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "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": "HingeCabinet" + }, + "box_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" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "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_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_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_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_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Pick up the straw from the right drawer and put it inside the smoothie cup.", + "fixture_refs": { + "drawer": "stack_1_left_group_3", + "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": [ + 0.8694489543654, + -1.9833805491247705, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/dataset_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1cf1907062376519dba10bc0b4d0b502c0ae5a40 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "7-31-2025", + "env": "StackCans", + "env_args": { + "type": 1, + "env_name": "StackCans", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "StackCans", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "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": "StackCans", + "robots": "PandaOmron", + "layout_ids": -2, + "style_ids": -2, + "obj_instance_split": "pretrain", + "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": "9:42:28", + "total": 76102 +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5c3b7f824e0dec1bc3625ffe9f97dc0f20082a2 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,565 @@ +{ + "layout_id": 45, + "style_id": 27, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.05623287879999999, + 0.16753545219999996, + 0.0938449929 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8470000000000004, + 0.65 + ], + "offset": [ + 0.09899999999999975, + 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" + }, + "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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_2_right_group_1", + "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": [ + 3.897758317190691, + -1.1647859351060295, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eaf5525abfde7a5d6cf2cd6cda71354e0db8a271 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 40, + "style_id": 22, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.342302, + 0.055938, + 0.055938 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "aluminum_foil", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "aluminum_foil", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil002/model.xml" + }, + "reset_region": { + "size": [ + 1.2246000000000006, + 0.65 + ], + "offset": [ + -0.18249999999999966, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_main_group_1", + "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": [ + 2.109312717498116, + -0.8101083601816202, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..602c71de6335b16e11c04b5fb78856d25af5af11 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,564 @@ +{ + "layout_id": 60, + "style_id": 52, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7600629999999999, + 0.418885 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7600629999999999, + 0.418885 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7600629999999999, + 0.418885 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7600629999999999, + 0.418885 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_01_main_group_1", + "min_size": [ + 0.06147772049999999, + 0.08868493147499999, + 0.0641568332475 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_14/model.xml" + }, + "reset_region": { + "size": [ + 0.3800000000000002, + 0.65 + ], + "offset": [ + -0.10999999999999988, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_01_main_group_1", + "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": [ + 2.4879933611986886, + -0.8339541284224619, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a77fef34969696d40aab7fcf7d1bc9f815c7900a --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,600 @@ +{ + "layout_id": 28, + "style_id": 27, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "top_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "top_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "top_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "top_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "top_main_group", + "min_size": [ + 0.08947229999999999, + 0.0872781, + 0.008148 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato_slice" + ], + "groups": [ + "all" + ], + "cat": "tomato_slice", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tomato_slice/TomatoSlice003/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "top_main_group", + "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": [ + 0.9942641552028381, + -0.953408688620535, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1302f374c5456bfdc88ca5f5fa80491203672fa --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,557 @@ +{ + "layout_id": 38, + "style_id": 36, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.266802, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.266802, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.266802, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.266802, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_left_group_1", + "min_size": [ + 0.07134690895999998, + 0.18532809176, + 0.013354377759999998 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "scissors", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "scissors", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/scissors/scissors_11/model.xml" + }, + "reset_region": { + "size": [ + 1.3268020000000007, + 0.65 + ], + "offset": [ + -9.899999999962716e-05, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_2_left_group_1", + "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": [ + 0.7646591799280711, + -5.424557275446914, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000005/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000005/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5929e1caf87ff0c5167212681759d6a0041a668a --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000005/ep_meta.json @@ -0,0 +1,576 @@ +{ + "layout_id": 19, + "style_id": 53, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "middle_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.708, + 0.54 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "middle_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.708, + 0.54 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "middle_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.708, + 0.54 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "middle_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.708, + 0.54 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "middle_2_left_group_1", + "min_size": [ + 0.08252690495999998, + 0.09592070783999997, + 0.03860648447999998 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8530197033331166, + 0.65 + ], + "offset": [ + 0.8234901483334416, + -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_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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "middle_2_left_group_1", + "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": [ + 0.825264090007946, + -0.24507654470359053, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3be88c41e4d323b70baafb91e4e81ffe1561f378 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,598 @@ +{ + "layout_id": 13, + "style_id": 36, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.931, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.931, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.931, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.931, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "cab_1_main_group_1", + "min_size": [ + 0.07876752593240186, + 0.09199586015335218, + 0.07757899957280649 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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_0/model.xml" + }, + "reset_region": { + "size": [ + 0.48099999999999987, + 0.65 + ], + "offset": [ + -1.462, + -3.469446951953614e-17, + 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" + }, + "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" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_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" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "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" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "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" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "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": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_main_group_1", + "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": [ + 0.9865629833952515, + -0.8443817789554137, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a408a488f4899a7a13eb8ed08011b08ae6a50d2c --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,589 @@ +{ + "layout_id": 27, + "style_id": 44, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.52, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.52, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.52, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.52, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.057547025999999994, + 0.057547025999999994, + 0.18148389480000002 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "milk", + "dairy", + "drink", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "milk", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_0/model.xml" + }, + "reset_region": { + "size": [ + 0.5800000000000003, + 0.65 + ], + "offset": [ + -0.5839999999999999, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_left_group", + "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": [ + 0.8376106508811552, + -2.0140852294073235, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b79f8aa79b23b7bf980ab3e6418769d7f7e80e32 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,603 @@ +{ + "layout_id": 16, + "style_id": 11, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_2_right_group_1", + "min_size": [ + 0.05514044975999998, + 0.08719592111999996, + 0.07980814159999997 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml" + }, + "reset_region": { + "size": [ + 1.2812633961035043, + 0.65 + ], + "offset": [ + -1.3499999999999999, + -3.469446951953614e-17, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_2_right_group_1", + "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": [ + 2.2490713605024033, + -1.695126269945272, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2eb26535867fabff90671c5e3014f86eb6505584 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,649 @@ +{ + "layout_id": 17, + "style_id": 21, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.008, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.008, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.008, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.008, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "cab_1_left_group_1", + "min_size": [ + 0.06825578316094581, + 0.067836388384929, + 0.03648932705092989 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_1/model.xml" + }, + "reset_region": { + "size": [ + 0.568, + 0.65 + ], + "offset": [ + 0.125, + 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" + }, + "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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_left_group_1", + "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": [ + 0.8031868415396443, + -1.0681457853681233, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d55d4a5305d7cd4995d04ad2b52a6fdc5dbca1c --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 40, + "style_id": 14, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.36, + 0.22999858, + 0.035591 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oven_tray", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "oven_tray", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml" + }, + "reset_region": { + "size": [ + 1.2246000000000006, + 0.65 + ], + "offset": [ + -0.18249999999999966, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_main_group_1", + "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": [ + 2.016062908550112, + -0.7789014164211444, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d256bf69478736d8e4a2562eb9430ab684dfa52 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,756 @@ +{ + "layout_id": 25, + "style_id": 25, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.776, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.776, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.776, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.776, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.05550316911999999, + 0.05414003839999999, + 0.029310765119999995 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_0/model.xml" + }, + "reset_region": { + "size": [ + 0.3440000000000003, + 0.65 + ], + "offset": [ + 2.0109999999999997, + -3.469446951953614e-17, + 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" + }, + "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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_left_group", + "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": [ + 0.7959932767212489, + -0.9196397639664711, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78565b3e5c274cbe0be30d10f31beab8cf8f9ac5 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,630 @@ +{ + "layout_id": 35, + "style_id": 36, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_left_group_1", + "min_size": [ + 0.08606748149999999, + 0.08602075125, + 0.027686259999999997 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread_flat", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bread_flat", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_18/model.xml" + }, + "reset_region": { + "size": [ + 0.9533468187310135, + 0.65 + ], + "offset": [ + -0.8799999999999999, + -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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_left_group_1", + "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": [ + 0.7949343115686704, + -2.370112145761015, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000013/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000013/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1438b019846287d0d03b1f43ad091c2ed4549a3f --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000013/ep_meta.json @@ -0,0 +1,627 @@ +{ + "layout_id": 56, + "style_id": 28, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_9_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.087991, + 0.309157 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_9_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.087991, + 0.309157 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_9_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.087991, + 0.309157 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_9_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.087991, + 0.309157 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_8_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_9_right_group_1", + "min_size": [ + 0.029436308890918146, + 0.2220651971277625, + 0.0318469734 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_9_right_group_1", + "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": [ + 5.928287816033894, + -4.437788087391172, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001655254467980427 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b5c1ecf9ac84ea1fcf34cf4d6bee247185cdb16e --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,591 @@ +{ + "layout_id": 26, + "style_id": 58, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_front_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.165, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_front_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.165, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_front_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.165, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_front_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.165, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "cab_1_front_group", + "min_size": [ + 0.06381797500000003, + 0.06285560840000001, + 0.051404796300000014 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_0/model.xml" + }, + "reset_region": { + "size": [ + 0.9070932212286689, + 0.65 + ], + "offset": [ + 0.242, + -3.469446951953614e-17, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_front_group", + "counter": "counter_1_front_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": [ + 2.8923862226670964, + -4.331759769607297, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5707957029303028 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..563666ebb588f90ce1838bedb8e653775dcbdb2a --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,568 @@ +{ + "layout_id": 54, + "style_id": 25, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_main_group_1", + "min_size": [ + 0.06984483619647662, + 0.22891388506725893, + 0.12116916657604719 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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_0/model.xml" + }, + "reset_region": { + "size": [ + 1.022279, + 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" + }, + "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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_3_main_group_1", + "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": [ + 2.572444478278934, + -0.9486691394781259, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ae5eb3b7e9e9a606c8eacf6b080b5e4dfa4f1bf1 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,673 @@ +{ + "layout_id": 12, + "style_id": 39, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.52 + ], + "size": [ + 0.74, + 0.54 + ], + "height": 0.32666666666666666, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.52 + ], + "size": [ + 0.74, + 0.54 + ], + "height": 0.32666666666666666, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.52 + ], + "size": [ + 0.74, + 0.54 + ], + "height": 0.32666666666666666, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.52 + ], + "size": [ + 0.74, + 0.54 + ], + "height": 0.32666666666666666, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "cab_3_right_group_1", + "min_size": [ + 0.057547025999999994, + 0.057547025999999994, + 0.18148389480000002 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "milk", + "drink", + "dairy", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "milk", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_0/model.xml" + }, + "reset_region": { + "size": [ + 2.9669997749130976, + 1.475 + ], + "offset": [ + 0.3900001125434511, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_3_right_group_1", + "counter": "island_island_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": [ + 4.3229407874315555, + -4.095142482888542, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f3151b24032b385e2c9cf3375b539999c62675e --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 40, + "style_id": 17, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.07405411, + 0.24610438, + 0.0993482 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pizza_cutter", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pizza_cutter", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter001/model.xml" + }, + "reset_region": { + "size": [ + 1.2246000000000006, + 0.65 + ], + "offset": [ + -0.18249999999999966, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_main_group_1", + "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": [ + 2.0179187675440295, + -0.8115155998918815, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb5a5c725692c7addbc65aac4b5b4c8c3d72f423 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,589 @@ +{ + "layout_id": 31, + "style_id": 34, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0050000000000000044, + 0.015000000000000069 + ], + "size": [ + 0.8400000000000001, + 0.73 + ], + "height": 0.32999999999999996, + "name": "level1" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0050000000000000044, + 0.015000000000000069 + ], + "size": [ + 0.8400000000000001, + 0.73 + ], + "height": 0.32999999999999996, + "name": "level1" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0050000000000000044, + 0.015000000000000069 + ], + "size": [ + 0.8400000000000001, + 0.73 + ], + "height": 0.32999999999999996, + "name": "level1" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0050000000000000044, + 0.015000000000000069 + ], + "size": [ + 0.8400000000000001, + 0.73 + ], + "height": 0.32999999999999996, + "name": "level1" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_main_group_1", + "min_size": [ + 0.051613386, + 0.22092116999999997, + 0.0212798005 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wooden_spoon", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "wooden_spoon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon006/model.xml" + }, + "reset_region": { + "size": [ + 1.5467522744875668, + 1.3 + ], + "offset": [ + 1.2766053627562162, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_3_main_group_1", + "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": [ + 2.920634818491378, + -1.0387940746185573, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74df0a2b2f2360a8eb65e64ec089093637f14383 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,643 @@ +{ + "layout_id": 15, + "style_id": 31, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "cab_1_front_group_1", + "min_size": [ + 0.05331596760000001, + 0.05331596760000001, + 0.20999898570000003 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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_12/model.xml" + }, + "reset_region": { + "size": [ + 0.7999999999999998, + 0.65 + ], + "offset": [ + -0.8, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_front_group_1", + "counter": "counter_1_front_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": [ + 1.9073725422677892, + -5.70844059971404, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27102f201ade68eeb86cdf835b7e32caada8c547 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 40, + "style_id": 34, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.044141895, + 0.044141895, + 0.1013507985 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "salt_and_pepper_shaker", + "spice" + ], + "groups": [ + "all" + ], + "cat": "salt_and_pepper_shaker", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/salt_and_pepper_shaker/PepperShaker012/model.xml" + }, + "reset_region": { + "size": [ + 1.2246000000000006, + 0.65 + ], + "offset": [ + -0.18249999999999966, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_main_group_1", + "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": [ + 2.0396819167823828, + -0.8427924540493472, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000021/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000021/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94030dd39908a12535670ab882762ec030aaee4c --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000021/ep_meta.json @@ -0,0 +1,627 @@ +{ + "layout_id": 56, + "style_id": 31, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_5_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.227805, + 0.309141 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_5_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.227805, + 0.309141 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_5_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.227805, + 0.309141 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_5_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.227805, + 0.309141 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_5_main_group_1", + "min_size": [ + 0.07299458639999998, + 0.11999999999999995, + 0.07409742479999998 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_10/model.xml" + }, + "reset_region": { + "size": [ + 1.2877069999999988, + 0.65 + ], + "offset": [ + -0.46400000000000063, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_5_main_group_1", + "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": [ + 0.9631109079119045, + -0.8320540504076808, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f695fd537e613ed64688adf8d6c8366f0c425eb --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,757 @@ +{ + "layout_id": 25, + "style_id": 41, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.7090000000000001, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.7090000000000001, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.7090000000000001, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.7090000000000001, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.06883066499999999, + 0.14894569499999996, + 0.10287241874999996 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0690000000000002, + 0.65 + ], + "offset": [ + -0.23699999999999988, + 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" + }, + "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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_main_group", + "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": [ + 1.2163643128064172, + -0.7911295902332702, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000023/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000023/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78d0f3c86cd1554f21fb7dfdf188693cc25586f3 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000023/ep_meta.json @@ -0,0 +1,672 @@ +{ + "layout_id": 12, + "style_id": 28, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9199999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9199999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9199999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9199999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.10350055380000002, + 0.10500000000000001, + 0.0362892054 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bagel", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bagel", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_4/model.xml" + }, + "reset_region": { + "size": [ + 1.048000000000001, + 0.65 + ], + "offset": [ + 1.4129999999999998, + -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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_2_main_group", + "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": [ + 4.1157085297648015, + -0.7532038211088268, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b982b0db829c38a30c87455253a1a4618f73211d --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 54, + "style_id": 55, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_main_group_1", + "min_size": [ + 0.131274737, + 0.13076197200000003, + 0.12267713700000002 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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": [ + 1.022279, + 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" + }, + "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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_3_main_group_1", + "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": [ + 2.355793876512232, + -0.936349181448264, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5b828380c3f0d4d9beebb8cd2c46efc2c5d9d8e --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 40, + "style_id": 36, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.07302815839999997, + 0.07999939919999997, + 0.07302816799999998 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_2/model.xml" + }, + "reset_region": { + "size": [ + 1.2246000000000006, + 0.65 + ], + "offset": [ + -0.18249999999999966, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_main_group_1", + "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": [ + 2.1310399984494577, + -0.843875475991736, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f4d43e99557e4e30092bfb320d1dbdccba8af63e --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,736 @@ +{ + "layout_id": 39, + "style_id": 21, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_front_group_1", + "min_size": [ + 0.2399951135999999, + 0.23999743919999988, + 0.12351816959999992 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "size": [ + 0.7680000000000007, + 0.65 + ], + "offset": [ + -1.2409999999999997, + 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_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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_front_group_1", + "counter": "counter_1_front_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": [ + 2.77347958156864, + -5.522110127764192, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87ed3d1171228d2076f92129a80aab6e9eaaede4 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,644 @@ +{ + "layout_id": 15, + "style_id": 51, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "cab_1_main_group_1", + "min_size": [ + 0.05399614204999997, + 0.05397836327999997, + 0.19754474622999993 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "beer", + "alcohol", + "drink" + ], + "groups": [ + "all" + ], + "cat": "beer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_12/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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_main_group_1", + "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": [ + 2.1180769546666185, + -0.34924480669684965, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2a8b549c9a281ff2bb37ba5444cb4840dc3168c2 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,631 @@ +{ + "layout_id": 24, + "style_id": 56, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_5_main_group", + "min_size": [ + 0.0632092734, + 0.20999999160000002, + 0.036692390700000015 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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_2/model.xml" + }, + "reset_region": { + "size": [ + 2.0000000000000058, + 0.65 + ], + "offset": [ + 0.39299999999999713, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_5_main_group", + "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": [ + 6.558378458724767, + -0.7980312807285482, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6fad94b6ffd031faa030445e4d487ab34200db08 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,602 @@ +{ + "layout_id": 28, + "style_id": 14, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_3_main_group", + "min_size": [ + 0.21123735999999999, + 0.2762742, + 0.27973817 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "reamer", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "reamer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer001/model.xml" + }, + "reset_region": { + "size": [ + 0.7999999999999998, + 0.65 + ], + "offset": [ + 1.44, + -3.469446951953614e-17, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_3_main_group", + "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": [ + 4.479475638807954, + -0.8430050328890109, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dfc70a629d7019198dec1152ef5e979db54663ff --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,666 @@ +{ + "layout_id": 20, + "style_id": 29, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5900000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5900000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5900000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5900000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.244743326685, + 0.24474403597500002, + 0.023217144615000004 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "all" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.6540000000000004, + 0.65 + ], + "offset": [ + 0.30799999999999983, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_main_group", + "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": [ + 1.6465304301814097, + -0.7873469954289606, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b701be9cc507629519dbf2a7baa06a31b0573e55 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,542 @@ +{ + "layout_id": 58, + "style_id": 34, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.65306, + 0.5900000000000001 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.65306, + 0.5900000000000001 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.65306, + 0.5900000000000001 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.65306, + 0.5900000000000001 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_main_group_1", + "min_size": [ + 0.07688914870214991, + 0.16551034399151082, + 0.027755119972425617 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "all" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_18/model.xml" + }, + "reset_region": { + "size": [ + 0.7210300344875669, + 0.65 + ], + "offset": [ + 1.2712849827562167, + -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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_2_main_group_1", + "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": [ + 5.5770236732845255, + -0.9471302496337398, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad8572effc0048c76f5410285adc9f425ea68b7b --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,515 @@ +{ + "layout_id": 55, + "style_id": 33, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_main_group_1", + "min_size": [ + 0.16197892, + 0.18910949, + 0.08243587 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "reamer", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "reamer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer006/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 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" + }, + "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" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_3_main_group_1", + "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": [ + 2.5355007898026063, + -0.9637577622979576, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..67058e7ed233880655b98a8418f7afdf5c61e621 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,626 @@ +{ + "layout_id": 43, + "style_id": 57, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.236, + 0.351 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.236, + 0.351 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.236, + 0.351 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.236, + 0.351 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_main_group_1", + "min_size": [ + 0.136588914, + 0.161007378, + 0.027112239 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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/DigitalScale003/model.xml" + }, + "reset_region": { + "size": [ + 0.8491560000000002, + 0.650008 + ], + "offset": [ + 0.17039999999999988, + 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_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_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.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "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_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "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" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_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": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_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" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "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" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_2_main_group_1", + "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": [ + 4.983394960542808, + -0.8356958208973261, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18fd7ca6bd73fcc9066e2081689f9ef898ae8dc5 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,540 @@ +{ + "layout_id": 58, + "style_id": 59, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7767580000000001, + 0.309145 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7767580000000001, + 0.309145 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7767580000000001, + 0.309145 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7767580000000001, + 0.309145 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.10581994080000001, + 0.12127231920000002, + 0.037854385200000014 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bagel", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bagel", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagel/bagel_3/model.xml" + }, + "reset_region": { + "size": [ + 0.8368000000000007, + 0.65 + ], + "offset": [ + -1.2133999999999996, + -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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_main_group_1", + "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": [ + 2.4105828193586034, + -0.7760226619630655, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b38bf60ece26d2b658bef708f0596900b79ca36b --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,628 @@ +{ + "layout_id": 24, + "style_id": 28, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_5_main_group", + "min_size": [ + 0.046687128, + 0.046867127999999994, + 0.100541388 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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/Paprika002/model.xml" + }, + "reset_region": { + "size": [ + 2.0000000000000058, + 0.65 + ], + "offset": [ + 0.39299999999999713, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_5_main_group", + "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": [ + 6.424272238835084, + -0.8435249682167603, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..27a924bba808e2dceae95c046f36851a1e63b8c6 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,538 @@ +{ + "layout_id": 58, + "style_id": 24, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7767580000000001, + 0.309145 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7767580000000001, + 0.309145 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7767580000000001, + 0.309145 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7767580000000001, + 0.309145 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.11544243662983185, + 0.14500000152207504, + 0.05521681413839144 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chips", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "chips", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/chips/chips_11/model.xml" + }, + "reset_region": { + "size": [ + 0.8368000000000007, + 0.65 + ], + "offset": [ + -1.2133999999999996, + -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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_main_group_1", + "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": [ + 2.502544382736062, + -0.7862724368892403, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6c9b7751c315233efcc9e341cbeb8c053ecb55b --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,554 @@ +{ + "layout_id": 11, + "style_id": 54, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.0594332376, + 0.059428920100000004, + 0.11086028690000001 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "can", + "drink", + "group1" + ], + "groups": [ + "all" + ], + "cat": "can", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/can/can_12/model.xml" + }, + "reset_region": { + "size": [ + 1.122, + 0.65 + ], + "offset": [ + 0.0044999999999999485, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_main_group", + "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": [ + 1.1719194378457511, + -0.7884366392607771, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000038/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000038/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1294a9e2fe543ed9dab20bf4ffca9bb3acc4d43 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000038/ep_meta.json @@ -0,0 +1,631 @@ +{ + "layout_id": 24, + "style_id": 31, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_5_main_group", + "min_size": [ + 0.07384239449999998, + 0.07426866764648381, + 0.055746330854518675 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_0/model.xml" + }, + "reset_region": { + "size": [ + 2.0000000000000058, + 0.65 + ], + "offset": [ + 0.39299999999999713, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_5_main_group", + "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": [ + 6.507506458492167, + -0.8357770507968592, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..502e56868ecc5d06eaf1b5f51e5c934ce1b9d2fc --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,601 @@ +{ + "layout_id": 28, + "style_id": 57, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_3_main_group", + "min_size": [ + 0.04796986162499999, + 0.048751061624999995, + 0.159065507475 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "condiment_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "condiment_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8000000000000007, + 0.65 + ], + "offset": [ + 1.44, + -3.469446951953614e-17, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_3_main_group", + "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": [ + 4.469378603852763, + -0.8393211953196204, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18a88e092270081363ba647803da277e4839a653 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,488 @@ +{ + "layout_id": 40, + "style_id": 59, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.048112295000000006, + 0.27687158950000007, + 0.0481123555 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "rolling_pin", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "rolling_pin", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/rolling_pin/rolling_pin_1/model.xml" + }, + "reset_region": { + "size": [ + 1.2246000000000006, + 0.65 + ], + "offset": [ + -0.18249999999999966, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_main_group_1", + "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": [ + 2.1008432742325662, + -0.8300753674157227, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff04ecf372631541265b1d57733a28f003a0d9f6 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,516 @@ +{ + "layout_id": 55, + "style_id": 57, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_main_group_1", + "min_size": [ + 0.0702308795, + 0.15065073599999998, + 0.056839474499999994 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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/HotdogBun002/model.xml" + }, + "reset_region": { + "size": [ + 1.072301, + 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" + }, + "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" + }, + "paper_towel_island_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_3_main_group_1", + "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": [ + 2.515871540299206, + -0.9429061236542571, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..75fe92cd69ab95a53ad54559cee3a7d2e6424283 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,619 @@ +{ + "layout_id": 23, + "style_id": 21, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.14, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.14, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.14, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.14, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group", + "sample_region_kwargs": { + "ref": "cab_1_right_group", + "min_size": [ + 0.08117588, + 0.08189596, + 0.19258767999999998 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser003/model.xml" + }, + "reset_region": { + "size": [ + 0.7099999999999995, + 0.65 + ], + "offset": [ + -0.8950000000000002, + 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" + }, + "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" + }, + "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_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": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "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": "HingeCabinet" + }, + "box_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" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "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_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_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_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_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_right_group", + "counter": "counter_1_right_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": [ + 4.890494349466199, + -1.0964251069309774, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c57a5282da2981dd2d1edf456c214f96f132dc5b --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 14, + "style_id": 26, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "cab_3_left_group_1", + "min_size": [ + 0.1049999979, + 0.1049999979, + 0.006800600099999999 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "waffle", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "waffle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/waffle/waffle_0/model.xml" + }, + "reset_region": { + "size": [ + 0.7500000000000002, + 0.65 + ], + "offset": [ + -0.5049999999999999, + 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" + }, + "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" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_3_left_group_1", + "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": [ + 0.7857077472822143, + -2.145370627945557, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..84e009ef9473ea6b47435c30e2ceb8190085fcfe --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,576 @@ +{ + "layout_id": 19, + "style_id": 47, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.77, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.77, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.77, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.77, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "cab_3_left_group_1", + "min_size": [ + 0.06410261910000004, + 0.06378820760000004, + 0.05815621890000003 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8299999999999992, + 0.65 + ], + "offset": [ + 0.8350000000000002, + -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_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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_3_left_group_1", + "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": [ + 0.7959730076111607, + -1.0625480627444346, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a3a71e7bf5ce9a4a4b089b1af763ed72b44212ec --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,621 @@ +{ + "layout_id": 23, + "style_id": 40, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.029652018000000002, + 0.290637834, + 0.029568527999999997 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kebab_skewer", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "kebab_skewer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kebab_skewer/KebabSkewer003/model.xml" + }, + "reset_region": { + "size": [ + 0.2999999999999998, + 0.65 + ], + "offset": [ + -2.0315000000000003, + -3.469446951953614e-17, + 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" + }, + "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" + }, + "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_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": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "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": "HingeCabinet" + }, + "box_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" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "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_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_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_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_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_2_main_group", + "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": [ + 0.9496530693597758, + -0.8202431871304761, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000046/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000046/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a588e28ffa9711439320402bcd89b15e446b89ef --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000046/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 40, + "style_id": 16, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.06515116499999997, + 0.07499999999999997, + 0.07032914699999997 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_1/model.xml" + }, + "reset_region": { + "size": [ + 1.2246000000000006, + 0.65 + ], + "offset": [ + -0.18249999999999966, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_main_group_1", + "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": [ + 2.0088878707793167, + -0.7953309991215042, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..723bde8593c0e4128ddd4ebaf782424ff72e11ca --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,586 @@ +{ + "layout_id": 42, + "style_id": 16, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.699989, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.699989, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.699989, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.699989, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_4_right_group_1", + "min_size": [ + 0.05747576910560051, + 0.2983830713120845, + 0.13044025008318824 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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": [ + 0.7597999999999998, + 0.65 + ], + "offset": [ + 0.9026000000000001, + -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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_4_right_group_1", + "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": [ + 4.3923453960254735, + -2.7495225797516123, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a2b69418efbaedc6627099e3d3cc964d14a7070 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 30, + "style_id": 23, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_group", + "min_size": [ + 0.11777416, + 0.11862108, + 0.02030604 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread004/model.xml" + }, + "reset_region": { + "size": [ + 0.7999999999999983, + 0.65 + ], + "offset": [ + 8.881784197001252e-16, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_2_left_group", + "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": [ + 0.8048178507325799, + -1.7209601704217, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96396087a9671cb65e200b5a1b6f0d1694a89617 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,648 @@ +{ + "layout_id": 49, + "style_id": 41, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_main_group_1", + "min_size": [ + 0.0542592, + 0.040534362, + 0.030523500000000002 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow002/model.xml" + }, + "reset_region": { + "size": [ + 1.2997959999999984, + 0.65 + ], + "offset": [ + -0.5932000000000008, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_2_main_group_1", + "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": [ + 3.568964124431431, + -1.1252716964862741, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..16aa647978eddb192a8a6f529956abeacd600720 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,628 @@ +{ + "layout_id": 24, + "style_id": 52, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.05000000099999999, + 0.09999999899999998, + 0.14999999549999996 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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": [ + 2.3480000000000003, + 0.65 + ], + "offset": [ + -0.4354999999999998, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_2_main_group", + "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": [ + 1.7503081169797234, + -0.8292805543272987, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5b6851160d2379ad1cbec592035b9b9ca377d824 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,625 @@ +{ + "layout_id": 43, + "style_id": 29, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.372 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.372 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.372 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.372 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_left_group_1", + "min_size": [ + 0.0918202005, + 0.057627339, + 0.1382033835 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "honey_bottle", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "honey_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle001/model.xml" + }, + "reset_region": { + "size": [ + 0.37099999999999955, + 0.65 + ], + "offset": [ + 1.0870000000000002, + -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" + }, + "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_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_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.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "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_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "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" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_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": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_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" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "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" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_left_group_1", + "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": [ + 2.515588714683603, + -0.8546165865798374, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000052/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000052/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f6d2ba6cdc2870f0beba0bb435f7b14b80576ce --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000052/ep_meta.json @@ -0,0 +1,628 @@ +{ + "layout_id": 35, + "style_id": 37, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_left_group_1", + "min_size": [ + 0.08117588, + 0.08189596, + 0.19258767999999998 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser003/model.xml" + }, + "reset_region": { + "size": [ + 1.0, + 0.65 + ], + "offset": [ + -0.8799999999999999, + -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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_left_group_1", + "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": [ + 0.8064491855444892, + -2.294888758368995, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415924507432367 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ba6f2ff4ad13eebea1d80281f370848b4e5388f0 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,754 @@ +{ + "layout_id": 25, + "style_id": 54, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.776, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.776, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.776, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 0.776, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_1_left_group", + "min_size": [ + 0.1503895155, + 0.14942365200000002, + 0.2900314095 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "oil_and_vinegar_bottle", + "condiment" + ], + "groups": [ + "all" + ], + "cat": "oil_and_vinegar_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oil_and_vinegar_bottle/OilBottle002/model.xml" + }, + "reset_region": { + "size": [ + 0.3440000000000003, + 0.65 + ], + "offset": [ + 2.0109999999999997, + -3.469446951953614e-17, + 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" + }, + "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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_left_group", + "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": [ + 0.8039333749762413, + -0.8808743518819278, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b8bd1d4b3db07cd5c588ab5ea6dc91e520e7c3e7 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,531 @@ +{ + "layout_id": 44, + "style_id": 37, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_left_group_1", + "min_size": [ + 0.06147772049999999, + 0.08868493147499999, + 0.0641568332475 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_14/model.xml" + }, + "reset_region": { + "size": [ + 0.35004500000000016, + 0.650008 + ], + "offset": [ + 0.12869999999999993, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_left_group_1", + "counter": "counter_2_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": [ + 2.5838556099334995, + -0.9171924470081042, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000055/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000055/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a690988d3676cee2b031323bc9b73c0c61388735 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000055/ep_meta.json @@ -0,0 +1,591 @@ +{ + "layout_id": 31, + "style_id": 22, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.345 + ], + "size": [ + 0.8400000000000001, + 0.74 + ], + "height": 0.32999999999999996, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0050000000000000044, + 0.015000000000000069 + ], + "size": [ + 0.8400000000000001, + 0.73 + ], + "height": 0.32999999999999996, + "name": "level1" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.345 + ], + "size": [ + 0.8400000000000001, + 0.74 + ], + "height": 0.32999999999999996, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0050000000000000044, + 0.015000000000000069 + ], + "size": [ + 0.8400000000000001, + 0.73 + ], + "height": 0.32999999999999996, + "name": "level1" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_main_group_1", + "min_size": [ + 0.06901958700000001, + 0.07059185533460792, + 0.06406201096188076 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml" + }, + "reset_region": { + "size": [ + 1.48298224, + 1.3 + ], + "offset": [ + 1.3084903799999998, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_3_main_group_1", + "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": [ + 2.8203094120592143, + -1.0490118556182702, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..81996767815bbb9e00b6e210e7add4c3bf6a9abd --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,592 @@ +{ + "layout_id": 46, + "style_id": 46, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7873410000000001, + 0.340006 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7873410000000001, + 0.340006 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7873410000000001, + 0.340006 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7873410000000001, + 0.340006 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_01_main_group_1", + "min_size": [ + 0.10801194209999997, + 0.13579003349999996, + 0.03332020319999999 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bagged_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "bagged_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bagged_food/bagged_food_4/model.xml" + }, + "reset_region": { + "size": [ + 0.8474359999999976, + 0.65 + ], + "offset": [ + 0.4248000000000012, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_01_main_group_1", + "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": [ + 5.950151298820145, + -0.9294833618133272, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..47e5483f86e550fa1c96dac9db32752ce40ea337 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,554 @@ +{ + "layout_id": 11, + "style_id": 22, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.07553457, + 0.07553561, + 0.12017 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "glass_cup", + "stackable", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "glass_cup", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup012/model.xml" + }, + "reset_region": { + "size": [ + 1.122, + 0.65 + ], + "offset": [ + 0.0044999999999999485, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_main_group", + "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": [ + 1.0939888772370798, + -0.8062761398911582, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc588f495b04865856709bc84f2809984286f07e --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,570 @@ +{ + "layout_id": 54, + "style_id": 41, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_main_group_1", + "min_size": [ + 0.049493408, + 0.053414656, + 0.04857624000000001 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cookie_dough_ball", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cookie_dough_ball", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cookie_dough_ball/CookieDoughBall002/model.xml" + }, + "reset_region": { + "size": [ + 1.022279, + 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" + }, + "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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_3_main_group_1", + "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": [ + 2.3590839866079643, + -0.9351365431476999, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c58ad881ffb3ef87d83be2f2c083fe4c1041b63 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,603 @@ +{ + "layout_id": 28, + "style_id": 35, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_3_main_group", + "min_size": [ + 0.0648184582, + 0.06475952304999999, + 0.095662834 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cupcake", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "cupcake", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_12/model.xml" + }, + "reset_region": { + "size": [ + 0.8000000000000007, + 0.65 + ], + "offset": [ + 1.44, + -3.469446951953614e-17, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_3_main_group", + "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": [ + 4.629450992852013, + -0.7718209322501456, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7e32d721dfc0a0b09e44f26ae149b5eae18cfa78 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,489 @@ +{ + "layout_id": 40, + "style_id": 56, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.1645999999999999, + 0.4622 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.0536022, + 0.039448800000000006, + 0.0404028 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml" + }, + "reset_region": { + "size": [ + 1.2246000000000006, + 0.65 + ], + "offset": [ + -0.18249999999999966, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_main_group_1", + "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": [ + 2.19991444390425, + -0.7915909166203476, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f639e46a315c5e7a1a4d49bdaccf1b51c7cb5b35 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,576 @@ +{ + "layout_id": 57, + "style_id": 34, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.590003, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.590003, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.590003, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.590003, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_main_group_1", + "min_size": [ + 0.05089977599999999, + 0.11981066399999998, + 0.006559405199999997 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chocolate", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "chocolate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/chocolate/chocolate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.6500839999999997, + 0.65 + ], + "offset": [ + 1.0506000000000002, + -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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_2_main_group_1", + "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": [ + -0.8192039280586498, + -3.0135973526840973, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f8459d8cb4e3f16c702678f46e21669bde6d32e6 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,601 @@ +{ + "layout_id": 28, + "style_id": 50, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_3_main_group", + "min_size": [ + 0.08982056, + 0.08982056, + 0.19973605 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "soap_dispenser", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "soap_dispenser", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser001/model.xml" + }, + "reset_region": { + "size": [ + 0.7999999999999994, + 0.65 + ], + "offset": [ + 1.44, + -3.469446951953614e-17, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_3_main_group", + "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": [ + 4.442126708272706, + -0.791918345949048, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3a1edc30cd678666a57cb41caaed96325622f856 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,670 @@ +{ + "layout_id": 12, + "style_id": 12, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.52 + ], + "size": [ + 0.74, + 0.54 + ], + "height": 0.32666666666666666, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.52 + ], + "size": [ + 0.74, + 0.54 + ], + "height": 0.32666666666666666, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.52 + ], + "size": [ + 0.74, + 0.54 + ], + "height": 0.32666666666666666, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.52 + ], + "size": [ + 0.74, + 0.54 + ], + "height": 0.32666666666666666, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "cab_3_right_group_1", + "min_size": [ + 0.04085709341999999, + 0.14299989989999995, + 0.14269349093999997 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "boxed_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_10/model.xml" + }, + "reset_region": { + "size": [ + 2.9669997749130976, + 1.475 + ], + "offset": [ + 0.3900001125434511, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_3_right_group_1", + "counter": "island_island_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": [ + 4.36761057076032, + -4.29643172001074, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5cd4f9b90e20939f25c8eeb6fe830b04c06ee9f --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,627 @@ +{ + "layout_id": 43, + "style_id": 59, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.236, + 0.351 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.236, + 0.351 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.236, + 0.351 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.236, + 0.351 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_main_group_1", + "min_size": [ + 0.06363695099999997, + 0.07499999549999996, + 0.061309115999999976 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lime", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "lime", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8491560000000002, + 0.650008 + ], + "offset": [ + 0.17039999999999988, + 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_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "wall_left_2_room": { + "cls": "Wall" + }, + "wall_right_2_room": { + "cls": "Wall" + }, + "wall_main_3_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_1.001_room": { + "cls": "Floor" + }, + "floor_1.001_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.002_room": { + "cls": "WallAccessory" + }, + "wallaccessory_room": { + "cls": "WallAccessory" + }, + "wallaccessory.006_room": { + "cls": "WallAccessory" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_2_main_group_1": { + "cls": "Counter" + }, + "stove_main_group_1": { + "cls": "Stove" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stove_hood_main_group_1": { + "cls": "Hood" + }, + "hingecabinet_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_1_main_group_1": { + "cls": "Box" + }, + "hingecabinet_2_main_group_1": { + "cls": "HingeCabinet" + }, + "cube_2_main_group_1": { + "cls": "Box" + }, + "coffeemachine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "papertowel_main_group_1": { + "cls": "Accessory" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "HingeCabinet" + }, + "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_3_main_group_1_base": { + "cls": "Box" + }, + "stack_3_main_group_1_1": { + "cls": "SingleCabinet" + }, + "cube_3_main_group_1": { + "cls": "Box" + }, + "cube_4_main_group_1": { + "cls": "Box" + }, + "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" + }, + "cube_1_front_group_1": { + "cls": "Box" + }, + "cube_2_front_group_1": { + "cls": "Box" + }, + "stack_2_front_group_1_base": { + "cls": "Box" + }, + "stack_2_front_group_1_1": { + "cls": "SingleCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_right_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_right_group_1": { + "cls": "HingeCabinet" + }, + "opencabinet_1_right_group_1": { + "cls": "OpenCabinet" + }, + "cube_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": "Drawer" + }, + "stack_2_right_group_1_2": { + "cls": "Drawer" + }, + "stack_2_right_group_1_3": { + "cls": "Drawer" + }, + "fridgesidebyside_right_group_1": { + "cls": "FridgeSideBySide" + }, + "fridgesidebyside_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" + }, + "singlecabinet_3_right_group_1": { + "cls": "SingleCabinet" + }, + "stack_3_right_group_1_base": { + "cls": "Box" + }, + "stack_3_right_group_1_1": { + "cls": "SingleCabinet" + }, + "oven_cabinet_right_group_1": { + "cls": "HingeCabinet" + }, + "hingecabinet_2_right_group_1": { + "cls": "HingeCabinet" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "singlecabinet_2_right_group_1": { + "cls": "SingleCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "sink_left_group_1": { + "cls": "Sink" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "counter_corner_1_left_group_1": { + "cls": "Counter" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "singlecabinet_1_left_group_1": { + "cls": "SingleCabinet" + }, + "hingecabinet_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_left_group_1_base": { + "cls": "Box" + }, + "stack_3_left_group_1_1": { + "cls": "HingeCabinet" + }, + "dishwasher_1_left_group_1": { + "cls": "Dishwasher" + }, + "cube_3_left_group_1": { + "cls": "Box" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "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" + }, + "cube_2_left_group_1": { + "cls": "Box" + }, + "cube_1_left_group_1": { + "cls": "Box" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_2_main_group_1", + "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": [ + 4.883075877826273, + -0.8240120725942567, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..55fdd12ecfb282fafbd3c83a1b56325122976a45 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,735 @@ +{ + "layout_id": 39, + "style_id": 15, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_front_group_1", + "min_size": [ + 0.11979247, + 0.12342560999999999, + 0.02044056 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sandwich_bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sandwich_bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread003/model.xml" + }, + "reset_region": { + "size": [ + 0.7680000000000007, + 0.65 + ], + "offset": [ + -1.2409999999999997, + 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_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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_front_group_1", + "counter": "counter_1_front_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": [ + 2.7789958715181244, + -5.543605809736662, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f46d456a47dbedf281bc600f96b356631b0b01d --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,511 @@ +{ + "layout_id": 37, + "style_id": 16, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "microwave_cabinet_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.74, + 0.5900080000000001 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "microwave_cabinet_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.74, + 0.5900080000000001 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "microwave_cabinet_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.74, + 0.5900080000000001 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "microwave_cabinet_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.74, + 0.5900080000000001 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "microwave_cabinet_left_group_1", + "min_size": [ + 0.05801836199999999, + 0.07469873699999999, + 0.06453488624999998 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "lemon", + "vegetable", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "all" + ], + "cat": "lemon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_0/model.xml" + }, + "reset_region": { + "size": [ + 1.0534156639703602, + 0.650008 + ], + "offset": [ + -0.9082106680148199, + -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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "microwave_cabinet_left_group_1", + "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": [ + 0.9993519303787676, + -4.1438112546546355, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed72ccf791a948e13b099f319227284250ad6175 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,552 @@ +{ + "layout_id": 11, + "style_id": 51, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.12660037, + 0.11732169, + 0.21118618 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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/FlourBag001/model.xml" + }, + "reset_region": { + "size": [ + 1.122, + 0.65 + ], + "offset": [ + 0.0044999999999999485, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_main_group", + "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": [ + 1.3255683055692968, + -0.8110934719902185, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000068/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000068/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9fcf8e54312b57d8f272d4e50367ee899c08836 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000068/ep_meta.json @@ -0,0 +1,593 @@ +{ + "layout_id": 31, + "style_id": 43, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.345 + ], + "size": [ + 0.8400000000000001, + 0.74 + ], + "height": 0.32999999999999996, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.345 + ], + "size": [ + 0.8400000000000001, + 0.74 + ], + "height": 0.32999999999999996, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.345 + ], + "size": [ + 0.8400000000000001, + 0.74 + ], + "height": 0.32999999999999996, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0050000000000000044, + 0.015000000000000069 + ], + "size": [ + 0.8400000000000001, + 0.73 + ], + "height": 0.32999999999999996, + "name": "level1" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_main_group_1", + "min_size": [ + 0.07022024559999997, + 0.09499999999999996, + 0.05790125929999998 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_10/model.xml" + }, + "reset_region": { + "size": [ + 1.5216732836254978, + 1.3 + ], + "offset": [ + 1.2891448581872509, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_3_main_group_1", + "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": [ + 2.658265423878416, + -1.0345849333400716, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0547f901b398232e681770e8cd716d1f7cf43012 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,646 @@ +{ + "layout_id": 17, + "style_id": 54, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.752, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.752, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.752, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.752, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "cab_1_main_group_1", + "min_size": [ + 0.05844030390000001, + 0.052086639, + 0.16363651095 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bottled_water", + "drink" + ], + "groups": [ + "all" + ], + "cat": "bottled_water", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_13/model.xml" + }, + "reset_region": { + "size": [ + 0.2919999999999998, + 0.65 + ], + "offset": [ + -2.0375, + -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" + }, + "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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_main_group_1", + "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": [ + 0.9436347121156732, + -0.8310320634959949, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000070/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000070/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18040cc47d59df691139b68f83b72e5564133165 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000070/ep_meta.json @@ -0,0 +1,565 @@ +{ + "layout_id": 60, + "style_id": 59, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7600629999999999, + 0.418885 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7600629999999999, + 0.418885 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7600629999999999, + 0.418885 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7600629999999999, + 0.418885 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_01_main_group_1", + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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": [ + 0.3800000000000002, + 0.65 + ], + "offset": [ + -0.10999999999999988, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_01_main_group_1", + "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": [ + 2.42167720378253, + -0.8267484639967446, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..145937b9909f3b61e3cb822481b1065499d1b2d2 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,519 @@ +{ + "layout_id": 52, + "style_id": 24, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_right_group_1", + "min_size": [ + 0.05982846, + 0.21187845, + 0.08247228000000001 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "dish_brush", + "tool", + "cleaner", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "dish_brush", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush002/model.xml" + }, + "reset_region": { + "size": [ + 1.4106243019160478, + 0.65 + ], + "offset": [ + 0.42218784904197637, + -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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_3_right_group_1", + "counter": "counter_4_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": [ + 2.480949080303896, + -0.9497991077263498, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.8344647019441496e-05 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dac284ff1209d61c4283622a64add2a241c86a45 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,672 @@ +{ + "layout_id": 29, + "style_id": 47, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_6_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 1.44, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_6_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 1.44, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_6_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 1.44, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_6_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 1.44, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_6_main_group", + "min_size": [ + 0.02811972, + 0.0281041, + 0.028098739999999997 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "sugar_cube", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "sugar_cube", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml" + }, + "reset_region": { + "size": [ + 1.6999999999999993, + 0.65 + ], + "offset": [ + 0.5500000000000003, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_6_main_group", + "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": [ + 3.540168045106011, + -0.7779478658885776, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24de5dc612043f220c75fca0a546e43b35c1c55c --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,599 @@ +{ + "layout_id": 51, + "style_id": 57, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.743887, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.743887, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.743887, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.743887, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_main_group_1", + "min_size": [ + 0.07856355179999999, + 0.115, + 0.09038899835 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mug", + "stackable", + "receptacle" + ], + "groups": [ + "all" + ], + "cat": "mug", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_1/model.xml" + }, + "reset_region": { + "size": [ + 0.8040019999999997, + 0.65 + ], + "offset": [ + 1.1858000000000004, + -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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_3_main_group_1", + "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": [ + 5.578552024991894, + -0.7924072166934298, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..42b20a378c98257482cc933923caae33e8079782 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,576 @@ +{ + "layout_id": 19, + "style_id": 20, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "middle_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.708, + 0.54 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "middle_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.708, + 0.54 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "middle_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.708, + 0.54 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "middle_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.708, + 0.54 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "middle_2_left_group_1", + "min_size": [ + 0.07302815839999997, + 0.07999939919999997, + 0.07302816799999998 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "onion", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "onion", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_2/model.xml" + }, + "reset_region": { + "size": [ + 1.0005453503334865, + 0.65 + ], + "offset": [ + 0.7497273248332568, + -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_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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "middle_2_left_group_1", + "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": [ + 0.8416643155716453, + -0.5140651932871224, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5c024be25375f56ec1f58940d4fca4c85fede99 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,756 @@ +{ + "layout_id": 25, + "style_id": 50, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.6399999999999999, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.6399999999999999, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.6399999999999999, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.6399999999999999, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_4_main_group", + "min_size": [ + 0.05719011626240604, + 0.13750258354841272, + 0.048723098039999996 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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": [ + 0.9939999999999989, + 0.65 + ], + "offset": [ + -0.2265000000000006, + 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" + }, + "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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_4_main_group", + "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": [ + 3.6774695578517673, + -0.8339325914361764, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a136284575e576ded3572337889f93741cc8be87 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,549 @@ +{ + "layout_id": 14, + "style_id": 42, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9059999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9059999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9059999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9059999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "cab_2_left_group_1", + "min_size": [ + 0.06410261910000004, + 0.06378820760000004, + 0.05815621890000003 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tomato", + "vegetable", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "tomato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0539999999999996, + 0.65 + ], + "offset": [ + 0.3530000000000002, + 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" + }, + "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" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_2_left_group_1", + "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": [ + 0.7976532952101515, + -1.21062305897803, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5c2c334d65c6a7648deb45b51993127b703bdd46 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,733 @@ +{ + "layout_id": 39, + "style_id": 60, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_front_group_1", + "min_size": [ + 0.04989618215999998, + 0.13199999735999995, + 0.07959800375999998 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "boxed_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_0/model.xml" + }, + "reset_region": { + "size": [ + 0.827999999999999, + 0.65 + ], + "offset": [ + 1.2110000000000005, + 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_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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_2_front_group_1", + "counter": "counter_1_front_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": [ + 0.30142433851902284, + -5.551381801600757, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c545304b08940df13a567eafba3c98cc1b9cc0f3 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,576 @@ +{ + "layout_id": 57, + "style_id": 15, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.590003, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.590003, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.590003, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.590003, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_main_group_1", + "min_size": [ + 0.07994136590999999, + 0.09294125462999998, + 0.07433633519999999 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_11/model.xml" + }, + "reset_region": { + "size": [ + 0.6500839999999997, + 0.65 + ], + "offset": [ + 1.0506000000000002, + -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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_2_main_group_1", + "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": [ + -0.828098471139023, + -2.9442181171135986, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef188f5d790f1adef8974b3d485367a690541876 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,512 @@ +{ + "layout_id": 37, + "style_id": 38, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9949109999999999, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9949109999999999, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9949109999999999, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9949109999999999, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_left_group_1", + "min_size": [ + 0.07535299319999997, + 0.08999119169999995, + 0.08596342619999996 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "potato", + "vegetable", + "food", + "in_container", + "food_set1", + "oven_ready" + ], + "groups": [ + "all" + ], + "cat": "potato", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_11/model.xml" + }, + "reset_region": { + "size": [ + 1.055037, + 0.650008 + ], + "offset": [ + 0.9073999999999995, + -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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_2_left_group_1", + "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": [ + 0.7769491377848408, + -1.4945695071195482, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8fc9ba13ccb15cbb2bf1637b856222ec334ac408 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,627 @@ +{ + "layout_id": 24, + "style_id": 29, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group", + "sample_region_kwargs": { + "ref": "cab_2_main_group", + "min_size": [ + 0.023564, + 0.037918, + 0.00440514 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pickle_slice" + ], + "groups": [ + "all" + ], + "cat": "pickle_slice", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pickle_slice/PickleSlice004/model.xml" + }, + "reset_region": { + "size": [ + 2.3480000000000003, + 0.65 + ], + "offset": [ + -0.4354999999999998, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_2_main_group", + "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": [ + 1.6730423033471216, + -0.8317624241388535, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e7e7eb96829d2cb6d7ceb8e11334493c9f1b021 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,583 @@ +{ + "layout_id": 21, + "style_id": 35, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_group", + "min_size": [ + 0.062140701, + 0.035678601000000004, + 0.17351260500000001 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "honey_bottle", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "honey_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle003/model.xml" + }, + "reset_region": { + "size": [ + 0.6520000000000007, + 0.65 + ], + "offset": [ + 0.06649999999999967, + 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_front_1_room": { + "cls": "Wall" + }, + "wall_front_1_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" + }, + "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" + }, + "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" + }, + "light_switch_1_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "wall_accessory_7_room": { + "cls": "WallAccessory" + }, + "window_group_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_main_group": { + "cls": "Counter" + }, + "sink_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" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_main_group_2": { + "cls": "Drawer" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "toaster_main_group": { + "cls": "Toaster" + }, + "counter_1_left_group": { + "cls": "Counter" + }, + "stove_left_group": { + "cls": "Stove" + }, + "counter_2_left_group": { + "cls": "Counter" + }, + "hood_left_group": { + "cls": "Hood" + }, + "stack_1_left_group_base": { + "cls": "Box" + }, + "stack_1_left_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_left_group_2": { + "cls": "Drawer" + }, + "stack_2_left_group_base": { + "cls": "Box" + }, + "stack_2_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_2_left_group_2": { + "cls": "Drawer" + }, + "stack_3_left_group_base": { + "cls": "Box" + }, + "stack_3_left_group_1": { + "cls": "SingleCabinet" + }, + "box_left_group": { + "cls": "Box" + }, + "fridge_left_group": { + "cls": "FridgeSideBySide" + }, + "fridge_housing_left_group": { + "cls": "HousingCabinet" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_left_group_2": { + "cls": "Drawer" + }, + "counter_3_left_group": { + "cls": "Counter" + }, + "cab_1_left_group": { + "cls": "HingeCabinet" + }, + "cab_2_left_group": { + "cls": "HingeCabinet" + }, + "cab_3_left_group": { + "cls": "HingeCabinet" + }, + "cab_4_left_group": { + "cls": "SingleCabinet" + }, + "coffee_machine_left_group": { + "cls": "CoffeeMachine" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "counter_1_right_group": { + "cls": "Counter" + }, + "stack_1_right_group_base": { + "cls": "Box" + }, + "stack_1_right_group_1": { + "cls": "HingeCabinet" + }, + "stack_1_right_group_2": { + "cls": "Drawer" + }, + "stack_2_right_group_base": { + "cls": "Box" + }, + "stack_2_right_group_1": { + "cls": "SingleCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "island_island_group": { + "cls": "Counter" + }, + "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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_2_left_group", + "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": [ + 0.8385600594161564, + -1.0293465032326536, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000082/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000082/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bfd578ec24878650e8a7f55d94a66aac804e82b2 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000082/ep_meta.json @@ -0,0 +1,622 @@ +{ + "layout_id": 23, + "style_id": 39, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.14, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.14, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.14, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.14, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_4_main_group", + "min_size": [ + 0.06715230685627568, + 0.09280654851251298, + 0.07102568635516467 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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": [ + 0.7059999999999995, + 0.65 + ], + "offset": [ + 1.8285, + -3.469446951953614e-17, + 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" + }, + "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" + }, + "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_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": "HingeCabinet" + }, + "dishwasher_main_group": { + "cls": "Dishwasher" + }, + "stack_2_main_group_base": { + "cls": "Box" + }, + "stack_2_main_group_1": { + "cls": "HingeCabinet" + }, + "stack_3_main_group_base": { + "cls": "Box" + }, + "stack_3_main_group_1": { + "cls": "SingleCabinet" + }, + "stack_4_main_group_base": { + "cls": "Box" + }, + "stack_4_main_group_1": { + "cls": "HingeCabinet" + }, + "box_2_main_group": { + "cls": "Box" + }, + "cab_1_main_group": { + "cls": "SingleCabinet" + }, + "cab_2_main_group": { + "cls": "HingeCabinet" + }, + "cab_3_main_group": { + "cls": "SingleCabinet" + }, + "cab_4_main_group": { + "cls": "HingeCabinet" + }, + "top_corner_box_main_group": { + "cls": "Box" + }, + "coffee_machine_main_group": { + "cls": "CoffeeMachine" + }, + "paper_towel_main_group": { + "cls": "Accessory" + }, + "plant_main_group": { + "cls": "Accessory" + }, + "knife_block_main_group": { + "cls": "Accessory" + }, + "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": "HingeCabinet" + }, + "box_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" + }, + "stack_4_left_group_base": { + "cls": "Box" + }, + "stack_4_left_group_1": { + "cls": "HingeCabinet" + }, + "hood_left_group": { + "cls": "Hood" + }, + "cab_1_left_group": { + "cls": "OpenCabinet" + }, + "cab_2_left_group": { + "cls": "OpenCabinet" + }, + "toaster_oven_left_group": { + "cls": "ToasterOven" + }, + "toaster_left_group": { + "cls": "Toaster" + }, + "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_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_3_right_group_3": { + "cls": "Drawer" + }, + "bottom_right_group_base": { + "cls": "Box" + }, + "bottom_right_group_1": { + "cls": "HingeCabinet" + }, + "bottom_right_group_2": { + "cls": "Drawer" + }, + "microwave_right_group": { + "cls": "Microwave" + }, + "microwave_housing_right_group": { + "cls": "HousingCabinet" + }, + "top_right_group": { + "cls": "HingeCabinet" + }, + "fridge_right_group": { + "cls": "FridgeBottomFreezer" + }, + "fridge_housing_right_group": { + "cls": "HousingCabinet" + }, + "cab_1_right_group": { + "cls": "HingeCabinet" + }, + "cab_2_right_group": { + "cls": "HingeCabinet" + }, + "island_1_island_group": { + "cls": "Counter" + }, + "island_box_island_group": { + "cls": "Box" + }, + "island_2_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_2_island_group_base": { + "cls": "Box" + }, + "stack_2_island_group_1": { + "cls": "HingeCabinet" + }, + "panel_stack_2_island_group_base": { + "cls": "Box" + }, + "panel_stack_2_island_group_1": { + "cls": "PanelCabinet" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_4_main_group", + "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": [ + 4.692751401410131, + -0.7723860303563858, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9643ca19d09faed1233ea8f2cb29737e3d38b574 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,646 @@ +{ + "layout_id": 17, + "style_id": 36, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_4_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_4_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_4_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_4_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "cab_4_main_group_1", + "min_size": [ + 0.07905816, + 0.29921823999999997, + 0.0790514 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "whisk", + "utensil" + ], + "groups": [ + "all" + ], + "cat": "whisk", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk002/model.xml" + }, + "reset_region": { + "size": [ + 0.8663468187310142, + 0.65 + ], + "offset": [ + 0.8365000000000005, + -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" + }, + "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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_4_main_group_1", + "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": [ + 3.7049783560271483, + -0.8405860702434748, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65b82c355658cf5eedb7ccbd980f1387fc3c8809 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,601 @@ +{ + "layout_id": 28, + "style_id": 36, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "top_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "top_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "top_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "top_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "top_main_group", + "min_size": [ + 0.04085709341999999, + 0.14299989989999995, + 0.14269349093999997 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_food", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "boxed_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_1/model.xml" + }, + "reset_region": { + "size": [ + 0.5, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "top_main_group", + "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": [ + 0.8017956133822016, + -0.9826836957199306, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c47f7f43661a3e367afa30fb4e71b65630f824e8 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,596 @@ +{ + "layout_id": 13, + "style_id": 34, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.8089999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.8089999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.8089999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.8089999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "cab_1_right_group_1", + "min_size": [ + 0.056733264320000025, + 0.05960752960000002, + 0.3040000030400001 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "wine", + "alcohol", + "drink" + ], + "groups": [ + "all" + ], + "cat": "wine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/wine/wine_2/model.xml" + }, + "reset_region": { + "size": [ + 0.8659999999999999, + 0.65 + ], + "offset": [ + 0.0015000000000000568, + 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" + }, + "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" + }, + "wall_accessory_5_room": { + "cls": "WallAccessory" + }, + "wall_accessory_6_room": { + "cls": "WallAccessory" + }, + "window_group_1_room": { + "cls": "Window" + }, + "stool_1_room": { + "cls": "Stool" + }, + "stool_2_room": { + "cls": "Stool" + }, + "counter_corner_1_main_group_1": { + "cls": "Counter" + }, + "sink_1_main_group_1": { + "cls": "Sink" + }, + "counter_1_main_group_1": { + "cls": "Counter" + }, + "counter_corner_2_main_group_1": { + "cls": "Counter" + }, + "stack_1_main_group_1_base": { + "cls": "Box" + }, + "stack_1_main_group_1_1": { + "cls": "SingleCabinet" + }, + "box_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" + }, + "box_2_main_group_1": { + "cls": "Box" + }, + "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" + }, + "cab_corner_main_group_1": { + "cls": "Box" + }, + "cab_1_main_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_main_group_1": { + "cls": "OpenCabinet" + }, + "plant_main_group_1": { + "cls": "Accessory" + }, + "paper_towel_main_group_1": { + "cls": "Accessory" + }, + "coffee_machine_main_group_1": { + "cls": "CoffeeMachine" + }, + "toaster_main_group_1": { + "cls": "Toaster" + }, + "counter_1_left_group_1": { + "cls": "Counter" + }, + "stove_left_group_1": { + "cls": "Stove" + }, + "counter_2_left_group_1": { + "cls": "Counter" + }, + "stack_1_left_group_1_base": { + "cls": "Box" + }, + "stack_1_left_group_1_1": { + "cls": "PanelCabinet" + }, + "stack_2_left_group_1_base": { + "cls": "Box" + }, + "stack_2_left_group_1_1": { + "cls": "SingleCabinet" + }, + "box_left_group_1": { + "cls": "Box" + }, + "hood_left_group_1": { + "cls": "Hood" + }, + "cab_1_left_group_1": { + "cls": "SingleCabinet" + }, + "cab_2_left_group_1": { + "cls": "HingeCabinet" + }, + "cab_3_left_group_1": { + "cls": "OpenCabinet" + }, + "counter_1_right_group_1": { + "cls": "Counter" + }, + "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" + }, + "box_right_group_1": { + "cls": "Box" + }, + "microwave_right_group_1": { + "cls": "Microwave" + }, + "microwave_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "top_right_group_1": { + "cls": "HingeCabinet" + }, + "fridge_1_right_group_1": { + "cls": "FridgeFrenchDoor" + }, + "fridge_1_housing_right_group_1": { + "cls": "HousingCabinet" + }, + "fridge_top_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_1_right_group_1": { + "cls": "HingeCabinet" + }, + "cab_2_right_group_1": { + "cls": "SingleCabinet" + }, + "toaster_oven_right_group_1": { + "cls": "ToasterOven" + }, + "dining_front_group_1": { + "cls": "Counter" + }, + "counter_corner_front_group_1": { + "cls": "Counter" + }, + "cube_front_group_1": { + "cls": "Box" + }, + "stack_1_front_group_1_base": { + "cls": "Box" + }, + "stack_1_front_group_1_1": { + "cls": "SingleCabinet" + }, + "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": "Drawer" + }, + "stack_3_front_group_1_2": { + "cls": "Drawer" + }, + "stack_3_front_group_1_3": { + "cls": "Drawer" + }, + "stack_4_front_group_1_base": { + "cls": "Box" + }, + "stack_4_front_group_1_1": { + "cls": "Drawer" + }, + "stack_4_front_group_1_2": { + "cls": "Drawer" + }, + "stack_4_front_group_1_3": { + "cls": "Drawer" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_right_group_1", + "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": [ + 3.88780467901095, + -0.9954415346190851, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c22e07280e0f76459d2895a0da947645ca821e6 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,664 @@ +{ + "layout_id": 20, + "style_id": 45, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_front_group_2", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.8500000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_front_group_2", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.8500000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_front_group_2", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.8500000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_front_group_2", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.8500000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group_2", + "sample_region_kwargs": { + "ref": "cab_1_front_group_2", + "min_size": [ + 0.062140701, + 0.035678601000000004, + 0.17351260500000001 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "honey_bottle", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "honey_bottle", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/honey_bottle/HoneyBottle003/model.xml" + }, + "reset_region": { + "size": [ + 0.9089999999999998, + 0.65 + ], + "offset": [ + -0.8780000000000001, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_front_group_2", + "counter": "counter_1_front_group_2" + }, + "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": [ + 6.737046730781126, + -3.8595136469068327, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91523e404dc5861ed4254e94e3fc715935a86cd5 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,573 @@ +{ + "layout_id": 48, + "style_id": 47, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.769776, + 0.309173 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.769776, + 0.309173 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.769776, + 0.309173 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.769776, + 0.309173 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.13548242, + 0.08216571749999999, + 0.046328024999999995 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "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/TurkeySlice004/model.xml" + }, + "reset_region": { + "size": [ + 0.2680550000000007, + 0.650004 + ], + "offset": [ + 0.14039999999999964, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_main_group_1", + "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": [ + 3.6519128431215058, + -0.9560295926728914, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1bfc0ac5e39040e09e82be730623696d13a5bc67 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,577 @@ +{ + "layout_id": 48, + "style_id": 40, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.678909, + 0.309156 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.678909, + 0.309156 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.678909, + 0.309156 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.678909, + 0.309156 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_3_right_group_1", + "min_size": [ + 0.11197132889249996, + 0.12196135675499999, + 0.05203806378749998 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "donut", + "pastry", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "donut", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2883774487582862, + 0.650012 + ], + "offset": [ + -0.8207, + -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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_3_right_group_1", + "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": [ + 3.728474159519225, + -1.5836233449245303, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..511fa4b610247f7e5e40256ef993e12131ac5af9 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,733 @@ +{ + "layout_id": 39, + "style_id": 43, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.708, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_front_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_front_group_1", + "min_size": [ + 0.05180815189430294, + 0.11999787362853181, + 0.031653902501665644 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar", + "packaged_food" + ], + "groups": [ + "all" + ], + "cat": "bar", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar/bar_11/model.xml" + }, + "reset_region": { + "size": [ + 0.7680000000000007, + 0.65 + ], + "offset": [ + -1.2409999999999997, + 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_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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_front_group_1", + "counter": "counter_1_front_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": [ + 2.7236757665844307, + -5.555172607700415, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12aacb15dd37d338a91993c365b670e02c96a29f --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,530 @@ +{ + "layout_id": 44, + "style_id": 55, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_left_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_left_group_1", + "min_size": [ + 0.03178689, + 0.23758074, + 0.0911943 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pizza_cutter", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "pizza_cutter", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter002/model.xml" + }, + "reset_region": { + "size": [ + 0.35004500000000016, + 0.650008 + ], + "offset": [ + 0.12869999999999993, + 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_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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_left_group_1", + "counter": "counter_2_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": [ + 2.577175079537757, + -0.9636008460984276, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70bdd935355511a28d385056df75793743d621f8 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,646 @@ +{ + "layout_id": 49, + "style_id": 45, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.239986, + 0.309161 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_main_group_1", + "min_size": [ + 0.06339870034228504, + 0.09392994469999996, + 0.03259918021387442 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bar_soap", + "cleaner" + ], + "groups": [ + "all" + ], + "cat": "bar_soap", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_1/model.xml" + }, + "reset_region": { + "size": [ + 1.2997959999999984, + 0.65 + ], + "offset": [ + -0.5932000000000008, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_2_main_group_1", + "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": [ + 3.4764739512066924, + -1.1582124264888958, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706449309965886 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ca6c497ec18445b0f31cd18968de91c27b62893 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,593 @@ +{ + "layout_id": 46, + "style_id": 38, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7873410000000001, + 0.340006 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7873410000000001, + 0.340006 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7873410000000001, + 0.340006 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7873410000000001, + 0.340006 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_01_main_group_1", + "min_size": [ + 0.10705560025345534, + 0.16446810970586725, + 0.006372667499999997 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "scissors", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "scissors", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/scissors/scissors_12/model.xml" + }, + "reset_region": { + "size": [ + 0.8474359999999976, + 0.65 + ], + "offset": [ + 0.4248000000000012, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_01_main_group_1", + "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": [ + 6.029562199983327, + -0.9316536004738855, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000093/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000093/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5b156849a1761be1fd0afd1aa7a58ea66766b768 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000093/ep_meta.json @@ -0,0 +1,563 @@ +{ + "layout_id": 45, + "style_id": 33, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7869999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_2_right_group_1", + "min_size": [ + 0.06573540096, + 0.06573326904, + 0.21599412912 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "alcohol", + "drink" + ], + "groups": [ + "all" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8470000000000004, + 0.65 + ], + "offset": [ + 0.09899999999999975, + 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" + }, + "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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_2_right_group_1", + "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": [ + 3.909341459780404, + -1.2466040770633133, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09b96220c338fd605c0485d616aad681d56e592c --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,578 @@ +{ + "layout_id": 53, + "style_id": 31, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7899499999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7899499999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7899499999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7899499999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_front_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_4_front_group_1", + "min_size": [ + 0.1622321, + 0.20328266, + 0.089024 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "reamer", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "reamer", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer005/model.xml" + }, + "reset_region": { + "size": [ + 0.3500069999999982, + 0.65 + ], + "offset": [ + -0.1250000000000009, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_4_front_group_1", + "counter": "counter_3_front_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": [ + 4.810436128232027, + -4.809234557229888, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712234187123444 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b3e3141915905b67d3042f8c2a816b672272119 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,577 @@ +{ + "layout_id": 53, + "style_id": 20, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7899499999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7899499999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7899499999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_front_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7899499999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_front_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_4_front_group_1", + "min_size": [ + 0.05026010696000001, + 0.05025889248, + 0.13712011095999999 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "boxed_drink", + "drink" + ], + "groups": [ + "all" + ], + "cat": "boxed_drink", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_drink/boxed_drink_3/model.xml" + }, + "reset_region": { + "size": [ + 0.3500069999999982, + 0.65 + ], + "offset": [ + -0.1250000000000009, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_4_front_group_1", + "counter": "counter_3_front_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": [ + 4.812805008453346, + -4.834807877742128, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712234187123444 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000096/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000096/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6fd17c9d5252c3f947b9280361de7550d1bf003b --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000096/ep_meta.json @@ -0,0 +1,548 @@ +{ + "layout_id": 14, + "style_id": 54, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9059999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9059999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9059999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9059999999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "cab_2_left_group_1", + "min_size": [ + 0.11647435904999998, + 0.04890901500000001, + 0.20249999999999996 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "liquor", + "alcohol", + "drink" + ], + "groups": [ + "all" + ], + "cat": "liquor", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_10/model.xml" + }, + "reset_region": { + "size": [ + 1.0539999999999996, + 0.65 + ], + "offset": [ + 0.3530000000000002, + 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" + }, + "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" + }, + "knife_block_left_group_1": { + "cls": "Accessory" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_2_left_group_1", + "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": [ + 0.7844184509860864, + -1.0859127129750696, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..59c0fe5cbe1960dffdded0ab103f804b72b09827 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,606 @@ +{ + "layout_id": 18, + "style_id": 42, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.04, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.04, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.04, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.04, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "cab_2_left_group", + "min_size": [ + 0.0536022, + 0.039448800000000006, + 0.0404028 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "marshmallow", + "sweets", + "food", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "marshmallow", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow001/model.xml" + }, + "reset_region": { + "size": [ + 1.0999999999999996, + 0.65 + ], + "offset": [ + 1.25, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "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" + } + }, + "gen_textures": {}, + "lang": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_2_left_group", + "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": [ + 0.8287621236717891, + -3.0486843627090785, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.141592787948654 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4fb1be1c8360175d4ad00db8790c21515b22cf2e --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,665 @@ +{ + "layout_id": 20, + "style_id": 21, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5900000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5900000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5900000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.5900000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "cab_1_main_group", + "min_size": [ + 0.09278913932572719, + 0.2044586313360668, + 0.007789590089999999 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "scissors", + "tool", + "in_container" + ], + "groups": [ + "all" + ], + "cat": "scissors", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/scissors/scissors_10/model.xml" + }, + "reset_region": { + "size": [ + 0.6540000000000004, + 0.65 + ], + "offset": [ + 0.30799999999999983, + 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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "cab_1_main_group", + "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": [ + 1.486015819384367, + -0.8487180910263612, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b04f70b44285ce545f1137a22e33e7e2dfe7c260 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,575 @@ +{ + "layout_id": 48, + "style_id": 44, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.029804, + 0.309156 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.029804, + 0.309156 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.029804, + 0.309156 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.029804, + 0.309156 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_3_right_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_4_right_group_1", + "min_size": [ + 0.0594332376, + 0.059428920100000004, + 0.11086028690000001 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "can", + "drink", + "group1" + ], + "groups": [ + "all" + ], + "cat": "can", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/can/can_12/model.xml" + }, + "reset_region": { + "size": [ + 1.0900400000000001, + 0.650012 + ], + "offset": [ + 1.0936, + -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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_4_right_group_1", + "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": [ + 3.7304200158698717, + -3.641780551690813, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.00014782238328514552 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..853837be3e56d3dbbe698ed32d5cbec858401957 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,517 @@ +{ + "layout_id": 52, + "style_id": 22, + "object_cfgs": [ + { + "name": "can1", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6999599999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can2", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6999599999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can3", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6999599999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "can4", + "obj_groups": "canned_food", + "graspable": true, + "object_scale": 1.0, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 1.0, + 0.15 + ], + "pos": [ + 0, + -0.9 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "canned_food", + "packaged_food" + ], + "groups": [ + "canned_food" + ], + "cat": "canned_food", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6999599999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "distr_counter", + "obj_groups": "all", + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "hingecabinet_1_main_group_1", + "min_size": [ + 0.063649656, + 0.063682488, + 0.16417811999999998 + ] + }, + "size": [ + 1.0, + 0.3 + ], + "pos": [ + 0.0, + 1.0 + ], + "offset": [ + 0.0, + -0.05 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cinnamon", + "spice" + ], + "groups": [ + "all" + ], + "cat": "cinnamon", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cinnamon/Cinnamon003/model.xml" + }, + "reset_region": { + "size": [ + 0.60856, + 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" + }, + "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": "Stack two cans on top of the other two cans in the cabinet.", + "fixture_refs": { + "cab": "hingecabinet_1_main_group_1", + "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": [ + 1.7598005162576444, + -0.8339105450218982, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706272411567803 + ] +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/meta/embodiment.json b/pretrain/composite/StackCans/20250731/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/StackCans/20250731/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/composite/StackCans/20250731/lerobot/meta/episodes.jsonl b/pretrain/composite/StackCans/20250731/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e6288e7038c72587be4646ad6b71f3db389e9e5 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/meta/episodes.jsonl @@ -0,0 +1,101 @@ +{"episode_index": 0, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 656} +{"episode_index": 1, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 789} +{"episode_index": 2, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 672} +{"episode_index": 3, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 792} +{"episode_index": 4, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 756} +{"episode_index": 5, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 553} +{"episode_index": 6, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 618} +{"episode_index": 7, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1028} +{"episode_index": 8, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 562} +{"episode_index": 9, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1154} +{"episode_index": 10, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 806} +{"episode_index": 11, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 633} +{"episode_index": 12, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 595} +{"episode_index": 13, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 647} +{"episode_index": 14, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 764} +{"episode_index": 15, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 820} +{"episode_index": 16, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 478} +{"episode_index": 17, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1442} +{"episode_index": 18, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 674} +{"episode_index": 19, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1034} +{"episode_index": 20, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 857} +{"episode_index": 21, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 569} +{"episode_index": 22, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 547} +{"episode_index": 23, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 574} +{"episode_index": 24, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 501} +{"episode_index": 25, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 737} +{"episode_index": 26, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 904} +{"episode_index": 27, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 702} +{"episode_index": 28, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 763} +{"episode_index": 29, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1314} +{"episode_index": 30, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 598} +{"episode_index": 31, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 657} +{"episode_index": 32, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1022} +{"episode_index": 33, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 747} +{"episode_index": 34, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 724} +{"episode_index": 35, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 734} +{"episode_index": 36, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 781} +{"episode_index": 37, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 773} +{"episode_index": 38, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1044} +{"episode_index": 39, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 598} +{"episode_index": 40, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 786} +{"episode_index": 41, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 803} +{"episode_index": 42, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 715} +{"episode_index": 43, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 652} +{"episode_index": 44, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 608} +{"episode_index": 45, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 643} +{"episode_index": 46, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1137} +{"episode_index": 47, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 715} +{"episode_index": 48, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 704} +{"episode_index": 49, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 735} +{"episode_index": 50, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 647} +{"episode_index": 51, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 545} +{"episode_index": 52, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 695} +{"episode_index": 53, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 529} +{"episode_index": 54, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 881} +{"episode_index": 55, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 939} +{"episode_index": 56, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 801} +{"episode_index": 57, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 590} +{"episode_index": 58, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 868} +{"episode_index": 59, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 720} +{"episode_index": 60, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 874} +{"episode_index": 61, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 582} +{"episode_index": 62, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 568} +{"episode_index": 63, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 639} +{"episode_index": 64, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1319} +{"episode_index": 65, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 564} +{"episode_index": 66, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 839} +{"episode_index": 67, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1105} +{"episode_index": 68, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 990} +{"episode_index": 69, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 654} +{"episode_index": 70, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 757} +{"episode_index": 71, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 587} +{"episode_index": 72, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 569} +{"episode_index": 73, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 735} +{"episode_index": 74, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 712} +{"episode_index": 75, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 441} +{"episode_index": 76, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 628} +{"episode_index": 77, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 696} +{"episode_index": 78, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 618} +{"episode_index": 79, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1157} +{"episode_index": 80, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 537} +{"episode_index": 81, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1314} +{"episode_index": 82, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 713} +{"episode_index": 83, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 595} +{"episode_index": 84, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 721} +{"episode_index": 85, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 727} +{"episode_index": 86, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 628} +{"episode_index": 87, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 663} +{"episode_index": 88, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 508} +{"episode_index": 89, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 666} +{"episode_index": 90, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1015} +{"episode_index": 91, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 752} +{"episode_index": 92, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 726} +{"episode_index": 93, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 605} +{"episode_index": 94, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1135} +{"episode_index": 95, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 862} +{"episode_index": 96, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 511} +{"episode_index": 97, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 638} +{"episode_index": 98, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 1055} +{"episode_index": 99, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 807} +{"episode_index": 100, "tasks": ["Stack two cans on top of the other two cans in the cabinet."], "length": 558} diff --git a/pretrain/composite/StackCans/20250731/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/StackCans/20250731/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19bf4fb318aa95bc66740bc79bcb78a7fa30c7a0 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,101 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5696279622878251]], [[0.5366173522271979]], [[0.4831514427230285]]], "std": [[[0.17968670065402476]], [[0.18935302219743994]], [[0.17916492378085155]]], "count": [129]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6075255526617896]], [[0.5715576320311312]], [[0.4989242931759671]]], "std": [[[0.18893951157361394]], [[0.16259521752574552]], [[0.16316246638201706]]], "count": [129]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5627442677235925]], [[0.5317390299256513]], [[0.4662438792286537]]], "std": [[[0.2251944558810105]], [[0.19879977833897922]], [[0.18984506884032964]]], "count": [129]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [656]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [656]}, "observation.state": {"min": [3.8976833862863143, -1.1648242682298942, 0.6999973046583429, 0.0, 0.0, 0.00013494018639903516, 0.9999998807907104, 0.18694940857243525, -0.378550506400825, 0.5951017365708682, -0.9890817403793335, -0.26380664110183716, -0.5817052125930786, 0.001532329828478396, 0.020539046901315687, -0.04000116552363894], "max": [3.8977864462902376, -1.1645964582051833, 0.7006121753338589, 0.0, 0.0, 0.0004579360829666257, 1.0, 0.5683440085568292, 0.03128258439257281, 0.839195738244368, 0.8856687545776367, 0.014034152030944824, 0.6605797410011292, 0.1676717847585678, 0.040003553053710734, -0.02052751229832256], "mean": [3.897744969539255, -1.1647147527457011, 0.700333234451438, 0.0, 0.0, 0.0002761310593419561, 0.9999999869160536, 0.4758151212909647, -0.1900721588372037, 0.7820096091798864, 0.3874358922788283, -0.10096158173571272, 0.3203466994824206, 0.07155509133309995, 0.034355315695645115, -0.0342226611487412], "std": [1.7767018225080297e-05, 6.296062799224282e-05, 0.00021088751395066812, 0.0, 0.0, 9.469237959486174e-05, 3.72630957218974e-08, 0.09522157601235619, 0.1380145537388755, 0.048516175390307774, 0.7186605386425364, 0.06324405798651579, 0.45829694907784924, 0.038068062647556446, 0.005408659660966978, 0.0057525585295815414], "count": [656]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7901785714285714, -0.3803571428571429, -0.33214285714285713, -0.14857142857142858, -0.5028571428571429, -0.14285714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5142857142857143, 0.6160714285714286, 0.5410714285714286, 0.10857142857142858, 0.27714285714285714, 0.10285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007398736933797853, -0.010538708623693388, 0.005610300522648079, 0.0019991289198606275, -0.0074303135888501865, -0.0050914634146341405, -0.06707317073170732], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2263567509970954, 0.16560641965422065, 0.12867049874653555, 0.02598623135906197, 0.07649548991316052, 0.03498058690513595, 0.9977480592654622], "count": [656]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024390242993831635], "std": [0.15425744652748108], "count": [656]}, "next.done": {"min": [false], "max": [true], "mean": [0.001524390243902439], "std": [0.039013670402651614], "count": [656]}, "timestamp": {"min": [0.0], "max": [32.75], "mean": [16.375], "std": [9.4685334133645], "count": [656]}, "frame_index": {"min": [0], "max": [655], "mean": [327.5], "std": [189.37066826729], "count": [656]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [656]}, "index": {"min": [0], "max": [655], "mean": [327.5], "std": [189.37066826729], "count": [656]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [656]}}} +{"episode_index": 1, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9529411764705882]], [[0.9490196078431372]], [[0.9411764705882353]]], "mean": [[[0.49400225034389283]], [[0.34964111845646195]], [[0.2662417037308879]]], "std": [[[0.17786356195082054]], [[0.19212798998320513]], [[0.2284690299640996]]], "count": [148]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5965422937082878]], [[0.4692791848316607]], [[0.39226644017674905]]], "std": [[[0.2198270494770905]], [[0.26812009456999675]], [[0.30056451899284414]]], "count": [148]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.621365915610794]], [[0.48725377150041815]], [[0.40665726249787815]]], "std": [[[0.20362624867657003]], [[0.2646013350733087]], [[0.2985782627273256]]], "count": [148]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [789]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [789]}, "observation.state": {"min": [2.1086248845311704, -0.8101686749942932, 0.6999974669698472, 0.0, 0.0, 0.7069923877716064, 0.7062792181968689, 0.05126804687043118, -0.3083337045710328, 0.6082621120511477, -0.9869288802146912, -0.36115217208862305, -0.5141221284866333, 0.0003532559494487941, 0.019167131249902828, -0.04000426331792285], "max": [2.1094230057066072, -0.8099379998650569, 0.7010416626135793, 0.0, 0.0, 0.7079333662986755, 0.7072211503982544, 0.43145399261489525, 0.3739345701903545, 0.8656111330133162, 0.8655152916908264, 0.015645921230316162, 0.6424008011817932, 0.31652629375457764, 0.04000738935671049, -0.020515181654732973], "mean": [2.109014654887719, -0.8101036509801759, 0.7002617726677107, 0.0, 0.0, 0.7075015809599438, 0.7067116367499638, 0.35455980158467326, -0.03978678388812128, 0.8007287453612942, 0.3912734835017921, -0.20623139515802436, 0.3234484518095568, 0.17032929207456532, 0.031044306621527736, -0.0338423616628004], "std": [0.00023330183977139288, 5.642637365036803e-05, 0.00033089101042122577, 0.0, 0.0, 0.00029948164690116267, 0.0002997876713623099, 0.06988013990701009, 0.22808976389887142, 0.045581176275967736, 0.684875604514126, 0.08709264619615854, 0.43310377458288934, 0.08077194134346335, 0.007335744239180555, 0.005274796263705931], "count": [789]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8678571428571429, -0.47946428571428573, -0.7232142857142858, -0.1457142857142857, -0.4571428571428572, -0.28285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40714285714285714, 0.69375, 0.5410714285714286, 0.18857142857142858, 0.2142857142857143, 0.36, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.018889190657251486, -0.007506110809342725, -0.001965643671917486, 0.002567445229042187, -0.006597863479992757, -0.003353250045265262, 0.1432192648922687], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19722626877582095, 0.2211066264586636, 0.14552129380441586, 0.03176142416745308, 0.07089086346810805, 0.0788476019164975, 0.9896909831678378], "count": [789]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02027883380651474], "std": [0.1409524828195572], "count": [789]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012674271229404308], "std": [0.03557837477216273], "count": [789]}, "timestamp": {"min": [0.0], "max": [39.4], "mean": [19.7], "std": [11.388224912894312], "count": [789]}, "frame_index": {"min": [0], "max": [788], "mean": [394.0], "std": [227.76449825788623], "count": [789]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [789]}, "index": {"min": [656], "max": [1444], "mean": [1050.0], "std": [227.76449825788623], "count": [789]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [789]}}} +{"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": [[[0.7020781004434217]], [[0.5069324613884347]], [[0.3347815086662796]]], "std": [[[0.1964464676406503]], [[0.19176044283821597]], [[0.225797090011138]]], "count": [131]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6606281999377607]], [[0.5217142443977383]], [[0.39694441755523474]]], "std": [[[0.2294403691645672]], [[0.2122783397089021]], [[0.2533526354247809]]], "count": [131]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5248105078110382]], [[0.4422026377419408]], [[0.3598890318554366]]], "std": [[[0.2833740565101583]], [[0.24817752068034965]], [[0.2547113455854026]]], "count": [131]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [672]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [672]}, "observation.state": {"min": [2.487943556459873, -0.8341332130361687, 0.6999983992597224, 0.0, 0.0, 0.7068697214126587, 0.7070345282554626, 0.13547779269643234, -0.08178167150743709, 0.6015710736031261, -0.988945484161377, -0.24127531051635742, -0.5906676650047302, 0.0018042727606371045, 0.020570480623744475, -0.03998336138428659], "max": [2.4882269967778594, -0.8339333338982104, 0.7009458762148716, 0.0, 0.0, 0.7071791291236877, 0.7073438167572021, 0.5196138191494446, 0.34623663664187854, 0.8329304425891394, 0.8922016620635986, 0.05074116587638855, 0.5428222417831421, 0.17187826335430145, 0.0400013117319073, -0.020496079987348297], "mean": [2.4880978283972137, -0.8339987241786837, 0.7004338433936651, 0.0, 0.0, 0.7070131788828543, 0.707200366028008, 0.4136220617526086, 0.1418783004150589, 0.7819114997351394, -0.5725616975022214, -0.09921415183427078, -0.3355308232518534, 0.0757643137644447, 0.03385401008878145, -0.0333355684520993], "std": [8.90653046983454e-05, 3.585114196434385e-05, 0.0003434243892642812, 0.0, 0.0, 9.355150624314319e-05, 9.354794794644694e-05, 0.08787181700009844, 0.13740603223695802, 0.04945550608197096, 0.6287082816758645, 0.08629029449490776, 0.3721033493398584, 0.05317404016508878, 0.005313979472611659, 0.005711480773742666], "count": [672]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8544642857142859, -0.375, -0.6214285714285714, -0.12571428571428572, -0.2857142857142857, -0.1657142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3616071428571429, 0.3883928571428572, 0.43928571428571433, 0.15714285714285714, 0.28, 0.26857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.010507015306122417, 0.018427136479591846, -0.0058832908163265266, 0.0024659863945578234, -0.008210034013605445, -0.0014965986394557807, 0.03869047619047619], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22642950574487386, 0.13509414821728155, 0.15136835127263173, 0.0314582043282301, 0.059636109899003996, 0.051531173522459256, 0.9992512432077059], "count": [672]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02380952425301075], "std": [0.15245532989501953], "count": [672]}, "next.done": {"min": [false], "max": [true], "mean": [0.001488095238095238], "std": [0.038547124544608985], "count": [672]}, "timestamp": {"min": [0.0], "max": [33.55], "mean": [16.775], "std": [9.699473782977439], "count": [672]}, "frame_index": {"min": [0], "max": [671], "mean": [335.5], "std": [193.98947565954876], "count": [672]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [672]}, "index": {"min": [1445], "max": [2116], "mean": [1780.5], "std": [193.98947565954876], "count": [672]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [672]}}} +{"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": [[[0.5407845030396938]], [[0.5189957333702934]], [[0.4662407707518567]]], "std": [[[0.1641831033028035]], [[0.16906967876788334]], [[0.15727786621931544]]], "count": [149]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49911509946955396]], [[0.48552675163107395]], [[0.4386903385564455]]], "std": [[[0.24528097749413305]], [[0.23650170197423373]], [[0.22836917547573973]]], "count": [149]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5498606038636354]], [[0.5248330167601463]], [[0.46123093621231004]]], "std": [[[0.2342515285930581]], [[0.21221066014238596]], [[0.20322886586491334]]], "count": [149]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [792]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [792]}, "observation.state": {"min": [0.9935683930984989, -0.9534662152940346, 0.6999973283033145, 0.0, 0.0, 0.7064042091369629, 0.7060977220535278, 0.16976377776652285, -0.169085675075616, 0.5856692393919392, -0.9410975575447083, -0.4750254154205322, -0.5733124613761902, 0.0016846235375851393, 0.018641796774165574, -0.03997898740360668], "max": [0.994787355352265, -0.9531679900697545, 0.70157493964875, 0.0, 0.0, 0.7081143856048584, 0.7078086137771606, 0.48376812127380836, 0.4075989930217605, 0.9127266976873027, 0.9908581376075745, 0.06732076406478882, 0.6341574788093567, 0.3495594561100006, 0.04002333223298967, -0.020526627533567956], "mean": [0.9942172621113198, -0.9533592430968417, 0.7004338985687014, 0.0, 0.0, 0.7071268806854883, 0.7070861690574222, 0.4113639781501949, 0.12408424562715666, 0.8487880046529797, -0.19629905463168115, -0.2966751151652348, -0.10580640893918697, 0.21999310892553897, 0.03243822493054936, -0.03387060071152866], "std": [0.0003842035254141041, 8.223286693569312e-05, 0.00047447084819245215, 0.0, 0.0, 0.0006018399391215575, 0.000602107697916097, 0.07958249277367362, 0.207857328320087, 0.06602124821290374, 0.7402853292256525, 0.14551855107025796, 0.4841233947435437, 0.10141553507477417, 0.0064051214140524735, 0.005002562511074894], "count": [792]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7901785714285714, -0.5330357142857143, -0.7339285714285714, -0.07142857142857142, -0.46857142857142864, -0.4742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.39107142857142857, 0.5142857142857143, 0.4928571428571429, 0.13142857142857142, 0.2485714285714286, 0.8142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.008678300865800835, 0.023268398268398247, -0.0032027867965368382, 0.004823232323232322, -0.003585858585858588, 0.002839105339105339, 0.12878787878787878], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1822893303497007, 0.17640195806584097, 0.1628079564574188, 0.024278491506016377, 0.07683537135901565, 0.14604484505805215, 0.9916721647184278], "count": [792]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020202020183205605], "std": [0.14069078862667084], "count": [792]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012626262626262627], "std": [0.03551101290511422], "count": [792]}, "timestamp": {"min": [0.0], "max": [39.55], "mean": [19.775], "std": [11.4315262177308], "count": [792]}, "frame_index": {"min": [0], "max": [791], "mean": [395.5], "std": [228.630524354616], "count": [792]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [792]}, "index": {"min": [2117], "max": [2908], "mean": [2512.5], "std": [228.630524354616], "count": [792]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [792]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5511521765349477]], [[0.39785931240239697]], [[0.32598600449904896]]], "std": [[[0.15062903548843423]], [[0.20338558113118013]], [[0.23001611323402094]]], "count": [144]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5820592709875834]], [[0.4999500075196908]], [[0.44937088577835643]]], "std": [[[0.22210363186775745]], [[0.2622990284768965]], [[0.2990296761625492]]], "count": [144]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5597816055896235]], [[0.48412593600537]], [[0.43788848910196676]]], "std": [[[0.231935849407008]], [[0.26802082505032454]], [[0.3014294224288424]]], "count": [144]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [756]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [756]}, "observation.state": {"min": [0.7645263449318346, -5.425218968597192, 0.6999964656044967, 0.0, 0.0, -1.0, 1.336049990641186e-06, 0.10554104511118267, -0.3234251680226343, 0.6129937493170085, -0.9872153997421265, -0.23733460903167725, -0.6021996140480042, 0.00010619346721796319, 0.02055055583249005, -0.03998857341318774], "max": [0.7647115563970488, -5.424444541835567, 0.7006650026059654, 0.0, 0.0, 1.0, 0.0008564580930396914, 0.5132525250608454, 0.30932229362293295, 0.8620162160932515, 0.8742331862449646, 0.17049646377563477, 0.6067189574241638, 0.18628017604351044, 0.04000316488229269, -0.02051600206083779], "mean": [0.7645991268401469, -5.424882189289493, 0.7003411373448585, 0.0, 0.0, -0.4894178787236491, 0.00041676250212681923, 0.37692351758993115, -0.1099433462761186, 0.8169436180052213, -0.13349279469598538, -0.1274077327005447, -0.08624354002888872, 0.06996919361107945, 0.033030396689216625, -0.03411044532135492], "std": [3.910824400827222e-05, 0.00025972414295358503, 0.00021880939018778718, 0.0, 0.0, 0.8720492638589851, 0.000307409781033591, 0.11669907558224354, 0.18726700357336543, 0.04609557643447526, 0.8134899105481633, 0.08417534899709687, 0.5313415661601033, 0.04937735645661114, 0.005408385587041614, 0.004502348835218324], "count": [756]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9375, -0.6830357142857143, -0.3830357142857143, -0.20857142857142857, -0.4314285714285714, -0.2571428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.47678571428571426, 0.5651785714285715, 0.5758928571428572, 0.21714285714285717, 0.22285714285714286, 0.1742857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.014781746031746009, 0.005909863945578231, -0.0006200396825396643, 0.0036961451247165557, -0.007864701436130002, -0.004894179894179895, 0.1746031746031746], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.27296352768787646, 0.24319009105262063, 0.1425612931830841, 0.03454375208261661, 0.06851572005696824, 0.06240723278123934, 0.9846388837632287], "count": [756]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021164020523428917], "std": [0.14393092691898346], "count": [756]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013227513227513227], "std": [0.03634558641278859], "count": [756]}, "timestamp": {"min": [0.0], "max": [37.75], "mean": [18.875], "std": [10.91191054154435], "count": [756]}, "frame_index": {"min": [0], "max": [755], "mean": [377.5], "std": [218.23821083088694], "count": [756]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [756]}, "index": {"min": [2909], "max": [3664], "mean": [3286.5], "std": [218.23821083088694], "count": [756]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [756]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48131011238531185]], [[0.4674586272133065]], [[0.4537797143789842]]], "std": [[[0.17507632934581793]], [[0.18546894240626538]], [[0.17351405040472587]]], "count": [114]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41350778239184244]], [[0.4136610101333057]], [[0.4151118753208177]]], "std": [[[0.1956743721468019]], [[0.19533105755999325]], [[0.19407282762418923]]], "count": [114]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.011764705882352941]], [[0.047058823529411764]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40854635589673094]], [[0.4117316761417081]], [[0.4189030214564924]]], "std": [[[0.17466727008445515]], [[0.17228104554144028]], [[0.16811429566160688]]], "count": [114]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [553]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [553]}, "observation.state": {"min": [0.8252305964991928, -0.24528661432214943, 0.6999958179326016, 0.0, 0.0, -1.0, 5.090662114071165e-08, 0.04451699641203344, -0.1364617417223739, 0.4085207906791427, -0.9869084358215332, -0.5067259073257446, -0.4312996566295624, 0.001724602305330336, 0.020563984703040553, -0.03996813307077702], "max": [0.8255379839062861, -0.24470534403000313, 0.7006840039414621, 0.0, 0.0, 1.0, 0.0006556730950251222, 0.38900334524510605, 0.38910357871327744, 0.6326404296041647, 0.9416516423225403, 0.05874970555305481, 0.46508410573005676, 0.2088230550289154, 0.040008116056096464, -0.017433110868159348], "mean": [0.8253885161239469, -0.24501156871382335, 0.7003354704231138, 0.0, 0.0, 0.027124741409398332, 0.0002531237932141386, 0.297281102910681, 0.08341146777515605, 0.49383382220435507, -0.02516264984448176, -0.23781191928153875, 0.022296542931637756, 0.09617009069993722, 0.03405070561877164, -0.03213430382781618], "std": [8.496002709250935e-05, 0.0001795834993139976, 0.0002275800358136284, 0.0, 0.0, 0.9996320239477322, 0.00021175172049314414, 0.06861202523374144, 0.17369182986198767, 0.046417665219221756, 0.8845220318747626, 0.1552105719639081, 0.3506302633956983, 0.06045972269342833, 0.006297666177776588, 0.008647477901519275], "count": [553]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5464285714285714, -0.5169642857142857, -0.3883928571428572, -0.09714285714285714, -0.5171428571428571, -0.3171428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.34821428571428575, 0.43660714285714286, 0.4875000000000001, 0.1457142857142857, 0.24, 0.3057142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.03347003358305345, 0.023467773185223445, -0.019190777576853533, 0.002428313097390856, -0.007274606044949616, -0.0007698269181090049, -0.16817359855334538], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20821570997980784, 0.19116011286225085, 0.14221242436825135, 0.032657575168117244, 0.08205331447793264, 0.10011624446521877, 0.985757394468644], "count": [553]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.028933092951774597], "std": [0.1676185131072998], "count": [553]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018083182640144665], "std": [0.042485859401340795], "count": [553]}, "timestamp": {"min": [0.0], "max": [27.6], "mean": [13.8], "std": [7.981854421122951], "count": [553]}, "frame_index": {"min": [0], "max": [552], "mean": [276.0], "std": [159.63708842245902], "count": [553]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [553]}, "index": {"min": [3665], "max": [4217], "mean": [3941.0], "std": [159.63708842245902], "count": [553]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [553]}}} +{"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": [[[0.5182553953404596]], [[0.408028572042384]], [[0.3256799450677756]]], "std": [[[0.1692351457615253]], [[0.17401001232211444]], [[0.19379276425124967]]], "count": [123]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.01568627450980392]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5840842321351178]], [[0.5196415598799542]], [[0.47964068351513306]]], "std": [[[0.24199589304130734]], [[0.28110291459382264]], [[0.31526624614337445]]], "count": [123]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5666060265410788]], [[0.4958030823522562]], [[0.4523558475707833]]], "std": [[[0.21677081350380442]], [[0.2528499625547787]], [[0.2870575027573487]]], "count": [123]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [618]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [618]}, "observation.state": {"min": [0.9865250923884494, -0.8445449902364336, 0.6999956696070138, 0.0, 0.0, 0.7064191102981567, 0.7069218158721924, 0.14546141518297928, -0.14299568220423386, 0.6048573456118876, -0.9861899614334106, -0.12879610061645508, -0.5604242086410522, 0.0008960406994447112, 0.0193957101643023, -0.040164937929030156], "max": [0.9872507299378838, -0.8443477150721084, 0.7007923093969893, 0.0, 0.0, 0.7072916626930237, 0.7077938914299011, 0.6000942821556768, 0.47926502113415725, 0.8624302617743556, 0.8789339661598206, 0.0706280767917633, 0.6132833361625671, 0.2359626591205597, 0.0400113188782259, -0.019697364587743064], "mean": [0.9868826112183983, -0.8444158094598777, 0.7003245218398559, 0.0, 0.0, 0.7068249506086207, 0.7073884047929523, 0.4663679091175483, 0.17111389591556536, 0.797401927332085, -0.32835328135289804, -0.07176868624768211, -0.15415160454399762, 0.09174273299406702, 0.0319069936863279, -0.03255162655130981], "std": [0.00024383546188852358, 3.665343506303683e-05, 0.0002418785617569111, 0.0, 0.0, 0.00024801975047011697, 0.00024783848090219654, 0.09767879861518625, 0.2171615925973859, 0.04574966372910857, 0.780420282412142, 0.05057411449913823, 0.48769405677671807, 0.07344988216769233, 0.0077078779047508525, 0.0076582105427959995], "count": [618]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9375, -0.7741071428571428, -0.7875, -0.16285714285714287, -0.7371428571428571, -0.20857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46339285714285716, 0.5357142857142857, 0.6133928571428572, 0.1742857142857143, 0.16, 0.14285714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00654039528432735, -0.0012179264909847568, -0.017289355062413296, 0.0018076745261211267, -0.013647711511789166, -0.00268146093388812, -0.042071197411003236], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.29639069130598467, 0.2403740305275939, 0.17791157226676899, 0.047720043578758184, 0.090315197383149, 0.04510248014777095, 0.9991146152210976], "count": [618]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025889968499541283], "std": [0.15880703926086426], "count": [618]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016181229773462784], "std": [0.0401933409332499], "count": [618]}, "timestamp": {"min": [0.0], "max": [30.85], "mean": [15.424999999999999], "std": [8.920049981175367], "count": [618]}, "frame_index": {"min": [0], "max": [617], "mean": [308.5], "std": [178.40099962350735], "count": [618]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [618]}, "index": {"min": [4218], "max": [4835], "mean": [4526.5], "std": [178.40099962350735], "count": [618]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [618]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0392156862745098]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6135596462841114]], [[0.5449758439368281]], [[0.4834136288469009]]], "std": [[[0.1829954224625579]], [[0.20612991556706328]], [[0.1992655084607293]]], "count": [181]}, "observation.images.robot0_agentview_left": {"min": [[[0.058823529411764705]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5449408388101658]], [[0.5012312283999948]], [[0.4646054507257517]]], "std": [[[0.1769761657805585]], [[0.1803780848075517]], [[0.1864751042126357]]], "count": [181]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6005111319106263]], [[0.5393287950444875]], [[0.4941575374444171]]], "std": [[[0.165034449722713]], [[0.19381633718990343]], [[0.21598695722401082]]], "count": [181]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1028]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1028]}, "observation.state": {"min": [0.8374293080626507, -2.0141962195110477, 0.6999958159622729, 0.0, 0.0, -1.0, 9.449785665083255e-08, 0.17006398062571493, -0.0530588250965629, 0.5874259294276031, -0.9909228682518005, -0.1493968963623047, -0.690578281879425, 2.9225409889477305e-05, 0.020572046999666426, -0.04000129649984301], "max": [0.8376420272729483, -2.013798047283986, 0.7005036480755404, 0.0, 0.0, 1.0, 0.0004957266501151025, 0.6210369125204172, 0.225731607298564, 0.926039228672396, 0.8321775197982788, 0.03617221117019653, 0.7025877833366394, 0.16156359016895294, 0.04000536265631762, -0.02049451196320634], "mean": [0.8375701018230627, -2.0139923045770693, 0.7001799271463705, 0.0, 0.0, 0.1400778099952505, 0.00020010043197479237, 0.487369402315417, 0.08341220633001967, 0.8578396160752559, -0.32837798101428883, -0.04416701616538174, -0.24237956539347247, 0.04431882284174427, 0.034483745357672395, -0.0329531191359232], "std": [5.4219992346218955e-05, 0.00011438397916815456, 0.0001680121063023528, 0.0, 0.0, 0.9901404875643057, 0.0001550346360553608, 0.12388280230714352, 0.088649974500148, 0.04746094468378315, 0.7271657141928314, 0.048026288983647664, 0.5450736892967929, 0.0363776420458808, 0.004767449575036816, 0.006190151294952828], "count": [1028]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.3785714285714286, -0.32857142857142857, -0.05714285714285715, -0.4228571428571429, -0.11714285714285716, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.41428571428571426, 0.5142857142857143, 0.6714285714285714, 0.11714285714285716, 0.18571428571428572, 0.23142857142857146, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007420789327404091, 0.009776264591439671, 0.019455252918287924, 0.0011172873818788215, -0.010872707059477491, -0.000875486381322957, 0.07003891050583658], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2437019813226317, 0.10574764907232373, 0.13993139719572528, 0.013935905529202073, 0.07378089306724939, 0.03346152193997857, 0.9975442601785488], "count": [1028]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015564202331006527], "std": [0.12378189712762833], "count": [1028]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009727626459143969], "std": [0.03117396956996511], "count": [1028]}, "timestamp": {"min": [0.0], "max": [51.35], "mean": [25.674999999999997], "std": [14.837894897862029], "count": [1028]}, "frame_index": {"min": [0], "max": [1027], "mean": [513.5], "std": [296.7578979572406], "count": [1028]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1028]}, "index": {"min": [4836], "max": [5863], "mean": [5349.5], "std": [296.7578979572406], "count": [1028]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1028]}}} +{"episode_index": 8, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9803921568627451]], [[0.984313725490196]], [[0.9921568627450981]]], "mean": [[[0.4148208948576034]], [[0.3168116982696611]], [[0.2531559968055666]]], "std": [[[0.17333000962694223]], [[0.19000116253809385]], [[0.2214202662614177]]], "count": [115]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.03529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.38201592512854327]], [[0.323283852709732]], [[0.2901540630369845]]], "std": [[[0.2339146473505873]], [[0.23638254657563676]], [[0.25411567933936396]]], "count": [115]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.03529411764705882]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39869270084052644]], [[0.35705052004242593]], [[0.33717336305063805]]], "std": [[[0.22158619691277912]], [[0.22940758887077853]], [[0.2482418670514381]]], "count": [115]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [562]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [562]}, "observation.state": {"min": [2.2490330814182022, -1.6952098045036357, 0.6999961310336917, 0.0, 0.0, -0.00013103416131343693, 0.9999995231628418, 0.19215462564554775, -0.1345227541013403, 0.592191989143849, -0.9894493222236633, -0.4159262776374817, -0.6763185262680054, 1.0819122508110013e-05, 0.0205228731379761, -0.04000431862319849], "max": [2.2491181457098404, -1.6945381449343957, 0.7007144084983967, 0.0, 0.0, 0.0010139981750398874, 1.0, 0.5568826471795401, 0.3017593487647885, 0.9086014896363243, 0.9311244487762451, 0.15102940797805786, 0.5695037841796875, 0.2610672116279602, 0.0400084457030312, -0.020543686315185154], "mean": [2.249070727855457, -1.6949667968946969, 0.7002278330801679, 0.0, 0.0, 0.0002729482683293479, 0.9999999013659793, 0.44827223543888495, 0.0723255700587503, 0.8407153719460708, -0.12525284566064745, -0.16288507106677494, -0.11978408134810865, 0.11898907163212893, 0.03417211743605788, -0.03429823163307394], "std": [2.118811141100361e-05, 0.00020910692027495327, 0.00021471582167679665, 0.0, 0.0, 0.00037764416788674607, 1.462828245289749e-07, 0.11170150678608713, 0.1405902905567799, 0.06497820710033902, 0.7971923991752624, 0.13345077464892485, 0.5177469728987687, 0.08880757743257789, 0.0059299169933847715, 0.005748331934510038], "count": [562]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8544642857142859, -0.6241071428571429, -0.3696428571428571, -0.13428571428571429, -0.3742857142857143, -0.26571428571428574, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5035714285714286, 0.46071428571428574, 0.5625000000000001, 0.20857142857142857, 0.2285714285714286, 0.4885714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007797407219115373, 0.009946936959837312, 0.015351741230299877, 0.0036400610066090497, -0.009125571936959846, 0.003985765124555167, -0.14590747330960854], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.27142466223537326, 0.19110366744296353, 0.16790284536499647, 0.033513546941883354, 0.08147719803453325, 0.10524002950746299, 0.9892982407911204], "count": [562]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02846975065767765], "std": [0.1663106232881546], "count": [562]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017793594306049821], "std": [0.04214490847803207], "count": [562]}, "timestamp": {"min": [0.0], "max": [28.05], "mean": [14.025], "std": [8.111758440683499], "count": [562]}, "frame_index": {"min": [0], "max": [561], "mean": [280.5], "std": [162.23516881367], "count": [562]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [562]}, "index": {"min": [5864], "max": [6425], "mean": [6144.5], "std": [162.23516881367], "count": [562]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [562]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5496265686648728]], [[0.408278312694496]], [[0.3109197933044768]]], "std": [[[0.1608495824996607]], [[0.16850385793802913]], [[0.1918760582895662]]], "count": [197]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4976580184218159]], [[0.39726010832582953]], [[0.33193339084622586]]], "std": [[[0.2497580377369584]], [[0.24457030316730624]], [[0.2540537819383649]]], "count": [197]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5912422041210996]], [[0.4815375559577019]], [[0.4062324099437721]]], "std": [[[0.2255173919554845]], [[0.24454081230474145]], [[0.2610406948402318]]], "count": [197]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1154]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1154]}, "observation.state": {"min": [0.803148804666096, -1.0682765057367483, 0.6999977648284551, 0.0, 0.0, -1.0, 7.798896461963523e-08, 0.1023497231700432, -0.37261870733239355, 0.5964690723219357, -0.9883925914764404, -0.30278658866882324, -0.6433805823326111, 2.343557571293786e-05, 0.020551386631871633, -0.04000075167501832], "max": [0.803243311294773, -1.0680754816769278, 0.7002669834080285, 0.0, 0.0, 1.0, 0.00023199258430395275, 0.5331302486604979, 0.2844985967467468, 0.9351162482168578, 0.9627988338470459, 0.03391607105731964, 0.6701246500015259, 0.22935840487480164, 0.040010856576503766, -0.02051517245007052], "mean": [0.8032022722292836, -1.068177267190716, 0.7000917193668875, 0.0, 0.0, -0.36915077989601386, 0.0001099917373575086, 0.4190814953948992, -0.010677272932884034, 0.8649012676659983, -0.3388041690172728, -0.11728473041251793, -0.24467563172043713, 0.08563877760257861, 0.03232715222373292, -0.03152984817585088], "std": [1.857842685370956e-05, 6.191379729139106e-05, 8.477690060682486e-05, 0.0, 0.0, 0.9293695183844675, 7.485756327831983e-05, 0.11357599685855271, 0.19594729435329583, 0.05766057411441192, 0.7105659964091354, 0.09546316456877416, 0.5341289393101175, 0.07031987974785384, 0.007360376203492446, 0.00802487396966915], "count": [1154]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.7571428571428572, -0.2785714285714286, -0.09714285714285714, -0.40857142857142864, -0.18857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5071428571428571, 0.5642857142857142, 0.9214285714285714, 0.05142857142857143, 0.13142857142857142, 0.21142857142857144, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0112775439465214, -0.0026429809358752346, 0.020636296112899234, -0.00047536518940331644, -0.006994305521168609, -0.0003788066353057644, 0.04679376083188908], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23702335596601748, 0.1807863382874903, 0.12384110727254857, 0.012072727730272667, 0.05298886048854923, 0.04530570029263416, 0.9989045719923442], "count": [1154]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013864818029105663], "std": [0.11692982167005539], "count": [1154]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008665511265164644], "std": [0.029424483269236818], "count": [1154]}, "timestamp": {"min": [0.0], "max": [57.65], "mean": [28.825000000000003], "std": [16.656549012325453], "count": [1154]}, "frame_index": {"min": [0], "max": [1153], "mean": [576.5], "std": [333.13098024650907], "count": [1154]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1154]}, "index": {"min": [6426], "max": [7579], "mean": [7002.5], "std": [333.13098024650907], "count": [1154]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1154]}}} +{"episode_index": 10, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6629221463571847]], [[0.6216748231541815]], [[0.5938676854663508]]], "std": [[[0.18134114278991922]], [[0.20965221641250403]], [[0.19966074948340293]]], "count": [151]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.662551214923767]], [[0.6487998638442857]], [[0.6200363878429191]]], "std": [[[0.20953445891178824]], [[0.20376119717425017]], [[0.1974159391679239]]], "count": [151]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7033531067108524]], [[0.6890959171641416]], [[0.6590813968045698]]], "std": [[[0.19416695275703083]], [[0.1846625767852392]], [[0.174774353080229]]], "count": [151]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [806]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [806]}, "observation.state": {"min": [2.015820145648757, -0.7789792342018516, 0.6999958256896371, 0.0, 0.0, 0.7069845795631409, 0.7068833112716675, 0.1235194293824049, -0.4753449655192452, 0.577889525953678, -0.9941063523292542, -0.3371334671974182, -0.5905815958976746, 0.0008737833704799414, 0.020558037228963176, -0.04001119827419676], "max": [2.0161765735726136, -0.7788563310458764, 0.7009203663804384, 0.0, 0.0, 0.7073302268981934, 0.70722895860672, 0.41503253829052894, 0.17855256460954383, 0.8603131688682415, 0.9772054553031921, 0.09857010841369629, 0.6947774887084961, 0.30267199873924255, 0.04009031354195249, -0.02050852317425814], "mean": [2.0160363573089017, -0.7789133089021223, 0.7003600816786664, 0.0, 0.0, 0.7071723804136659, 0.7070411791280836, 0.3248012224548411, -0.10713504576665694, 0.8071179549214955, 0.5024073622362786, -0.1986805350512784, 0.43896444111359917, 0.15477610528645297, 0.03463320172555198, -0.03492160533410323], "std": [6.772391703017577e-05, 3.276200257908168e-05, 0.00024863880701825856, 0.0, 0.0, 7.53661430388126e-05, 7.53537836569265e-05, 0.07321428095210321, 0.2153522141452819, 0.05097962529297298, 0.5711441933360744, 0.10020062041365047, 0.3876221006160553, 0.07050332962071675, 0.005200119718499818, 0.004815402951174502], "count": [806]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6910714285714286, -0.61875, -0.2732142857142857, -0.13714285714285715, -0.5942857142857143, -0.21142857142857144, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.35625, 0.675, 0.6776785714285715, 0.19714285714285715, 0.13142857142857142, 0.2542857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.010445099255583094, -0.016958746898263034, 0.00561968273661822, 0.0036760014179368994, -0.012531017369727055, -0.0035767458348103477, -0.04962779156327544], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20506130084370128, 0.1945143573082463, 0.14180176712393386, 0.04044177916780067, 0.07290880269556553, 0.053657805558142, 0.9987677819716455], "count": [806]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019851116463541985], "std": [0.13948851823806763], "count": [806]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012406947890818859], "std": [0.035201640097049895], "count": [806]}, "timestamp": {"min": [0.0], "max": [40.25], "mean": [20.125], "std": [11.633598970224131], "count": [806]}, "frame_index": {"min": [0], "max": [805], "mean": [402.5], "std": [232.67197940448264], "count": [806]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [806]}, "index": {"min": [7580], "max": [8385], "mean": [7982.5], "std": [232.67197940448264], "count": [806]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [806]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.0]], [[0.00784313725490196]]], "max": [[[0.8862745098039215]], [[0.8862745098039215]], [[0.8862745098039215]]], "mean": [[[0.4239134051515571]], [[0.392802783955379]], [[0.37896930208986807]]], "std": [[[0.1540343889226974]], [[0.16021819259386416]], [[0.15873524799552183]]], "count": [126]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.011764705882352941]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4145048614606433]], [[0.40648361096825886]], [[0.39443549243156467]]], "std": [[[0.24169128494494224]], [[0.23473911484208376]], [[0.22837026011644787]]], "count": [126]}, "observation.images.robot0_agentview_right": {"min": [[[0.0392156862745098]], [[0.00784313725490196]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3590389504597412]], [[0.3533252843102302]], [[0.3454253604246603]]], "std": [[[0.25380188598717657]], [[0.24600457069729945]], [[0.2381607934000292]]], "count": [126]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [633]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [633]}, "observation.state": {"min": [0.7959721659923473, -0.9199508112368922, 0.6999958188487123, 0.0, 0.0, -1.0, 7.536576163147402e-08, 0.19201390197771107, -0.30824311151874084, 0.6059126499032838, -0.986638605594635, -0.4477684497833252, -0.516189455986023, 0.00059975974727422, 0.02056464650950969, -0.04005343916944912], "max": [0.7961110925693148, -0.9186322878934307, 0.7007959848552245, 0.0, 0.0, 1.0, 0.001859992160461843, 0.5703686224985662, 0.22604088319986326, 0.8892122857973818, 0.9302665591239929, 0.014762163162231445, 0.6436833739280701, 0.35916298627853394, 0.040006821819198776, -0.020501912684128206], "mean": [0.7960566574943602, -0.9192565629412183, 0.7003947425577834, 0.0, 0.0, -0.05529291765384765, 0.0009328217807389731, 0.4710402832919014, -0.01223653857139963, 0.8295604192798054, -0.01125581192932611, -0.273978472085549, 0.04465639099219776, 0.19212935772583942, 0.03443507142210464, -0.03531589934839342], "std": [3.514711774558522e-05, 0.0005231320259033909, 0.00033129029091099026, 0.0, 0.0, 0.9984694636809079, 0.0007725286108765703, 0.09790196802370266, 0.1768300712345143, 0.050197519490714444, 0.7808348168615439, 0.17383495070203248, 0.4805517465815688, 0.12267694953557608, 0.005434989821356453, 0.0045359413387920985], "count": [633]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6991071428571428, -0.4901785714285714, -0.6401785714285715, -0.025714285714285714, -0.45999999999999996, -0.3485714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40446428571428567, 0.5330357142857143, 0.6321428571428571, 0.20285714285714287, 0.34, 0.7714285714285716, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007781821259309355, 0.006681618144888339, 0.007193635748138097, 0.006233355901602346, -0.004924396298803881, -0.0034980816971338148, -0.09004739336492891], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20582281158538826, 0.1912073701018806, 0.16928124562840474, 0.02623291711362478, 0.08712764030753303, 0.1467886961097548, 0.9959374814455906], "count": [633]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025276461616158485], "std": [0.15696357190608978], "count": [633]}, "next.done": {"min": [false], "max": [true], "mean": [0.001579778830963665], "std": [0.03971502398096852], "count": [633]}, "timestamp": {"min": [0.0], "max": [31.6], "mean": [15.800000000000002], "std": [9.13655660884705], "count": [633]}, "frame_index": {"min": [0], "max": [632], "mean": [316.0], "std": [182.73113217694095], "count": [633]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [633]}, "index": {"min": [8386], "max": [9018], "mean": [8702.0], "std": [182.73113217694095], "count": [633]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [633]}}} +{"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": [[[0.49845179140178203]], [[0.4015967669518165]], [[0.33450512156767004]]], "std": [[[0.17414008273361237]], [[0.177590937210374]], [[0.21131459017894225]]], "count": [120]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4931806367363026]], [[0.4191318541882085]], [[0.3722497359132455]]], "std": [[[0.25391608184461445]], [[0.26534396123671594]], [[0.28786136642897464]]], "count": [120]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5472651418050131]], [[0.46960823208678004]], [[0.42125740898980035]]], "std": [[[0.22593126864770655]], [[0.26262762538028067]], [[0.29616626487506464]]], "count": [120]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [595]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [595]}, "observation.state": {"min": [0.7948986176114861, -2.370935756701986, 0.6999965149235485, 0.0, 0.0, -1.0, 0.0, 0.18043519510831585, -0.2531960185484463, 0.577447123474639, -0.992704451084137, -0.28719794750213623, -0.6356051564216614, 0.0015241150977090001, 0.020562138937392206, -0.04000116721260743], "max": [0.7951230886354956, -2.3700569800890077, 0.700943361241578, 0.0, 0.0, 1.0, 0.0013317561242729425, 0.568661102257759, 0.10246041162132036, 0.8432715856102977, 0.9668771028518677, 0.11319777369499207, 0.5830908417701721, 0.18608608841896057, 0.040171675293905446, -0.020504420584931043], "mean": [0.7950126242300514, -2.370427140324039, 0.700382360138715, 0.0, 0.0, -0.39495771552334313, 0.0005443369925081075, 0.4582068415489969, -0.06310904902751158, 0.7866140541350178, -0.038138112500936044, -0.14174069747203538, -0.03807523561125042, 0.10799807547337274, 0.031821015898353164, -0.03421281853348847], "std": [6.380356343789214e-05, 0.0003068626045246191, 0.00032119330663574533, 0.0, 0.0, 0.9186990081680112, 0.0005166483029203673, 0.09218071190060036, 0.11663209478632258, 0.05228218475290102, 0.8180763742006468, 0.11734343458477386, 0.5284348407664047, 0.05549714544057697, 0.006990218000611548, 0.004913208978868959], "count": [595]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7232142857142858, -0.5008928571428571, -0.4875000000000001, -0.10285714285714286, -0.6057142857142859, -0.5371428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4982142857142858, 0.5169642857142857, 0.6616071428571428, 0.19428571428571428, 0.22285714285714286, 0.2857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00814375750300122, -0.0037184873949580016, -0.005766806722689066, 0.001123649459783914, -0.008249699879951998, 0.0008739495798319382, 0.05546218487394958], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2428592428260922, 0.17440782228697727, 0.17400073217701612, 0.029716311019085218, 0.09139265917316111, 0.08301473851465789, 0.9984607884383918], "count": [595]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02689075656235218], "std": [0.16176415979862213], "count": [595]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016806722689075631], "std": [0.0409615381746351], "count": [595]}, "timestamp": {"min": [0.0], "max": [29.7], "mean": [14.85], "std": [8.588073124979783], "count": [595]}, "frame_index": {"min": [0], "max": [594], "mean": [297.0], "std": [171.76146249959564], "count": [595]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [595]}, "index": {"min": [9019], "max": [9613], "mean": [9316.0], "std": [171.76146249959564], "count": [595]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [595]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4048017244712979]], [[0.33593891975926415]], [[0.3027352669659783]]], "std": [[[0.17793702939938533]], [[0.20013728887588525]], [[0.1888517178467224]]], "count": [128]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3851691666771384]], [[0.34805329921198824]], [[0.3341564884372786]]], "std": [[[0.21252336423767343]], [[0.23011587029479807]], [[0.23878151090666033]]], "count": [128]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.011764705882352941]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4198919427161123]], [[0.38473075371162563]], [[0.3716612806507185]]], "std": [[[0.20231896196960725]], [[0.2226984802099802]], [[0.2321493060641602]]], "count": [128]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [647]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [647]}, "observation.state": {"min": [5.928171259337371, -4.438072891223804, 0.6999977749161092, 0.0, 0.0, -0.0006142391357570887, 0.9999997615814209, 0.16161355643349218, -0.18794758011714752, 0.587540629227924, -0.9937025308609009, -0.4222719669342041, -0.6302590370178223, 3.6223304050508887e-05, 0.020523303038727726, -0.039874743886918695], "max": [5.928393168553274, -4.437368380784615, 0.7009378160158514, 0.0, 0.0, 0.0007454684819094837, 1.0, 0.5954560796721697, 0.19212304155621052, 0.858747316787861, 0.9484216570854187, 0.18579933047294617, 0.5032126307487488, 0.22331242263317108, 0.04001603195014912, -0.019450384296400683], "mean": [5.9282544861197515, -4.4377533504066315, 0.700286482295598, 0.0, 0.0, -6.127164270179026e-05, 0.9999999248262904, 0.46872867715414285, -7.104925379595763e-05, 0.7960687212291294, -0.3306108276479211, -0.18109888736578927, -0.22036751548556677, 0.12161017372557424, 0.03258068343429251, -0.03126070196325974], "std": [4.888949444025401e-05, 0.00020979333509367815, 0.00027970054737717134, 0.0, 0.0, 0.0004422877398677895, 8.75170543208179e-08, 0.10022167775685227, 0.12914940430109542, 0.04824704337733644, 0.7656939946172537, 0.13456298104993367, 0.43236699386381244, 0.056684182717337654, 0.006424092330997128, 0.007578438821080874], "count": [647]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8330357142857143, -0.3830357142857143, -0.3830357142857143, -0.12857142857142856, -0.4714285714285714, -0.37142857142857144, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5008928571428571, 0.40714285714285714, 0.5571428571428572, 0.2, 0.20857142857142857, 0.6628571428571428, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.010776385515566353, 0.006652958710532098, -5.38198277765577e-05, 0.0060454846544491046, -0.01168469860896443, -0.004040627069993373, 0.11591962905718702], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2641285249022737, 0.14686738451875755, 0.1660116797774243, 0.038225521574896254, 0.07730687572478784, 0.11732323457272367, 0.9932585965393133], "count": [647]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024729520082473755], "std": [0.15529963374137878], "count": [647]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015455950540958269], "std": [0.039283663144169506], "count": [647]}, "timestamp": {"min": [0.0], "max": [32.3], "mean": [16.15], "std": [9.338629449764028], "count": [647]}, "frame_index": {"min": [0], "max": [646], "mean": [323.0], "std": [186.77258899528056], "count": [647]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [647]}, "index": {"min": [9614], "max": [10260], "mean": [9937.0], "std": [186.77258899528056], "count": [647]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [647]}}} +{"episode_index": 14, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4757226401555369]], [[0.42312681165879606]], [[0.38267118029694364]]], "std": [[[0.16911670440957027]], [[0.19439149254357188]], [[0.195409360726422]]], "count": [145]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5595722227889675]], [[0.5343286198841066]], [[0.5104041649829382]]], "std": [[[0.22941791468774836]], [[0.24357139188056423]], [[0.25482907978628266]]], "count": [145]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5358909024025155]], [[0.507956177748241]], [[0.4814634889263491]]], "std": [[[0.22847553177982943]], [[0.24283077288910107]], [[0.252984344846373]]], "count": [145]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [764]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [764]}, "observation.state": {"min": [2.892006321654554, -4.331788661217597, 0.6999970729345119, 0.0, 0.0, -0.7078396081924438, 0.7063732147216797, 0.17525797502078078, -0.029734421739456618, 0.60897578264869, -0.986970067024231, -0.45975130796432495, -0.5947338342666626, 0.00018604904471430928, 0.020532502964196266, -0.04001970866122476], "max": [2.8928937110689845, -4.331579140721231, 0.7004934710206354, 0.0, 0.0, -0.7064666152000427, 0.7077463269233704, 0.5502268720564745, 0.5009928009625133, 0.8992265845108091, 0.8937183618545532, 0.2578437924385071, 0.5326021313667297, 0.3028923273086548, 0.04000527414773302, -0.019318524312003465], "mean": [2.892345713017349, -4.331671440716261, 0.7001929615553882, 0.0, 0.0, -0.7072695699661814, 0.7069436048806026, 0.4482585644787824, 0.22735671302974825, 0.8462266125102211, -0.12544358845468592, -0.25029961684845503, -0.08514181044713365, 0.14586833847470046, 0.03172577293701196, -0.03090278076837202], "std": [0.0002811605573733578, 5.707042710851493e-05, 0.00016048293909653275, 0.0, 0.0, 0.0004858597383672605, 0.000486000714087226, 0.09191157662127898, 0.18870098409143835, 0.054389756941057375, 0.7896750257295727, 0.17162855206148897, 0.4836027629420612, 0.07856634446475955, 0.007120621966044153, 0.008062453803280483], "count": [764]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6214285714285714, -0.5142857142857143, -0.9375, -0.09428571428571429, -0.5714285714285714, -0.26, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.42321428571428565, 0.45535714285714285, 0.5169642857142857, 0.2057142857142857, 0.14857142857142858, 0.7714285714285716, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0028784124906507088, 0.0291171933433059, -0.01896386499626031, 0.004248317127898281, -0.022157816005983544, 0.00866118175018699, 0.09162303664921466], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20762266332797197, 0.16014941902790322, 0.22588107591385678, 0.03443294073919654, 0.08759463485954357, 0.12594021846378098, 0.9957937633642728], "count": [764]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020942408591508865], "std": [0.14319154620170593], "count": [764]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013089005235602095], "std": [0.03615504533228569], "count": [764]}, "timestamp": {"min": [0.0], "max": [38.15], "mean": [19.075], "std": [11.027380695341936], "count": [764]}, "frame_index": {"min": [0], "max": [763], "mean": [381.5], "std": [220.54761390683873], "count": [764]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [764]}, "index": {"min": [10261], "max": [11024], "mean": [10642.5], "std": [220.54761390683873], "count": [764]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [764]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41803511624823286]], [[0.3859439406443235]], [[0.3705097371059458]]], "std": [[[0.17736893908475718]], [[0.1912963256154968]], [[0.18936721287256275]]], "count": [153]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36660840245801396]], [[0.3579131278321939]], [[0.34148127365063413]]], "std": [[[0.24162898826540807]], [[0.2381096872074008]], [[0.2352010569000805]]], "count": [153]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4155959337961211]], [[0.40623004839509846]], [[0.3892509248277155]]], "std": [[[0.24877900119690521]], [[0.2418603443318325]], [[0.23507132141590223]]], "count": [153]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [820]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [820]}, "observation.state": {"min": [2.5721609168633943, -0.9487146277421412, 0.699995055452414, 0.0, 0.0, 0.7069272398948669, 0.7067950367927551, 0.18871036268943597, -0.21765469997175746, 0.6226657126269608, -0.9842890501022339, -0.27272194623947144, -0.6235377788543701, 0.0011803529923781753, 0.02056153603311676, -0.03998424043030812], "max": [2.5725296886457873, -0.9486241459972076, 0.7003062210219654, 0.0, 0.0, 0.7074183821678162, 0.7072862386703491, 0.6073116326801435, 0.4489761721921153, 0.8571828401426149, 0.8603072762489319, 0.0426521897315979, 0.5688461065292358, 0.2839188873767853, 0.04001048844331067, -0.020505024733676748], "mean": [2.572389120110119, -0.9486835260354973, 0.700074181561185, 0.0, 0.0, 0.7071078935774361, 0.7071056494625604, 0.4673212942811927, 0.1667034599258313, 0.8008780994597985, -0.4120153299918989, -0.18990388203684877, -0.26827379477823654, 0.15526736202101768, 0.03395601274426444, -0.03336152697493864], "std": [9.466730732510076e-05, 1.9508456306817818e-05, 8.130762112455974e-05, 0.0, 0.0, 0.00013806143011061152, 0.0001381006775669644, 0.10346962976557006, 0.21612946713444797, 0.04392246239580864, 0.6910246267549559, 0.07795774973946913, 0.45863688648985396, 0.06450474169951773, 0.005251263946556558, 0.00572924930092365], "count": [820]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6723214285714286, -0.5571428571428572, -0.17142857142857143, -0.18571428571428572, -0.5114285714285715, -0.2742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4205357142857143, 0.5517857142857143, 0.6241071428571429, 0.23428571428571432, 0.26571428571428574, 0.2714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004860627177700353, 0.018488675958188195, 0.017332317073170754, 0.002418118466898952, -0.006818815331010474, -0.0020209059233449542, 0.05121951219512195], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21360293466626024, 0.21491849477801972, 0.11417111778126142, 0.04826761294261012, 0.07207971172666092, 0.07303638238434666, 0.9986874193512673], "count": [820]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019512195140123367], "std": [0.1383165568113327], "count": [820]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012195121951219512], "std": [0.034900214685985816], "count": [820]}, "timestamp": {"min": [0.0], "max": [40.95], "mean": [20.475], "std": [11.835671717312879], "count": [820]}, "frame_index": {"min": [0], "max": [819], "mean": [409.5], "std": [236.71343434625757], "count": [820]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [820]}, "index": {"min": [11025], "max": [11844], "mean": [11434.5], "std": [236.71343434625757], "count": [820]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [820]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5539383198563202]], [[0.5345626977717405]], [[0.5165973573865821]]], "std": [[[0.16022605063982656]], [[0.18237766851179613]], [[0.1770287692183499]]], "count": [102]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.541358665574839]], [[0.5199220111030013]], [[0.5037551527892292]]], "std": [[[0.1866840503583075]], [[0.18243750332303416]], [[0.18462004439444413]]], "count": [102]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5098060534578798]], [[0.5032276474755802]], [[0.49568926889316156]]], "std": [[[0.1755723486628461]], [[0.1768855140484216]], [[0.17923443386580545]]], "count": [102]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [478]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [478]}, "observation.state": {"min": [4.322729037271075, -4.09517970939239, 0.6999978321935909, 0.0, 0.0, -3.919353548553772e-05, 0.9999998807907104, 0.06296737956535914, -0.3430933767735569, 0.5840129721139432, -0.9922820925712585, -0.2375568151473999, -0.5306957364082336, 0.00030353936017490923, 0.020525880282948362, -0.03991811872690435], "max": [4.322967796949936, -4.094498309873103, 0.7005475099800539, 0.0, 0.0, 0.0006177898030728102, 1.0, 0.41514863380578326, 0.020332975960998922, 0.7294310734575186, 0.9478919506072998, 0.04624354839324951, 0.5602714419364929, 0.10765791684389114, 0.04000528249874251, -0.018451052285720596], "mean": [4.322886690550827, -4.094886817865488, 0.7002099646414154, 0.0, 0.0, 0.00026439094465833575, 0.9999999598479171, 0.3274624527634394, -0.16949897450153747, 0.678478020122629, 0.27527701393330944, -0.061973464507687544, 0.1515815656741294, 0.03836971381131197, 0.03247674378929302, -0.031104872883150655], "std": [6.741250285325278e-05, 0.00026932722869086435, 0.00018776681629195728, 0.0, 0.0, 0.00023531294938636827, 5.634102869659719e-08, 0.0676087870585173, 0.12215126958908307, 0.03903102714713009, 0.8421494173754345, 0.06525406461246609, 0.42662273131177747, 0.021259450079934433, 0.0063774854466021325, 0.008291311870461077], "count": [478]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7607142857142858, -0.6857142857142857, -0.28660714285714284, -0.11714285714285716, -0.4885714285714286, -0.18571428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46071428571428574, 0.44464285714285723, 0.45267857142857143, 0.11714285714285716, 0.13714285714285715, 0.1457142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0325351165570831, -0.018122384937238462, -0.007268006575014937, -4.184100418410024e-05, -0.011099820681410626, -0.005947399880454269, 0.02092050209205021], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25190800481288184, 0.1856481062608366, 0.15104185988494842, 0.02564075875962464, 0.07860762862740454, 0.05592940797393739, 0.999781142346768], "count": [478]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.033472802489995956], "std": [0.17986765503883362], "count": [478]}, "next.done": {"min": [false], "max": [true], "mean": [0.0020920502092050207], "std": [0.04569106625071455], "count": [478]}, "timestamp": {"min": [0.0], "max": [23.85], "mean": [11.925], "std": [6.899320618727615], "count": [478]}, "frame_index": {"min": [0], "max": [477], "mean": [238.5], "std": [137.9864123745523], "count": [478]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [478]}, "index": {"min": [11845], "max": [12322], "mean": [12083.5], "std": [137.9864123745523], "count": [478]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [478]}}} +{"episode_index": 17, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46379948419922856]], [[0.4418805525932996]], [[0.4315691557165484]]], "std": [[[0.15378853098984752]], [[0.15949990678781]], [[0.16463421188324523]]], "count": [234]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5251131781745401]], [[0.511360454351554]], [[0.4986591871647414]]], "std": [[[0.23936102302427217]], [[0.23390762964390502]], [[0.22584000291323877]]], "count": [234]}, "observation.images.robot0_agentview_right": {"min": [[[0.054901960784313725]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5784929766813993]], [[0.5645356301188929]], [[0.5501660060099427]]], "std": [[[0.20867397700804868]], [[0.20459036338945508]], [[0.19774561681741118]]], "count": [234]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1442]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1442]}, "observation.state": {"min": [2.017823183041898, -0.811606666133948, 0.6999985243737066, 0.0, 0.0, 0.7067289352416992, 0.7069826126098633, 0.05822805098209194, -0.5152029453760694, 0.5890993123891589, -0.9898287653923035, -0.3424186110496521, -0.6089586019515991, 0.00012839790724683553, 0.020572516041761867, -0.04013648764063876], "max": [2.018302909683951, -0.8114999416793254, 0.7002525158124829, 0.0, 0.0, 0.7072309255599976, 0.7074844241142273, 0.42497441197612434, 0.3563821319951741, 0.8558410374105361, 0.9283525943756104, 0.046218037605285645, 0.6794874668121338, 0.2787322402000427, 0.04004644181551089, -0.02049404485995265], "mean": [2.018045193636653, -0.8115555091335378, 0.7000780811705737, 0.0, 0.0, 0.7069636091445256, 0.7072498897987001, 0.33920278591721537, -0.026298026032341333, 0.7948075331847696, -0.3239334777059568, -0.22255947351993038, -0.20392045944970458, 0.15598575356697553, 0.03629551677835543, -0.035229721394579284], "std": [0.00014337379907228886, 2.899228819419484e-05, 7.495404595588467e-05, 0.0, 0.0, 0.00016059323382531057, 0.0001605326107163294, 0.09303337632689232, 0.2995519493298612, 0.05740666486278379, 0.7348825197536802, 0.07387082230521025, 0.4800313847064529, 0.06066236542054838, 0.004319101937876258, 0.005548425415028821], "count": [1442]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9857142857142858, -0.6214285714285714, -0.31428571428571433, -0.06, -0.16857142857142857, -0.3514285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40714285714285714, 0.8928571428571429, 0.5214285714285715, 0.10571428571428572, 0.13714285714285715, 0.20857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.006147216168020597, 0.0020309094511590997, 0.012353873588270236, -0.0005884683970675651, -0.005882702595601345, -0.00044977214186645503, -0.20665742024965325], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1831819105127974, 0.18144950588592235, 0.07793129583930636, 0.01367049111494791, 0.0345741114782433, 0.05834214380481816, 0.9784133638987984], "count": [1442]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011095700785517693], "std": [0.10475011169910431], "count": [1442]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006934812760055479], "std": [0.026324899994594045], "count": [1442]}, "timestamp": {"min": [0.0], "max": [72.05], "mean": [36.025], "std": [20.813472199515388], "count": [1442]}, "frame_index": {"min": [0], "max": [1441], "mean": [720.5], "std": [416.2694439903078], "count": [1442]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1442]}, "index": {"min": [12323], "max": [13764], "mean": [13043.5], "std": [416.2694439903078], "count": [1442]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1442]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7024018934207945]], [[0.5954013377941583]], [[0.4810567954432306]]], "std": [[[0.13145923554320085]], [[0.16849328853609916]], [[0.15280361948909169]]], "count": [132]}, "observation.images.robot0_agentview_left": {"min": [[[0.0784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6428733327030356]], [[0.5643944262608275]], [[0.455675140308328]]], "std": [[[0.20929293761435686]], [[0.19888468225793263]], [[0.1986847820068768]]], "count": [132]}, "observation.images.robot0_agentview_right": {"min": [[[0.03529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.633248935819593]], [[0.5614335085618942]], [[0.46102159242862334]]], "std": [[[0.17824434277584292]], [[0.16419504939843996]], [[0.16665656078567118]]], "count": [132]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [674]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [674]}, "observation.state": {"min": [2.920205812229322, -1.038838668948814, 0.6999949894510406, 0.0, 0.0, 0.7054405808448792, 0.7064810395240784, 0.1132662520672224, -0.19995137941912855, 0.6156037455824115, -0.9836018085479736, -0.47117137908935547, -0.5861440896987915, 5.339791823644191e-05, 0.020585558040660788, -0.04000268629384448], "max": [2.9217135905400604, -1.038693069904167, 0.7007640348830325, 0.0, 0.0, 0.7077320218086243, 0.7087690830230713, 0.43237318939629166, 0.4599729023638224, 0.8605018807476198, 0.8893828392028809, 0.06261712312698364, 0.6295123100280762, 0.3556331992149353, 0.04001033338562927, -0.020481002986578855], "mean": [2.9208712540927606, -1.0387727347034863, 0.7003373864413216, 0.0, 0.0, 0.7067283143452437, 0.7074838063129686, 0.3485006167028638, 0.0696685900241869, 0.7916263080549159, 0.08224001694857544, -0.31801655884135727, 0.08393368511861439, 0.2360066919585631, 0.03222907182215694, -0.034486194763978746], "std": [0.0005856765618512523, 4.2035357391225236e-05, 0.00026958869085909305, 0.0, 0.0, 0.000933511618391446, 0.0009320374983391275, 0.06669319122869129, 0.23770849146005055, 0.04213198318053452, 0.734071382971089, 0.18081248767022198, 0.49278317342000744, 0.12234709321433268, 0.006165196011450774, 0.0045475626913264715], "count": [674]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7633928571428571, -0.6321428571428571, -0.3723214285714286, -0.11142857142857143, -0.7857142857142858, -0.35428571428571426, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3616071428571429, 0.80625, 0.6428571428571429, 0.27714285714285714, 0.2714285714285714, 0.8714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.015844902501059764, 0.019830966511233603, 0.003672106824925849, 0.0015727002967359052, -0.01144552776600254, 0.008791860958033046, 0.14836795252225518], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2027435467362209, 0.2123820958184849, 0.15365501464005613, 0.03660662002814757, 0.10615172354839446, 0.1613405953885999, 0.9889322275385436], "count": [674]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02373887225985527], "std": [0.1522344946861267], "count": [674]}, "next.done": {"min": [false], "max": [true], "mean": [0.001483679525222552], "std": [0.038489975581818534], "count": [674]}, "timestamp": {"min": [0.0], "max": [33.65], "mean": [16.825], "std": [9.728341328304635], "count": [674]}, "frame_index": {"min": [0], "max": [673], "mean": [336.5], "std": [194.56682656609271], "count": [674]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [674]}, "index": {"min": [13765], "max": [14438], "mean": [14101.5], "std": [194.56682656609271], "count": [674]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [674]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.0]]], "max": [[[0.9450980392156862]], [[0.8431372549019608]], [[0.7686274509803922]]], "mean": [[[0.4593058258365696]], [[0.43155317218158296]], [[0.43584821191848133]]], "std": [[[0.15892604092874046]], [[0.16188171430975007]], [[0.15959726441964028]]], "count": [182]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5256996215609891]], [[0.46257034627252347]], [[0.43697517524888563]]], "std": [[[0.22910023826720582]], [[0.21659853968750556]], [[0.2062966479725254]]], "count": [182]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5103550916497909]], [[0.46557542488149106]], [[0.4478462293214311]]], "std": [[[0.23557346312145327]], [[0.2129449879787051]], [[0.19487540160976313]]], "count": [182]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1034]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1034]}, "observation.state": {"min": [1.907162691179902, -5.708456502417744, 0.699997042431623, 0.0, 0.0, -0.7073599100112915, 0.7068536281585693, 0.0884168634618625, -0.10678197288585256, 0.5928250528203829, -0.9909865260124207, -0.28130823373794556, -0.6467756032943726, 3.954567546315957e-06, 0.019855509419274203, -0.04000266478525508], "max": [1.9073724127764944, -5.708374173631097, 0.7001299603624214, 0.0, 0.0, -0.7071067690849304, 0.7071067094802856, 0.5106473687057198, 0.36206716602681577, 0.886116336507045, 0.8399609327316284, 0.06905370950698853, 0.6583988070487976, 0.1990836262702942, 0.04000064598733571, -0.0201072697346586], "mean": [1.907254487868223, -5.708406843548587, 0.7000611245090993, 0.0, 0.0, -0.7072439014450493, 0.7069696158574214, 0.4212129740270237, 0.10351371969546168, 0.8091348381326755, -0.4321026635469735, -0.0980128049706352, -0.3077616058217949, 0.07668301984584164, 0.03279160826654173, -0.032619380165552284], "std": [6.973315872238398e-05, 2.1396060248489767e-05, 3.940621016079543e-05, 0.0, 0.0, 7.988919669944065e-05, 7.990053662899121e-05, 0.08970953891105513, 0.15837259484501337, 0.04961378624843539, 0.6670760837819133, 0.10776528972219124, 0.49035216379750696, 0.07768001918294337, 0.007479709039601508, 0.007345851908919589], "count": [1034]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.6071428571428572, -0.36428571428571427, -0.04285714285714286, -0.3914285714285714, -0.14285714285714285, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.35714285714285715, 0.7285714285714285, 0.6357142857142857, 0.11714285714285716, 0.12571428571428572, 0.16857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.012848853274385168, 0.005478032605692171, 0.021387123514783068, 0.0015860735009671188, -0.00787786681403703, 0.0015833103067145592, -0.017408123791102514], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2155042903736046, 0.1471271940983235, 0.12564599687612296, 0.009410592617565314, 0.05184033303020621, 0.027716907365680776, 0.9998484671319287], "count": [1034]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015473888255655766], "std": [0.12342790514230728], "count": [1034]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009671179883945841], "std": [0.031083479071543903], "count": [1034]}, "timestamp": {"min": [0.0], "max": [51.65], "mean": [25.825], "std": [14.924497478977308], "count": [1034]}, "frame_index": {"min": [0], "max": [1033], "mean": [516.5], "std": [298.48994957954613], "count": [1034]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1034]}, "index": {"min": [14439], "max": [15472], "mean": [14955.5], "std": [298.48994957954613], "count": [1034]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1034]}}} +{"episode_index": 20, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.628397736936386]], [[0.5559836233540959]], [[0.4625311322471408]]], "std": [[[0.2030779010631071]], [[0.19196101408445856]], [[0.18162415259548986]]], "count": [158]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.684676996393457]], [[0.6273264620078648]], [[0.5481317436348921]]], "std": [[[0.21136733837810653]], [[0.20967989150642571]], [[0.22849446599910028]]], "count": [158]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.7213069776590423]], [[0.666144699433744]], [[0.5908236933689491]]], "std": [[[0.18523840777815304]], [[0.18563846974839238]], [[0.20961327379696995]]], "count": [158]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [857]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [857]}, "observation.state": {"min": [2.039169873556163, -0.8428353069779433, 0.6999962254223715, 0.0, 0.0, 0.7070738673210144, 0.7066324949264526, 0.031530762595781026, -0.471772689573295, 0.5827203417285655, -0.99178546667099, -0.2797739505767822, -0.6930408477783203, 0.00045583018800243735, 0.02057275686779778, -0.04000938490430432], "max": [2.039730646971382, -0.8425427934221618, 0.7012178639462716, 0.0, 0.0, 0.7075808048248291, 0.7071396112442017, 0.4916544305548049, 0.2959694866750928, 0.8432115018415929, 0.8986987471580505, 0.10002613067626953, 0.6872932314872742, 0.16970452666282654, 0.0400125980505787, -0.01875461513205944], "mean": [2.0394959694201678, -0.8427550331301733, 0.7003473565255174, 0.0, 0.0, 0.7072651590738998, 0.7069483268636527, 0.3654796451745423, 0.00011801483976211024, 0.7937928844489617, 0.007940326159865603, -0.0751257530275554, -0.022849971069894566, 0.07966712931538644, 0.03433304402623748, -0.03282567541679505], "std": [0.00017278529462913747, 7.226334811187575e-05, 0.0003462592678049155, 0.0, 0.0, 0.00015265103463978826, 0.00015271342206140572, 0.10525218863658206, 0.23625847671573466, 0.047011312511166546, 0.8009466267596337, 0.10590832626975683, 0.5761037171288677, 0.05288230031099666, 0.005496240201794765, 0.006884043729900297], "count": [857]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8839285714285714, -0.7821428571428571, -0.40446428571428567, -0.18, -0.48571428571428577, -0.32, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3883928571428572, 0.594642857142857, 0.5223214285714286, 0.19142857142857142, 0.21714285714285717, 0.14857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.017784214035672607, -0.0034787047841306753, -0.0016252708784798011, -0.0015235872645440905, -0.0060710118353058925, 0.0015602600433405555, -0.005834305717619603], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24011213094235295, 0.24889274284180488, 0.13329008333391032, 0.03822027211136787, 0.08167288841231142, 0.05338399098254171, 0.9999829802935587], "count": [857]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01866977848112583], "std": [0.1353558897972107], "count": [857]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011668611435239206], "std": [0.03413941385840792], "count": [857]}, "timestamp": {"min": [0.0], "max": [42.8], "mean": [21.4], "std": [12.369721096289922], "count": [857]}, "frame_index": {"min": [0], "max": [856], "mean": [428.0], "std": [247.39442192579847], "count": [857]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [857]}, "index": {"min": [15473], "max": [16329], "mean": [15901.0], "std": [247.39442192579847], "count": [857]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [857]}}} +{"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": [[[0.4809333961182466]], [[0.4490708423998809]], [[0.45658204476522224]]], "std": [[[0.13185927495178767]], [[0.14147738478286428]], [[0.14811776729816287]]], "count": [116]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5091172626487624]], [[0.45771182397477445]], [[0.4395271223892305]]], "std": [[[0.23195144291446387]], [[0.2145223020840326]], [[0.20311406518370836]]], "count": [116]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.561302706065252]], [[0.49693163651884853]], [[0.4684554073599402]]], "std": [[[0.22335270789425965]], [[0.2032375434395939]], [[0.18837959852060507]]], "count": [116]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [569]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [569]}, "observation.state": {"min": [0.9630921997435472, -0.8320595766530088, 0.6999956592065295, 0.0, 0.0, 0.7070363163948059, 0.7071402668952942, 0.19476403141912113, -0.1732219029944143, 0.6034070160000744, -0.9862285256385803, -0.19268465042114258, -0.5780520439147949, 1.713853453111369e-05, 0.020557100383382255, -0.039993947295111736], "max": [0.9631336429867146, -0.8320469190727189, 0.700647132609514, 0.0, 0.0, 0.7070732116699219, 0.7071773409843445, 0.6210675526949798, 0.40467560798631796, 0.8427490637615829, 0.9203711152076721, 0.06499773263931274, 0.5571941137313843, 0.2094883769750595, 0.0400050421429079, -0.020509460154778884], "mean": [0.9631112923264167, -0.8320542741274867, 0.7002306282567712, 0.0, 0.0, 0.7070559727286622, 0.7071575397766328, 0.484122261627976, 0.08957087192886173, 0.7900998384094664, -0.7894496056652237, -0.06940650808999743, -0.48210603590589834, 0.07357173436004513, 0.03463598428335937, -0.03487710347707798], "std": [4.631482772282634e-06, 1.8636340066266974e-06, 0.00020921209583834224, 0.0, 0.0, 4.478637903160805e-06, 4.489849381599023e-06, 0.11711194018237638, 0.19052625740896909, 0.040808725969971774, 0.29776709359681147, 0.0661442990242941, 0.1905131748508929, 0.0691190479618702, 0.005640844805822946, 0.005153935727896123], "count": [569]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8008928571428572, -0.5276785714285714, -0.3294642857142857, -0.08857142857142856, -0.68, -0.16857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4419642857142857, 0.6535714285714286, 0.5812499999999999, 0.15142857142857147, 0.14857142857142858, 0.14857142857142858, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0008238137082600296, 0.022379487823248796, 0.006341011800150631, 0.0022043685664072314, -0.01511423550087875, 0.0007130303791112231, -0.14938488576449913], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.26825780927305937, 0.2236438015253119, 0.15751220349812858, 0.02540819828052721, 0.09089215861099682, 0.043026123036903945, 0.9887791239225919], "count": [569]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.028119508177042007], "std": [0.16531424224376678], "count": [569]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017574692442882249], "std": [0.04188532614345513], "count": [569]}, "timestamp": {"min": [0.0], "max": [28.4], "mean": [14.200000000000001], "std": [8.212794895770866], "count": [569]}, "frame_index": {"min": [0], "max": [568], "mean": [284.0], "std": [164.25589791541734], "count": [569]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [569]}, "index": {"min": [16330], "max": [16898], "mean": [16614.0], "std": [164.25589791541734], "count": [569]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [569]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6154541979393735]], [[0.4933330614658232]], [[0.3921872251670476]]], "std": [[[0.1310947960576173]], [[0.17286116557024833]], [[0.20154558510804965]]], "count": [113]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6901617200759763]], [[0.6141404297044454]], [[0.5328485550120041]]], "std": [[[0.17846417987357996]], [[0.2084310498873183]], [[0.24128078423346558]]], "count": [113]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6748998517194142]], [[0.5988734009488059]], [[0.5180398448895771]]], "std": [[[0.17858020168581218]], [[0.20881062895276625]], [[0.24202747389467444]]], "count": [113]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [547]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [547]}, "observation.state": {"min": [1.21612435406756, -0.7911868340912014, 0.6999972577953437, 0.0, 0.0, 0.706068754196167, 0.7067188024520874, 0.1376163970597597, -0.2552377621544324, 0.588985427267177, -0.9900082349777222, -0.4691416621208191, -0.5769232511520386, 0.00016135901387315243, 0.020550652131779652, -0.03998988346054027], "max": [1.2171374330617932, -0.7910915940271321, 0.700314782540368, 0.0, 0.0, 0.7074944972991943, 0.7081432938575745, 0.5449333299302281, 0.31029460271117837, 0.8896002274857804, 0.9126142263412476, 0.04408431053161621, 0.5675299167633057, 0.3162400424480438, 0.040005590315770834, -0.02051590825923212], "mean": [1.2165921935170074, -0.7911454842305514, 0.7001200101153642, 0.0, 0.0, 0.7068044177139046, 0.7074085660346902, 0.43529077903695035, 0.025939246980427207, 0.8317486779721468, -0.2066529895531412, -0.25719487013285075, -0.10652580249788993, 0.18382619309909595, 0.03354794222747023, -0.032987319563282325], "std": [0.0003739184831863187, 1.876553022984671e-05, 0.00010021160735316476, 0.0, 0.0, 0.0005589592030386867, 0.0005583996414605363, 0.08752394346485487, 0.18831486458760827, 0.059018994363492776, 0.7668437792633254, 0.15144036108646805, 0.4738701639779714, 0.10231827255960917, 0.005463752574554707, 0.005950083872138792], "count": [547]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8517857142857143, -0.6133928571428572, -0.5035714285714286, -0.09714285714285714, -0.35714285714285715, -0.3457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.48482142857142857, 0.6455357142857143, 0.6133928571428572, 0.20285714285714287, 0.2142857142857143, 0.6571428571428571, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.020747910681640103, 0.01558664142073651, 0.01860799164272656, 0.00618438234525986, -0.012415774353617137, 0.006476886915643767, 0.031078610603290677], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.26534512737941357, 0.22795148107217017, 0.17646636937585367, 0.03392805351143504, 0.07686093174322824, 0.14494988596463634, 0.9995169433096014], "count": [547]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.029250457882881165], "std": [0.16850775480270386], "count": [547]}, "next.done": {"min": [false], "max": [true], "mean": [0.0018281535648994515], "std": [0.042717811501089296], "count": [547]}, "timestamp": {"min": [0.0], "max": [27.3], "mean": [13.65], "std": [7.895251737595198], "count": [547]}, "frame_index": {"min": [0], "max": [546], "mean": [273.0], "std": [157.90503475190397], "count": [547]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [547]}, "index": {"min": [16899], "max": [17445], "mean": [17172.0], "std": [157.90503475190397], "count": [547]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [547]}}} +{"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": [[[0.39163641605981336]], [[0.32960575155542987]], [[0.30015019793516035]]], "std": [[[0.19116944888003956]], [[0.2193538827528191]], [[0.21679567538032152]]], "count": [117]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3902219889650238]], [[0.3586135784984734]], [[0.3463322939456398]]], "std": [[[0.21621694044031056]], [[0.23230590640037957]], [[0.23936425044422552]]], "count": [117]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3428449367026458]], [[0.3049967427459098]], [[0.2903588874347649]]], "std": [[[0.2253350140454247]], [[0.24213026416246586]], [[0.24962616826700665]]], "count": [117]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [574]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [574]}, "observation.state": {"min": [4.115558736957249, -0.7532540259004936, 0.6999964329340644, 0.0, 0.0, 0.7066898941993713, 0.7068915367126465, 0.0841087904181036, -0.1926230853870745, 0.5923247167019915, -0.9905929565429688, -0.35333240032196045, -0.5686624646186829, 0.00039889078470878303, 0.019989447995262408, -0.039985903479273346], "max": [4.116049985327079, -0.7531493484719715, 0.7004931793362432, 0.0, 0.0, 0.7073220014572144, 0.7075234651565552, 0.516648854668398, 0.19797955401987988, 0.8624522494596714, 0.9058932065963745, 0.03457707166671753, 0.6105864644050598, 0.22150132060050964, 0.040002940025816995, -0.02050452894420954], "mean": [4.1157992117694775, -0.7532076926247199, 0.7001892686469616, 0.0, 0.0, 0.7070062547818293, 0.7072071981346981, 0.4126696445736059, 0.017141014892091046, 0.7953744797581461, -0.21585393751539836, -0.18062011944292314, -0.0873814021668783, 0.12265790611286875, 0.031388078956259446, -0.03130155752105431], "std": [0.0001676815659704292, 2.1891571071896837e-05, 0.0001575338833973133, 0.0, 0.0, 0.00023127775735459739, 0.0002312264784615046, 0.08303078545600866, 0.13942265434709786, 0.04844290937308799, 0.7921970853619033, 0.11554937867374133, 0.5016598748436518, 0.07424600013221244, 0.007452628529701765, 0.007435900263703361], "count": [574]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8357142857142857, -0.34285714285714286, -0.29464285714285715, -0.08571428571428572, -0.52, -0.2714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4419642857142857, 0.6910714285714286, 0.45267857142857143, 0.08857142857142856, 0.20285714285714287, 0.41428571428571437, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.025315766550522666, 0.011988240418118471, 0.019398643603782996, -0.00042807366849178635, -0.012060726729716276, -0.002264808362369351, 0.07665505226480836], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2579693984142947, 0.1704018986452341, 0.14177765002910797, 0.019290226776094394, 0.0813986479907048, 0.09709572900582443, 0.9970576728365708], "count": [574]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02787456475198269], "std": [0.16461341083049774], "count": [574]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017421602787456446], "std": [0.04170281952468928], "count": [574]}, "timestamp": {"min": [0.0], "max": [28.65], "mean": [14.325], "std": [8.284963789902767], "count": [574]}, "frame_index": {"min": [0], "max": [573], "mean": [286.5], "std": [165.6992757980553], "count": [574]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [574]}, "index": {"min": [17446], "max": [18019], "mean": [17732.5], "std": [165.6992757980553], "count": [574]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [574]}}} +{"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": [[[0.46731509083125433]], [[0.43069361468545747]], [[0.42445866090576856]]], "std": [[[0.1805017180877543]], [[0.20717277808237972]], [[0.20574563426065065]]], "count": [105]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5165976205749226]], [[0.5110584595980319]], [[0.5039594320801237]]], "std": [[[0.2123881288246552]], [[0.21329509728190787]], [[0.21131283190457054]]], "count": [105]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4790208205678105]], [[0.4729531236322654]], [[0.46397826692525973]]], "std": [[[0.24296144327052063]], [[0.24243283490122158]], [[0.23788296464987407]]], "count": [105]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [501]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [501]}, "observation.state": {"min": [2.355404859434889, -0.9365136971101309, 0.6999958362385783, 0.0, 0.0, 0.7067360877990723, 0.7065607905387878, 0.14456579174227124, -0.40157086879265425, 0.5985437178857852, -0.9905389547348022, -0.3311138153076172, -0.6405174136161804, 0.0044101448729634285, 0.020552680423406064, -0.04000407481262744], "max": [2.3561431181153876, -0.9363102147492011, 0.7010824633694693, 0.0, 0.0, 0.7076523303985596, 0.707477331161499, 0.5691368383719144, 0.15192361857226055, 0.8411316847048752, 0.8517814874649048, 0.0021903514862060547, 0.6117017865180969, 0.28986069560050964, 0.040230839289283525, -0.020513880057681382], "mean": [2.3558573087565313, -0.9364489886994241, 0.7004268923756944, 0.0, 0.0, 0.707088766340724, 0.7071246915234777, 0.46609761515910375, -0.08035297320292893, 0.7909511610543773, -0.12176496171189877, -0.19617594269935243, -0.08072671579743573, 0.14524499092626567, 0.03393148496149533, -0.03440708442083264], "std": [0.00019853128125159797, 5.731695316969664e-05, 0.00033682047017404986, 0.0, 0.0, 0.0002607150528633273, 0.0002607426061446349, 0.11384477162893075, 0.20015330861576755, 0.04521465484780769, 0.780378903037609, 0.08622462563678081, 0.5454295793919507, 0.07180549519167273, 0.005739946904384227, 0.00500126309787213], "count": [501]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9053571428571429, -0.8276785714285715, -0.34285714285714286, -0.08, -0.6942857142857143, -0.4371428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.6857142857142857, 0.6080357142857142, 0.7821428571428571, 0.08571428571428572, 0.1657142857142857, 0.1, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.010773096663815242, -0.015232035928143666, -0.004004491017964078, 0.0009466780724265756, -0.02135158254918732, -0.010504704875962369, -0.03792415169660679], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3255539890374033, 0.2543716007985887, 0.1902171311439249, 0.020368113394322863, 0.12334660796967938, 0.07577563318541475, 0.9992806206056893], "count": [501]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.031936127692461014], "std": [0.17583006620407104], "count": [501]}, "next.done": {"min": [false], "max": [true], "mean": [0.001996007984031936], "std": [0.04463209535927724], "count": [501]}, "timestamp": {"min": [0.0], "max": [25.0], "mean": [12.5], "std": [7.2312977166388785], "count": [501]}, "frame_index": {"min": [0], "max": [500], "mean": [250.0], "std": [144.62595433277758], "count": [501]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [501]}, "index": {"min": [18020], "max": [18520], "mean": [18270.0], "std": [144.62595433277758], "count": [501]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [501]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5439289974148458]], [[0.421632519571991]], [[0.33395005916955656]]], "std": [[[0.1488427411664288]], [[0.18390538758869293]], [[0.2068449581270186]]], "count": [141]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5458225785500648]], [[0.46103242235710223]], [[0.4096500061994268]]], "std": [[[0.23807917985257368]], [[0.26916819011289234]], [[0.30008905065196007]]], "count": [141]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5624336528075188]], [[0.4804756275952036]], [[0.43059017015355566]]], "std": [[[0.2274988099971319]], [[0.2639637444652909]], [[0.29814107413204133]]], "count": [141]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [737]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [737]}, "observation.state": {"min": [2.13081310555934, -0.8440159606488635, 0.6999955898387303, 0.0, 0.0, 0.7069207429885864, 0.7067511677742004, 0.07537989095242037, -0.44741492316767983, 0.58449140563143, -0.991524338722229, -0.33448147773742676, -0.5610716342926025, 0.00010145683336304501, 0.02056908489526745, -0.040007877030083926], "max": [2.131248819835233, -0.8438446561032006, 0.7004971940686591, 0.0, 0.0, 0.7074621319770813, 0.7072927355766296, 0.47763316427368435, 0.0861595848785881, 0.8515416712133541, 0.9187541007995605, 0.09329468011856079, 0.6562665104866028, 0.2509204149246216, 0.04001004338669897, -0.020497475971565433], "mean": [2.1310590932521647, -0.8439334920762512, 0.7001932712266584, 0.0, 0.0, 0.7071328630602667, 0.707080648501822, 0.3814428992925964, -0.15009983297433843, 0.7934738137831567, -0.10544250721523848, -0.15193667168775762, -0.029442502198338993, 0.0987953293509185, 0.03161374458193266, -0.03163247526037733], "std": [0.00013777587181512302, 3.364572195346318e-05, 0.00013879880462228106, 0.0, 0.0, 0.00017960529093336727, 0.00017964482814982182, 0.07339017732162097, 0.18323944261336053, 0.0495509818330954, 0.8235318934139934, 0.11646150867625439, 0.5082170599563448, 0.07153396550876931, 0.00738103262202173, 0.007348119508192434], "count": [737]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9026785714285714, -0.5089285714285714, -0.5116071428571428, -0.2, -0.54, -0.3342857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4419642857142857, 0.61875, 0.7125, 0.18285714285714286, 0.28, 0.30285714285714294, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01882632293080054, -0.0003670769528978956, 0.01239702461717382, -0.0006280286877301801, -0.009370032952122498, -0.0011901531304516358, 0.08276797829036635], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22838932625448635, 0.17918378610449753, 0.14013866499328995, 0.035106223651010446, 0.0747375007805227, 0.07329298640628772, 0.9965688444707267], "count": [737]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021709633991122246], "std": [0.1457337588071823], "count": [737]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013568521031207597], "std": [0.036810474806650034], "count": [737]}, "timestamp": {"min": [0.0], "max": [36.8], "mean": [18.4], "std": [10.637668917577761], "count": [737]}, "frame_index": {"min": [0], "max": [736], "mean": [368.0], "std": [212.7533783515552], "count": [737]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [737]}, "index": {"min": [18521], "max": [19257], "mean": [18889.0], "std": [212.7533783515552], "count": [737]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [737]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5439678022474949]], [[0.4073193163805633]], [[0.3128178305058089]]], "std": [[[0.17982190042887805]], [[0.17967056515906143]], [[0.20039333366128312]]], "count": [164]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5138414650200543]], [[0.41336813898875574]], [[0.34729995326184016]]], "std": [[[0.24950780635659559]], [[0.2519272829267698]], [[0.2643706422786975]]], "count": [164]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5466585484946647]], [[0.4596056996094217]], [[0.40426527047944033]]], "std": [[[0.21662893905541789]], [[0.22995398670741699]], [[0.24765227733140424]]], "count": [164]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [904]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [904]}, "observation.state": {"min": [2.7733042861792416, -5.522150616823309, 0.6999966971841579, 0.0, 0.0, -0.707288920879364, 0.7069246172904968, 0.13709459037864402, -0.08476108308842845, 0.5725734775492792, -0.992805540561676, -0.15098494291305542, -0.641939103603363, 0.0002700102631933987, 0.020539079605678915, -0.040005033767471984], "max": [2.7735566751824856, -5.522090296216898, 0.7000754706816301, 0.0, 0.0, -0.7070053219795227, 0.7072082757949829, 0.5566550075672616, 0.31698539815724835, 0.8611344912736232, 0.8551146984100342, 0.08514827489852905, 0.6462987065315247, 0.1413971483707428, 0.04000279065990009, -0.020127371354841175], "mean": [2.7734068494269346, -5.522104999951377, 0.7000155638858225, 0.0, 0.0, -0.707178842902711, 0.7070346905198772, 0.43458551654720873, 0.08397338903811476, 0.8049653974737696, -0.28583760711207856, -0.07870139279691256, -0.21069907265163101, 0.07651347646081384, 0.033059504296438384, -0.032788884667669896], "std": [7.421874059283281e-05, 1.078677959921566e-05, 1.9778588106986927e-05, 0.0, 0.0, 8.215378919123832e-05, 8.216652251070259e-05, 0.10962432879544666, 0.13241692928198032, 0.05179370057555837, 0.72804568895482, 0.05231847782075809, 0.5722885473258235, 0.0394032530416102, 0.007692637317515508, 0.00790800818053736], "count": [904]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9857142857142858, -0.20714285714285713, -0.06, -0.4514285714285714, -0.23142857142857146, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4357142857142858, 0.5142857142857143, 0.5642857142857142, 0.08, 0.10857142857142858, 0.17142857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01285556257901391, 0.012831858407079639, 0.028437104930467746, 0.001321112515802782, -0.007774968394437427, -0.0009702907711757288, -0.14380530973451328], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22410054902833412, 0.15166706314257272, 0.11524239093482551, 0.010473148772621326, 0.056122346952485254, 0.04180641401740563, 0.9896059988157646], "count": [904]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017699114978313446], "std": [0.13185544312000275], "count": [904]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011061946902654867], "std": [0.03324110442769186], "count": [904]}, "timestamp": {"min": [0.0], "max": [45.15], "mean": [22.575], "std": [13.048108100410573], "count": [904]}, "frame_index": {"min": [0], "max": [903], "mean": [451.5], "std": [260.96216200821146], "count": [904]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [904]}, "index": {"min": [19258], "max": [20161], "mean": [19709.5], "std": [260.96216200821146], "count": [904]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [904]}}} +{"episode_index": 27, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5755644471587608]], [[0.5497975799314153]], [[0.4937891382659595]]], "std": [[[0.13374118049488215]], [[0.15427135516307197]], [[0.13995163001297198]]], "count": [136]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4699997238634367]], [[0.4597763237518698]], [[0.43071264951149346]]], "std": [[[0.25039459392545976]], [[0.24658011864706456]], [[0.2368362298213073]]], "count": [136]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5828670809700689]], [[0.5554634067838993]], [[0.5119817727164827]]], "std": [[[0.20311845106136425]], [[0.19384029357326055]], [[0.19696539505908123]]], "count": [136]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [702]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [702]}, "observation.state": {"min": [2.1179844869511877, -0.34929403747509746, 0.6999969674545794, 0.0, 0.0, 0.7066951394081116, 0.7068770527839661, 0.19815984998184508, -0.2821788122238327, 0.5925332210363974, -0.992111086845398, -0.3578150272369385, -0.5915932059288025, 9.539776510791853e-05, 0.020574180445303243, -0.04000246089192731], "max": [2.1184229925922993, -0.34921540410084817, 0.7004421483597648, 0.0, 0.0, 0.7073365449905396, 0.7075181603431702, 0.5805352178670357, 0.20712530537377738, 0.8587369370289789, 0.9210376739501953, 0.06397068500518799, 0.6041618585586548, 0.28195327520370483, 0.04000487604543149, -0.020492380194966343], "mean": [2.1181674195636107, -0.34925857925868564, 0.7002153852822254, 0.0, 0.0, 0.707037559601656, 0.707175939595937, 0.46517432282013194, -0.06667742235941725, 0.7957349983511468, -0.18243587068003467, -0.16078702884691734, -0.11043297514276966, 0.12692483242721925, 0.033198160966256655, -0.03278594551867318], "std": [0.0001150157200077047, 1.3495615479466308e-05, 0.0001394960944566402, 0.0, 0.0, 0.00017687530442898376, 0.00017683411112375032, 0.09627760879677087, 0.1568776997646157, 0.049683858858547494, 0.7919783179583827, 0.15258358136530414, 0.5047577654501298, 0.08524979421139099, 0.007016943817865258, 0.007449156821323587], "count": [702]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7687499999999999, -0.6803571428571429, -0.375, -0.15142857142857147, -0.4914285714285715, -0.3657142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46071428571428574, 0.4875000000000001, 0.5169642857142857, 0.12571428571428572, 0.11714285714285716, 0.3057142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004903083028083026, -0.005605158730158739, 0.01422466422466418, 0.002653642653642654, -0.011440781440781441, -0.0007488807488807436, -0.07122507122507123], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24016471620344307, 0.19280994468184393, 0.13727572206154157, 0.024848266498934863, 0.06934603420375336, 0.09037779960043928, 0.9974602694989881], "count": [702]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022792022675275803], "std": [0.14923988282680511], "count": [702]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014245014245014246], "std": [0.037715676053771297], "count": [702]}, "timestamp": {"min": [0.0], "max": [35.05], "mean": [17.525], "std": [10.132486943819206], "count": [702]}, "frame_index": {"min": [0], "max": [701], "mean": [350.5], "std": [202.6497388763841], "count": [702]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [702]}, "index": {"min": [20162], "max": [20863], "mean": [20512.5], "std": [202.6497388763841], "count": [702]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [702]}}} +{"episode_index": 28, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5997308291834379]], [[0.33994732158421015]], [[0.30060601761245986]]], "std": [[[0.12292506985612561]], [[0.20706491384697684]], [[0.2134027378103924]]], "count": [145]}, "observation.images.robot0_agentview_left": {"min": [[[0.06666666666666667]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5994415543190607]], [[0.4247675831596782]], [[0.38584219973179196]]], "std": [[[0.19667721503586588]], [[0.2642273069854496]], [[0.2659727464474665]]], "count": [145]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6366722964273263]], [[0.45925906456669413]], [[0.4146526451704065]]], "std": [[[0.1680573397845096]], [[0.2649532195002166]], [[0.2654315733615979]]], "count": [145]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [763]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [763]}, "observation.state": {"min": [6.558310489845667, -0.798122278194805, 0.6999940720723147, 0.0, 0.0, 0.7066097855567932, 0.707019031047821, 0.15948077633204882, -0.19106670456864805, 0.5893299883999275, -0.9887495636940002, -0.43112635612487793, -0.5419890880584717, 0.00019502395298331976, 0.020553122511142587, -0.039952307308146986], "max": [6.558798805240528, -0.7979979881900101, 0.7011874875959595, 0.0, 0.0, 0.7071946263313293, 0.7076033353805542, 0.5487962617424826, 0.2773110760329933, 0.8476038203380375, 0.8915966749191284, 0.1757943034172058, 0.5736901760101318, 0.3074217438697815, 0.04001038822272174, -0.020513438309671807], "mean": [6.558504267537573, -0.7980564168191248, 0.7004902227148662, 0.0, 0.0, 0.7070009260783814, 0.7072125524087158, 0.44356151763455887, 0.027500789880022917, 0.7933438271295529, 0.006192925795033906, -0.19286497657920867, 0.0005684768583327727, 0.1134270154058962, 0.033868883851985186, -0.033258021660270115], "std": [0.00012654748902796268, 2.3572202437367085e-05, 0.00038980112117834357, 0.0, 0.0, 0.00017520270088122345, 0.00017512645556667564, 0.0894768284812631, 0.16271511281659784, 0.045660076872373924, 0.8199557003729674, 0.162718785576625, 0.4931573794903618, 0.0888244448842091, 0.005260009494739119, 0.005754800109453338], "count": [763]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7875, -0.6696428571428571, -0.23035714285714287, -0.08571428571428572, -0.6, -0.4, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3883928571428572, 0.3830357142857143, 0.6830357142857143, 0.14285714285714285, 0.2257142857142857, 0.29428571428571426, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007958481557760692, -0.0003124414903575663, -0.003208668788616327, 0.0020595394120951137, -0.009346564313798917, -0.003958060288335506, 0.05897771952817824], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2317001748288955, 0.1667653175027395, 0.1482147511464932, 0.02987326923098625, 0.07229046308981751, 0.08363621593802437, 0.998259299280138], "count": [763]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020969856530427933], "std": [0.14328336715698242], "count": [763]}, "next.done": {"min": [false], "max": [true], "mean": [0.001310615989515072], "std": [0.036178699192247074], "count": [763]}, "timestamp": {"min": [0.0], "max": [38.1], "mean": [19.05], "std": [11.01294692623187], "count": [763]}, "frame_index": {"min": [0], "max": [762], "mean": [381.0], "std": [220.25893852463741], "count": [763]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [763]}, "index": {"min": [20864], "max": [21626], "mean": [21245.0], "std": [220.25893852463741], "count": [763]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [763]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.666989075903799]], [[0.6224333753343922]], [[0.592423466920724]]], "std": [[[0.18363952355212224]], [[0.21169564910886726]], [[0.20025525393404958]]], "count": [218]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5905125688833178]], [[0.5982117706589786]], [[0.5745824447058155]]], "std": [[[0.23873365728536056]], [[0.232298085839544]], [[0.22631635221912896]]], "count": [218]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6203286418170246]], [[0.6098723945267703]], [[0.5822478534378022]]], "std": [[[0.23208035761781962]], [[0.2220386713219513]], [[0.21518508615623438]]], "count": [218]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1314]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1314]}, "observation.state": {"min": [4.479238045308518, -0.8430974353823419, 0.6999969211068495, 0.0, 0.0, 0.7066560387611389, 0.7068387866020203, 0.17264617911071856, -0.3918220512694406, 0.5630409948780613, -0.9936140179634094, -0.4492570161819458, -0.6522581577301025, 0.00023390745627693832, 0.020557219246483387, -0.04000772200314537], "max": [4.479742756577201, -0.842987379243909, 0.7002272743647276, 0.0, 0.0, 0.707374632358551, 0.7075572609901428, 0.5787972536303003, 0.09897015186666547, 0.9077240521475838, 0.9103817939758301, 0.2979567050933838, 0.5773343443870544, 0.2993004322052002, 0.04001411309601088, -0.020509341535450823], "mean": [4.479509168725572, -0.8430309735489039, 0.7000762508081447, 0.0, 0.0, 0.7070015311422595, 0.7072119273732967, 0.4822672896108757, -0.10949584159374265, 0.8348394652792541, 0.03262872696830076, -0.2010440585604632, -0.031149938719593772, 0.1692985733253371, 0.03468610649522571, -0.034623024698319425], "std": [0.0001380587361059637, 2.1435046279031236e-05, 6.980454885362548e-05, 0.0, 0.0, 0.00022997779900146292, 0.0002299027811870844, 0.11119380661393856, 0.16061404833690732, 0.06860636010479028, 0.7674787649675292, 0.12079479991589895, 0.5640013164383687, 0.08468652376463488, 0.005010686595989442, 0.00505155559271674], "count": [1314]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9214285714285714, -0.4785714285714286, -0.7285714285714285, -0.10571428571428572, -0.28285714285714286, -0.2, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.41428571428571426, 0.5357142857142857, 0.4857142857142857, 0.10857142857142858, 0.15714285714285714, 0.3628571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005609915198956285, -0.005354424874972864, 0.015150032615786012, 7.392911502500499e-05, -0.009860839312894115, -0.0005175038051750411, -0.0030441400304414], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.17972291056916384, 0.11425557889981242, 0.12038062575075957, 0.01367585401240224, 0.04649738208282315, 0.05784451215930172, 0.9999953665950001], "count": [1314]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01217656023800373], "std": [0.10967356711626053], "count": [1314]}, "next.done": {"min": [false], "max": [true], "mean": [0.00076103500761035], "std": [0.02757636367122289], "count": [1314]}, "timestamp": {"min": [0.0], "max": [65.65], "mean": [32.825], "std": [18.96595085058133], "count": [1314]}, "frame_index": {"min": [0], "max": [1313], "mean": [656.5], "std": [379.31901701162656], "count": [1314]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1314]}, "index": {"min": [21627], "max": [22940], "mean": [22283.5], "std": [379.31901701162656], "count": [1314]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1314]}}} +{"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": [[[0.4819755185195823]], [[0.4136944036546096]], [[0.3872153502819585]]], "std": [[[0.15744151677579216]], [[0.17852870836168697]], [[0.17375673123016291]]], "count": [120]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3912147023319419]], [[0.36628152934554353]], [[0.35256486531176595]]], "std": [[[0.22662447960467946]], [[0.22266391345459444]], [[0.220453070871661]]], "count": [120]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36077712414311425]], [[0.34576315586863]], [[0.3360947612687653]]], "std": [[[0.23028873487344484]], [[0.22654667538969273]], [[0.22483044861163418]]], "count": [120]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [598]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [598]}, "observation.state": {"min": [1.645780105439305, -0.7874144559122435, 0.6999964515705774, 0.0, 0.0, 0.7071053385734558, 0.706420361995697, 0.1523503646218196, -0.11374868421072026, 0.5827303507633487, -0.9929515719413757, -0.14503270387649536, -0.6126601099967957, 0.0006084162159822881, 0.020556097761509007, -0.040116389311770806], "max": [1.6465310818736019, -0.7872708382358407, 0.7007574260247696, 0.0, 0.0, 0.7077925801277161, 0.7071081399917603, 0.5377838918374052, 0.22782104079869825, 0.8459855999674347, 0.9102301001548767, 0.09013384580612183, 0.556515634059906, 0.08555009216070175, 0.04002785420993192, -0.020510462817412728], "mean": [1.6461824441626525, -0.7873561004480709, 0.7003201269705847, 0.0, 0.0, 0.7074342460735984, 0.7067790913541979, 0.4405529428536024, 0.05196967313608889, 0.7808850216097256, -0.6893559797950413, -0.07204394874764126, -0.4275932082887677, 0.04911413778769737, 0.03382713464416993, -0.034887586034906194], "std": [0.00023030237166154742, 3.893851236291002e-05, 0.00024322588337710052, 0.0, 0.0, 0.00021181669521000903, 0.00021198477630388982, 0.09231924791549696, 0.10540081408940713, 0.050803907644476384, 0.4881203711524324, 0.05488493431501022, 0.30451680097163225, 0.01858822019475136, 0.006113962724832708, 0.004909752581915143], "count": [598]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8571428571428572, -0.5598214285714286, -0.44732142857142854, -0.06285714285714286, -0.5571428571428572, -0.18857142857142858, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3723214285714286, 0.40982142857142867, 0.5598214285714286, 0.17142857142857143, 0.23142857142857146, 0.14285714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01163700430004778, 0.0024008600095556955, -0.0010705327281414158, 0.0010129001433349263, -0.011146679407548953, -0.0026564739608217875, -0.08361204013377926], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25043798586759286, 0.14773170615300532, 0.1737067048717985, 0.02353070010957559, 0.08907760200308126, 0.03834559895139245, 0.9964983827105124], "count": [598]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02842809446156025], "std": [0.16619247198104858], "count": [598]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016722408026755853], "std": [0.04085883519354721], "count": [598]}, "timestamp": {"min": [0.0], "max": [29.85], "mean": [14.924999999999999], "std": [8.631374456017998], "count": [598]}, "frame_index": {"min": [0], "max": [597], "mean": [298.5], "std": [172.62748912035997], "count": [598]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [598]}, "index": {"min": [22941], "max": [23538], "mean": [23239.5], "std": [172.62748912035997], "count": [598]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [598]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.61687808265112]], [[0.5442643002801291]], [[0.44768244158734233]]], "std": [[[0.19718401732153185]], [[0.1716984346348571]], [[0.14764497103977497]]], "count": [129]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6305709493288898]], [[0.5765913207655275]], [[0.501711540262756]]], "std": [[[0.22591286577050185]], [[0.21727631959134955]], [[0.2255327859824334]]], "count": [129]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6904708878539909]], [[0.6282732952980127]], [[0.5434436265232534]]], "std": [[[0.21331816488634367]], [[0.205619556626824]], [[0.21655299049708393]]], "count": [129]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [657]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [657]}, "observation.state": {"min": [5.576686972197954, -0.9472353756417584, 0.6999959434527647, 0.0, 0.0, 0.707061231136322, 0.7066414952278137, 0.06825933862111233, -0.29426704488840905, 0.5988379144095511, -0.9883742332458496, -0.26438337564468384, -0.564652144908905, 7.463651854777709e-05, 0.020548699290364392, -0.039967422501753856], "max": [5.577058351061234, -0.9471025950653408, 0.700623631209331, 0.0, 0.0, 0.707571804523468, 0.7071523070335388, 0.4627151906271941, 0.02929229204716055, 0.8401671744597383, 0.9186159372329712, 0.10482025146484375, 0.5996571183204651, 0.168336883187294, 0.040004586636433595, -0.02051786123028368], "mean": [5.576899936939651, -0.9471624155246067, 0.7002945096455387, 0.0, 0.0, 0.7072913418984668, 0.7069221185222608, 0.36893650555270197, -0.11714845925243657, 0.7843985993352001, 0.21788907223459067, -0.1672342365190863, 0.14126626879566517, 0.08658536082368475, 0.03385498242981265, -0.03396047776766849], "std": [0.00011926057211099265, 2.9027360534353018e-05, 0.00021884216243937466, 0.0, 0.0, 0.00017935852959859196, 0.00017945091876548654, 0.08248804075434425, 0.10758468789005987, 0.047900695584541526, 0.8135939436326253, 0.07240242668190387, 0.47713328275270545, 0.04764969125095979, 0.005853510874238153, 0.005622411950411658], "count": [657]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7178571428571429, -0.5142857142857143, -0.7258928571428571, -0.08857142857142856, -0.56, -0.33714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3830357142857143, 0.3776785714285714, 0.5758928571428572, 0.14285714285714285, 0.19142857142857142, 0.18285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02008317025440312, -0.012438845401174183, 0.0018631767775603057, 0.0025396825396825405, -0.007832137421178517, -0.003418134377038489, -0.0563165905631659], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22436772062484064, 0.14715809815518374, 0.1566526164909259, 0.022296586040514838, 0.08178847706115996, 0.0781481747647283, 0.9984129614680226], "count": [657]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025875190272927284], "std": [0.15876291692256927], "count": [657]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015220700152207], "std": [0.0389840136221178], "count": [657]}, "timestamp": {"min": [0.0], "max": [32.8], "mean": [16.4], "std": [9.48296718683908], "count": [657]}, "frame_index": {"min": [0], "max": [656], "mean": [328.0], "std": [189.65934373678155], "count": [657]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [657]}, "index": {"min": [23539], "max": [24195], "mean": [23867.0], "std": [189.65934373678155], "count": [657]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [657]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3113268919967618]], [[0.28953830960009874]], [[0.27633816887350643]]], "std": [[[0.2505856088766188]], [[0.24323448721993884]], [[0.24776810636478647]]], "count": [180]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.35910026201235706]], [[0.34953830361625987]], [[0.3335260322254987]]], "std": [[[0.2787507158970829]], [[0.27638312820379607]], [[0.2786116424205586]]], "count": [180]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.011764705882352941]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3542141434413935]], [[0.3462675090449049]], [[0.33337129646916275]]], "std": [[[0.26500333786603475]], [[0.2640622908689018]], [[0.2659196562457644]]], "count": [180]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1022]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1022]}, "observation.state": {"min": [2.53535043836592, -0.9639273113090441, 0.6999967766554538, 0.0, 0.0, 0.7059948444366455, 0.7069828510284424, 0.20680645743788717, -0.2299096679244217, 0.6002656392313542, -0.9895094633102417, -0.5231125354766846, -0.5827752351760864, 0.0001333827240159735, 0.020553455596774742, -0.03994645349156235], "max": [2.5361190847274844, -0.9637287031885332, 0.7007705430845876, 0.0, 0.0, 0.7072306871414185, 0.7082169651985168, 0.626420383042894, 0.49786955966370217, 0.8660986551519799, 0.9095461964607239, 0.1728384792804718, 0.6018345952033997, 0.3582359552383423, 0.04001264118756296, -0.02051310499474165], "mean": [2.535722215145566, -0.9638171949348806, 0.7001838328841891, 0.0, 0.0, 0.7066410757790806, 0.7075719153344514, 0.47712154301342957, 0.03332922210561834, 0.7955845822663482, 0.16074201890400477, -0.15205266172113718, 0.14490889307337498, 0.08454128873936657, 0.03368116803677531, -0.033338472872128495], "std": [0.00025590484929565165, 3.760306980365342e-05, 0.00018869485321479782, 0.0, 0.0, 0.0004267337361393496, 0.00042621491291114556, 0.12290839650944912, 0.21644718900944032, 0.044333049665280545, 0.8138020923724859, 0.14353054934188736, 0.4828051586749818, 0.08318948669319377, 0.005768393217078159, 0.005862939784243766], "count": [1022]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8276785714285715, -0.7660714285714286, -0.4419642857142857, -0.07142857142857142, -0.5371428571428571, -0.20857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40446428571428567, 0.4419642857142857, 0.5625000000000001, 0.12285714285714287, 0.26, 0.6285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0005949468828627424, -0.007435525580095082, 0.0008806262230919332, 0.004674308079396143, -0.009603019289907741, 9.784735812133016e-05, 0.0684931506849315], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23178768921902115, 0.20746632327526485, 0.12378669453060062, 0.018932870139617156, 0.07217124500965545, 0.10316404224517114, 0.9976515866319479], "count": [1022]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015655577182769775], "std": [0.12413895130157471], "count": [1022]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009784735812133072], "std": [0.03126525500718289], "count": [1022]}, "timestamp": {"min": [0.0], "max": [51.05], "mean": [25.525], "std": [14.75129231626843], "count": [1022]}, "frame_index": {"min": [0], "max": [1021], "mean": [510.5], "std": [295.0258463253686], "count": [1022]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1022]}, "index": {"min": [24196], "max": [25217], "mean": [24706.5], "std": [295.0258463253686], "count": [1022]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1022]}}} +{"episode_index": 33, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5815093113420682]], [[0.5648339681090718]], [[0.5097747027363707]]], "std": [[[0.15628477126723134]], [[0.14477244858924387]], [[0.13240011212398428]]], "count": [142]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.023529411764705882]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5837353474328084]], [[0.5786847898098224]], [[0.5136871232541349]]], "std": [[[0.18116669249300657]], [[0.16737841319239635]], [[0.17452960087841238]]], "count": [142]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6029631759276939]], [[0.5960630979961995]], [[0.5263214756065692]]], "std": [[[0.17586710478294815]], [[0.1575322758903742]], [[0.16737427245904438]]], "count": [142]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [747]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [747]}, "observation.state": {"min": [4.983222125514796, -0.8357594566801801, 0.6999966179729614, 0.0, 0.0, 0.70699143409729, 0.7068590521812439, 0.19261845774747033, -0.3484823631625673, 0.5978888930909796, -0.9896437525749207, -0.2357344925403595, -0.5343326330184937, 0.0011593014933168888, 0.020565971760617606, -0.04002860619436645], "max": [4.983551910211661, -0.8356630848218776, 0.7004858483874095, 0.0, 0.0, 0.7073544263839722, 0.7072221040725708, 0.5782136481346986, 0.4286649319131399, 0.9087700302316559, 0.8970833420753479, 0.15139424800872803, 0.5918012857437134, 0.1488093137741089, 0.04000693332010792, -0.02050058878636156], "mean": [4.983408581068638, -0.8357101355409373, 0.7001702919087497, 0.0, 0.0, 0.707134293105548, 0.7070792307815399, 0.45520792389502546, 0.1080458167942144, 0.829755013946435, -0.26040616356225377, -0.07153329416770374, -0.12988096090604662, 0.07302822415898348, 0.033841355008326544, -0.033578734564973935], "std": [7.749120858458098e-05, 1.91395392436353e-05, 0.0001511271814501916, 0.0, 0.0, 9.563170465532513e-05, 9.56450591606762e-05, 0.1106825568901399, 0.2692779545353829, 0.05053168927026863, 0.8178998089928357, 0.08919000191715581, 0.47545257788857304, 0.04358119347894918, 0.005883671625892337, 0.006032126862227995], "count": [747]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6642857142857143, -0.7553571428571428, -0.5919642857142857, -0.09714285714285714, -0.5057142857142857, -0.2485714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.39642857142857146, 0.5785714285714285, 0.5357142857142857, 0.17142857142857143, 0.12571428571428572, 0.23714285714285716, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0001721170395869153, -0.02652036718301783, -0.01239601262191624, 0.0010365270606234476, -0.01739529546758463, -0.00015299292407725765, -0.04685408299866131], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22438010775435824, 0.23436368752602618, 0.18050764362002744, 0.029572939598166228, 0.07581938952998277, 0.062356694323743606, 0.9989017443704691], "count": [747]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021419009193778038], "std": [0.14477650821208954], "count": [747]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013386880856760374], "std": [0.03656358844376884], "count": [747]}, "timestamp": {"min": [0.0], "max": [37.3], "mean": [18.65], "std": [10.78200661596285], "count": [747]}, "frame_index": {"min": [0], "max": [746], "mean": [373.0], "std": [215.640132319257], "count": [747]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [747]}, "index": {"min": [25218], "max": [25964], "mean": [25591.0], "std": [215.640132319257], "count": [747]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [747]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6572287778118497]], [[0.5965137147520035]], [[0.5592435311860805]]], "std": [[[0.16784777613551768]], [[0.2185192562061403]], [[0.2135934089999464]]], "count": [139]}, "observation.images.robot0_agentview_left": {"min": [[[0.047058823529411764]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5842521397346736]], [[0.5542378993174945]], [[0.5180060448137355]]], "std": [[[0.18859165946395254]], [[0.17869037925361028]], [[0.1798012532130991]]], "count": [139]}, "observation.images.robot0_agentview_right": {"min": [[[0.050980392156862744]], [[0.023529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6313337621205884]], [[0.5963497808141355]], [[0.5594049049880041]]], "std": [[[0.19527109137163332]], [[0.19101288988309317]], [[0.1892640286277173]]], "count": [139]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [724]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [724]}, "observation.state": {"min": [2.4101962620372626, -0.7761566818101393, 0.6999959503889637, 0.0, 0.0, 0.7069767713546753, 0.7066940069198608, 0.191135465570071, -0.2655955568847137, 0.5913132807665675, -0.9902623891830444, -0.3651134967803955, -0.555468738079071, 0.00044035405153408647, 0.020559068726021153, -0.04000878476925361], "max": [2.410665662224188, -0.7760011582198707, 0.7008588846972365, 0.0, 0.0, 0.7075192928314209, 0.7072368264198303, 0.5466117133687265, 0.21164799011733226, 0.8562747292186764, 0.9479318857192993, 0.08566954731941223, 0.5909624099731445, 0.23025734722614288, 0.03999813678323094, -0.020507491754586268], "mean": [2.4105035303529783, -0.7760850360484349, 0.7004325335352797, 0.0, 0.0, 0.7071871564039209, 0.7070263443895466, 0.42522593139404596, -0.027414729061120715, 0.7914442140408517, 0.08644390558998888, -0.19058141509554663, 0.0439619369887186, 0.12284638900259955, 0.03393052620795178, -0.03463887345875202], "std": [0.00013221044211485464, 3.55786387213953e-05, 0.00032051102155336765, 0.0, 0.0, 0.00016623061574807616, 0.0001662963130067415, 0.10471520167237189, 0.15864784174303817, 0.04880585162381186, 0.8245999614087037, 0.11579155789566216, 0.49052702973461126, 0.07206068764664451, 0.005394107363344091, 0.004736363549642], "count": [724]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7392857142857142, -0.5491071428571428, -0.2973214285714285, -0.16, -0.2885714285714286, -0.28285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46339285714285716, 0.3616071428571429, 0.6241071428571429, 0.12285714285714287, 0.15142857142857147, 0.19714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005223954222573032, -0.007236582478295218, 0.008823747040252513, -0.0021191791633780577, -0.009814522494080505, -0.0012983425414364632, 0.011049723756906077], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2596116864271623, 0.17096524075010627, 0.14378253140668942, 0.02137844710530118, 0.0586959375881887, 0.0673859556460956, 0.9999389499388913], "count": [724]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0220994483679533], "std": [0.14700700342655182], "count": [724]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013812154696132596], "std": [0.037139032209250696], "count": [724]}, "timestamp": {"min": [0.0], "max": [36.15], "mean": [18.075], "std": [10.450029904263433], "count": [724]}, "frame_index": {"min": [0], "max": [723], "mean": [361.5], "std": [209.00059808526865], "count": [724]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [724]}, "index": {"min": [25965], "max": [26688], "mean": [26326.5], "std": [209.00059808526865], "count": [724]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [724]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3947327954532739]], [[0.32133853908640136]], [[0.29285034086322637]]], "std": [[[0.16523865831609244]], [[0.19152283010389298]], [[0.2055250107206961]]], "count": [141]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.011764705882352941]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40935983202948456]], [[0.37440078516792913]], [[0.36129476955447243]]], "std": [[[0.20253681683681024]], [[0.22482345021520936]], [[0.2344997433956153]]], "count": [141]}, "observation.images.robot0_agentview_right": {"min": [[[0.08235294117647059]], [[0.011764705882352941]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41524440323489215]], [[0.3811341766455031]], [[0.36788288191253066]]], "std": [[[0.20921400551784963]], [[0.23078563421418496]], [[0.24033667927969168]]], "count": [141]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [734]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [734]}, "observation.state": {"min": [6.42343175071431, -0.8435977729194697, 0.6999978755550463, 0.0, 0.0, 0.7070212364196777, 0.7059645056724548, 0.21959477544002015, -0.4404266078237322, 0.5868589050803547, -0.9895588159561157, -0.45674312114715576, -0.5899271368980408, 0.00042708180262707174, 0.020552633348026393, -0.03998439373955969], "max": [6.42442813880819, -0.8434874254860378, 0.7007915986412122, 0.0, 0.0, 0.7082471251487732, 0.7071923613548279, 0.5827210982377653, 0.11658685716854222, 0.8492995368418333, 0.9474152326583862, 0.1345134973526001, 0.5921640396118164, 0.34973815083503723, 0.040005029232217826, -0.02051392728938418], "mean": [6.423968237589346, -0.8435516246605951, 0.7002565498333164, 0.0, 0.0, 0.7075353570952403, 0.7066776683447471, 0.46076148071431483, -0.15514859778626444, 0.791578896094045, 0.2444210249818963, -0.23203997592104228, 0.15031871140734052, 0.14906176758080128, 0.033541154870238205, -0.03469060288543424], "std": [0.00032738908521466066, 2.3770039473910446e-05, 0.000239022912136919, 0.0, 0.0, 0.00044810218941296705, 0.00044876778498301, 0.09904757816443206, 0.18029550896385713, 0.04574594615248507, 0.762371456950726, 0.15281081245277195, 0.47404367491411364, 0.11100401519594638, 0.005397128017489347, 0.004404687211520742], "count": [734]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6482142857142857, -0.50625, -0.2598214285714286, -0.12571428571428572, -0.4257142857142857, -0.5142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.42589285714285713, 0.5785714285714285, 0.4875000000000001, 0.15142857142857147, 0.20857142857142857, 0.4542857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0012261580381471313, -0.017045786298170457, 0.01073618139353835, -0.0015064227325807698, -0.008715453483845852, -0.0003892565200467104, 0.08174386920980926], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2342463158948923, 0.21937714179204582, 0.12836233541212105, 0.03171477930189232, 0.061327792160482494, 0.1193965426842757, 0.9966533699569864], "count": [734]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02179836481809616], "std": [0.1460246443748474], "count": [734]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013623978201634877], "std": [0.03688552144599696], "count": [734]}, "timestamp": {"min": [0.0], "max": [36.65], "mean": [18.325], "std": [10.594367607365717], "count": [734]}, "frame_index": {"min": [0], "max": [733], "mean": [366.5], "std": [211.88735214731435], "count": [734]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [734]}, "index": {"min": [26689], "max": [27422], "mean": [27055.5], "std": [211.88735214731435], "count": [734]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [734]}}} +{"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": [[[0.6241355962143972]], [[0.5471718582452513]], [[0.4582291738309907]]], "std": [[[0.16159383736085392]], [[0.1544739495381808]], [[0.14162415972114578]]], "count": [147]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6226408597293084]], [[0.49256684607436724]], [[0.44469699419481334]]], "std": [[[0.18110397701426842]], [[0.23714325332986563]], [[0.23385070237083844]]], "count": [147]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6365268633495065]], [[0.5502376560975953]], [[0.49428004030388195]]], "std": [[[0.17635978221059567]], [[0.213240335749188]], [[0.2182849481567668]]], "count": [147]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [781]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [781]}, "observation.state": {"min": [2.5022633382280333, -0.7863174334347461, 0.6999980179025731, 0.0, 0.0, 0.7070357203483582, 0.7067376971244812, 0.1785397944649323, -0.18277251453197785, 0.6031439776728854, -0.9901551008224487, -0.3271494507789612, -0.59514981508255, 0.0002731103159021586, 0.02055316905577773, -0.04017972824724699], "max": [2.502609834977929, -0.7861736007583916, 0.7005520759506788, 0.0, 0.0, 0.7074756622314453, 0.7071779370307922, 0.5416998838949109, 0.33053819589426947, 0.8781124676006696, 0.9728920459747314, 0.16381925344467163, 0.5634282827377319, 0.3434435725212097, 0.0400123863671614, -0.02027445500238782], "mean": [2.502442746035055, -0.7862628086228761, 0.700230554394465, 0.0, 0.0, 0.7072412195340009, 0.7069722592601703, 0.43195944187423485, 0.03983412044781369, 0.7991243348021769, -0.2541488976087827, -0.13785749311331139, -0.15061052288578658, 0.16054314950240475, 0.03329998816416148, -0.032635570008397466], "std": [0.00010905247646193697, 3.436307552272968e-05, 0.00017449582783709536, 0.0, 0.0, 0.0001537720169290092, 0.00015382370849611638, 0.10049207899558077, 0.1841877914419778, 0.05986910844096742, 0.7903185528858105, 0.14369666091873054, 0.46215198773977384, 0.09544323987854969, 0.007195826262529555, 0.007757412665940468], "count": [781]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6508928571428572, -0.6830357142857143, -0.34821428571428575, -0.16857142857142857, -0.5114285714285715, -0.2285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46607142857142864, 0.3776785714285714, 0.4928571428571429, 0.18285714285714286, 0.32285714285714284, 0.44, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005357142857142808, -0.0015330620084140938, 0.008474711907810446, 0.002268154380830438, -0.007642216937991585, 0.0013682092555331986, -0.11139564660691421], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1967323662623141, 0.18227145365052894, 0.13912789379984053, 0.03661695345605662, 0.0746181158387701, 0.0738942918545782, 0.9937761367214561], "count": [781]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020486555993556976], "std": [0.14165754616260529], "count": [781]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012804097311139564], "std": [0.03575989767930587], "count": [781]}, "timestamp": {"min": [0.0], "max": [39.0], "mean": [19.5], "std": [11.27275476536237], "count": [781]}, "frame_index": {"min": [0], "max": [780], "mean": [390.0], "std": [225.45509530724738], "count": [781]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [781]}, "index": {"min": [27423], "max": [28203], "mean": [27813.0], "std": [225.45509530724738], "count": [781]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [781]}}} +{"episode_index": 37, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5229940110625934]], [[0.4646619117935594]], [[0.4474235413761636]]], "std": [[[0.16243215440192957]], [[0.2018740958119949]], [[0.20230901141354038]]], "count": [146]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5895697344447732]], [[0.5631090572499601]], [[0.5437110751282935]]], "std": [[[0.22863958568062523]], [[0.23656914545583144]], [[0.2401217864553833]]], "count": [146]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5616937555871021]], [[0.5363481499576902]], [[0.5177619427914841]]], "std": [[[0.24790381067841694]], [[0.25205780951105206]], [[0.2522315377158565]]], "count": [146]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [773]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [773]}, "observation.state": {"min": [1.171704216656401, -0.7885032118849691, 0.6999968963800887, 0.0, 0.0, 0.7066935300827026, 0.7068853974342346, 0.10413846378649783, -0.31711017621495774, 0.5911907517469663, -0.9907488822937012, -0.3042965531349182, -0.5800782442092896, 0.0009159580804407597, 0.020561672545626204, -0.04000220850742655], "max": [1.1721371517611578, -0.7883243763956151, 0.7009846443565604, 0.0, 0.0, 0.7073281407356262, 0.7075197696685791, 0.5511174578722191, 0.27910911306265085, 0.8419439530379107, 0.8669379353523254, 0.07196223735809326, 0.6021560430526733, 0.23384685814380646, 0.04000585775097045, -0.020504888212884924], "mean": [1.1719541522711454, -0.7883816657794055, 0.7005364968022028, 0.0, 0.0, 0.7069954936902242, 0.7072179972123052, 0.4133712098694193, -0.015960324084190066, 0.7827379370561945, 0.08669057885548738, -0.11635313245719649, 0.11350388275543746, 0.07845668748013897, 0.03411571967560428, -0.03357542340290098], "std": [0.0001017322329130129, 4.0894395507021826e-05, 0.0003215597643468862, 0.0, 0.0, 0.0001830861783183461, 0.00018303341184259134, 0.10247020839608899, 0.17407093283662217, 0.04342644322591872, 0.8340830675636025, 0.09091606941197432, 0.5018922586898805, 0.06365510385492966, 0.005251640703773943, 0.005741907984210754], "count": [773]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7151785714285714, -0.45535714285714285, -0.32410714285714287, -0.12, -0.4628571428571429, -0.22, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46607142857142864, 0.46607142857142864, 0.5223214285714286, 0.14, 0.14857142857142858, 0.4628571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.014172518942894051, -0.010735076695620025, 0.002418684161892436, 0.0008907780447237106, -0.009772685270744768, -0.004250600628349655, 0.02199223803363519], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24703835447475014, 0.19251720799183936, 0.12805116896676483, 0.022593625786988397, 0.06420624727956199, 0.08061104216732853, 0.9997581414853652], "count": [773]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020698577165603638], "std": [0.14237326383590698], "count": [773]}, "next.done": {"min": [false], "max": [true], "mean": [0.00129366106080207], "std": [0.035944227657049944], "count": [773]}, "timestamp": {"min": [0.0], "max": [38.6], "mean": [19.3], "std": [11.15728461589109], "count": [773]}, "frame_index": {"min": [0], "max": [772], "mean": [386.0], "std": [223.1456923178218], "count": [773]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [773]}, "index": {"min": [28204], "max": [28976], "mean": [28590.0], "std": [223.1456923178218], "count": [773]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [773]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4798510265442306]], [[0.45165826496454115]], [[0.45522583295559943]]], "std": [[[0.16773390425548323]], [[0.16760097667347043]], [[0.15833675668503502]]], "count": [183]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.011764705882352941]], [[0.043137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5223105361629474]], [[0.4758373986815098]], [[0.45854844939704875]]], "std": [[[0.22612153684769276]], [[0.20361651952277662]], [[0.18637964131968068]]], "count": [183]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5388933038502073]], [[0.49022160326439534]], [[0.4704650326300367]]], "std": [[[0.22630472683348718]], [[0.20565959116802493]], [[0.18965618298748538]]], "count": [183]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1044]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1044]}, "observation.state": {"min": [6.507230924382038, -0.8358836193711473, 0.6999972011164739, 0.0, 0.0, 0.7071044445037842, 0.7069180607795715, 0.14003191183514696, -0.29339145320697124, 0.5823390624783717, -0.9916043877601624, -0.11633610725402832, -0.6327040791511536, 1.2536226677184459e-05, 0.020546835602721095, -0.03998842601236127], "max": [6.507506685826175, -0.8357648183613932, 0.7000810766367687, 0.0, 0.0, 0.7072953581809998, 0.7071090340614319, 0.563059122960714, 0.07149529507510888, 0.8796463049220793, 0.9763680696487427, 0.04727008938789368, 0.6418007612228394, 0.06904212385416031, 0.04002748656624854, -0.020519725042799582], "mean": [6.507336307455002, -0.8358498368739389, 0.7000180213656354, 0.0, 0.0, 0.7071998306046957, 0.7070137339990258, 0.4708415254147253, -0.08751282908979692, 0.8061333822361556, 0.16430336979157167, -0.015613608376276447, 0.12112385433495501, 0.015574117953983276, 0.033768711740071275, -0.03349547522804358], "std": [6.643044579277287e-05, 3.090567692661302e-05, 2.3254573059252284e-05, 0.0, 0.0, 4.104867706032427e-05, 4.104384420701937e-05, 0.10527015345650875, 0.11463218152191716, 0.05259944632886291, 0.8060300694769833, 0.032165172972450064, 0.5540983030878505, 0.010152523592203555, 0.006349602021766401, 0.006386025631862734], "count": [1044]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.7285714285714285, -0.30714285714285716, -0.07714285714285714, -0.23714285714285716, -0.12285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4285714285714286, 0.7000000000000001, 0.55, 0.08, 0.1142857142857143, 0.06285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01004378762999448, -0.0012246852764093998, 0.02124384236453205, 0.0004844006568144501, -0.005821018062397375, -0.0026382047071702246, -0.011494252873563218], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22615004832364194, 0.14658490016171205, 0.10041607030115783, 0.008645452744053359, 0.03356890056785725, 0.015542392126714962, 0.9999339388933998], "count": [1044]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015325670130550861], "std": [0.12284459173679352], "count": [1044]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009578544061302681], "std": [0.030934397053553914], "count": [1044]}, "timestamp": {"min": [0.0], "max": [52.15], "mean": [26.075], "std": [15.068835113128905], "count": [1044]}, "frame_index": {"min": [0], "max": [1043], "mean": [521.5], "std": [301.37670226257814], "count": [1044]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1044]}, "index": {"min": [28977], "max": [30020], "mean": [29498.5], "std": [301.37670226257814], "count": [1044]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1044]}}} +{"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": [[[0.5999057256162557]], [[0.5616580035639743]], [[0.5061346505358328]]], "std": [[[0.14333583426045232]], [[0.16794324131004681]], [[0.15737680528202833]]], "count": [120]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5338893950219248]], [[0.5448501527075674]], [[0.47972207412221074]]], "std": [[[0.2054163404245168]], [[0.19342904859474938]], [[0.19315596798049434]]], "count": [120]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5558075778936249]], [[0.5439059847164778]], [[0.491215160594267]]], "std": [[[0.20094906968926973]], [[0.19662879772308695]], [[0.1970723159642503]]], "count": [120]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [598]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [598]}, "observation.state": {"min": [4.469075838850206, -0.8393628231195938, 0.6999938453130488, 0.0, 0.0, 0.7070785164833069, 0.7067981958389282, 0.20883062775136085, -0.24004378866094278, 0.5768948169947333, -0.9945013523101807, -0.13668876886367798, -0.6208577156066895, 0.0025977229233831167, 0.02056255280867084, -0.04000279727555269], "max": [4.4694143195361, -0.8390517113005964, 0.7010778729337505, 0.0, 0.0, 0.7074152231216431, 0.7071349620819092, 0.6107650417465245, 0.08149768329082097, 0.9064082437395881, 0.8769641518592834, 0.0067258477210998535, 0.5682042837142944, 0.10434199124574661, 0.03996852258821015, -0.02050400796130022], "mean": [4.469258425629237, -0.8392082043191975, 0.7004710634633056, 0.0, 0.0, 0.7072276153093995, 0.7069858804993008, 0.5027032176128643, -0.04807922167811462, 0.8296756979951331, -0.13243600995245586, -0.08046704852162397, -0.09989678297802357, 0.05701757892444543, 0.03425676595492848, -0.03421937546446485], "std": [0.00012069894525886916, 0.00011624314246685628, 0.00037813784520840973, 0.0, 0.0, 0.00011845789448541607, 0.00011848362029957678, 0.11338381388962741, 0.10772240310540315, 0.06367912146531478, 0.8330865145891417, 0.03651930905026371, 0.5165222983567495, 0.024357887989430345, 0.005273697864648321, 0.00531570095505757], "count": [598]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8919642857142858, -0.525, -0.7660714285714286, -0.08285714285714285, -0.5685714285714286, -0.2, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40982142857142867, 0.45535714285714285, 0.7714285714285715, 0.09142857142857143, 0.2, 0.08571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0008600095556616942, -0.008326863354037258, -0.008936036789297719, 0.00021500238891543233, -0.013559483994266605, -0.0033397037744863824, -0.043478260869565216], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24525388092255773, 0.15204781818329302, 0.21661859747698892, 0.01744580762937105, 0.0819900728768522, 0.03274236615484521, 0.9990543733109598], "count": [598]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02675585262477398], "std": [0.16136908531188965], "count": [598]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016722408026755853], "std": [0.04085883519354721], "count": [598]}, "timestamp": {"min": [0.0], "max": [29.85], "mean": [14.924999999999999], "std": [8.631374456017998], "count": [598]}, "frame_index": {"min": [0], "max": [597], "mean": [298.5], "std": [172.62748912035997], "count": [598]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [598]}, "index": {"min": [30021], "max": [30618], "mean": [30319.5], "std": [172.62748912035997], "count": [598]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [598]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6580455830568477]], [[0.6234582683682505]], [[0.5846239511462576]]], "std": [[[0.18733661614658853]], [[0.1938874000038892]], [[0.181682393158302]]], "count": [148]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.03529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6320684925235006]], [[0.5974378859737782]], [[0.5581523116960309]]], "std": [[[0.21217465132090654]], [[0.20637437820975815]], [[0.2007798005454521]]], "count": [148]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6546487109776078]], [[0.6183601302574978]], [[0.5781036837870441]]], "std": [[[0.20065707226096585]], [[0.19595624652711902]], [[0.19271689832290542]]], "count": [148]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [786]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [786]}, "observation.state": {"min": [2.100637775491386, -0.8301585354327059, 0.6999967818813947, 0.0, 0.0, 0.7071068286895752, 0.7068970203399658, 0.09300620072609866, -0.4264852365181322, 0.5996710796589307, -0.9873899221420288, -0.23466646671295166, -0.5636504292488098, 9.546527871862054e-05, 0.020565738348754335, -0.04000379672408712], "max": [2.100848671154888, -0.8300491441301444, 0.7005098119455699, 0.0, 0.0, 0.7073163986206055, 0.7071066498756409, 0.47213062151376595, 0.0300777106346799, 0.8423350436501067, 0.8864673376083374, 0.040556401014328, 0.5947326421737671, 0.1990831196308136, 0.04000344345611525, -0.020500822597868597], "mean": [2.100772401449279, -0.8300993853714442, 0.7001162631713828, 0.0, 0.0, 0.7071841260555743, 0.7070294119626208, 0.3570983625947353, -0.19833875692792316, 0.7896330951044391, 0.47702789503806114, -0.10756196614364327, 0.3396660835498769, 0.09015695434148097, 0.033218620510553395, -0.03385514081828546], "std": [5.875760250293294e-05, 2.5492358144836503e-05, 0.00014004957511983321, 0.0, 0.0, 6.150174609576496e-05, 6.149613491255556e-05, 0.07878194788533532, 0.17247853209095498, 0.05074432382917667, 0.6886558775847019, 0.08227052058749773, 0.39061535085655336, 0.06146366900056026, 0.006312389190564756, 0.005711558541015263], "count": [786]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5785714285714285, -0.39642857142857146, -0.20357142857142857, -0.1142857142857143, -0.38857142857142857, -0.12857142857142856, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.30000000000000004, 0.4285714285714286, 0.4928571428571429, 0.09142857142857143, 0.11714285714285716, 0.07428571428571429, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01686886586695748, -0.02654716466739363, 0.010073609596510326, 0.0015049073064340238, -0.009243911304980024, -0.0059941839331152345, -0.022900763358778626], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18359692508668088, 0.11449544148921278, 0.11535188614244793, 0.018213831736467647, 0.054854342359204916, 0.021223777657347436, 0.9997377431294557], "count": [786]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020356234163045883], "std": [0.14121563732624054], "count": [786]}, "next.done": {"min": [false], "max": [true], "mean": [0.001272264631043257], "std": [0.03564612144051374], "count": [786]}, "timestamp": {"min": [0.0], "max": [39.25], "mean": [19.625], "std": [11.34492360779334], "count": [786]}, "frame_index": {"min": [0], "max": [785], "mean": [392.5], "std": [226.8984721558668], "count": [786]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [786]}, "index": {"min": [30619], "max": [31404], "mean": [31011.5], "std": [226.8984721558668], "count": [786]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [786]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[0.9529411764705882]], [[0.9333333333333333]], [[0.9333333333333333]]], "mean": [[[0.5798212766958997]], [[0.5695218426074857]], [[0.5051653949014501]]], "std": [[[0.161050923216269]], [[0.12849886171086336]], [[0.11529929548892422]]], "count": [150]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.023529411764705882]], [[0.06274509803921569]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5527043971641391]], [[0.5477355242959814]], [[0.4861938640120762]]], "std": [[[0.19780314524962683]], [[0.18579382347271178]], [[0.18650873011643843]]], "count": [150]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.01568627450980392]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5129930455824908]], [[0.5121376083473754]], [[0.4616258907941432]]], "std": [[[0.22606093158542018]], [[0.21618655489979396]], [[0.20782118954267756]]], "count": [150]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [803]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [803]}, "observation.state": {"min": [2.5157918714246894, -0.9430730489409929, 0.6999965668385314, 0.0, 0.0, 0.706646203994751, 0.7070528864860535, 0.16379632445050896, -0.2569833600499827, 0.5963456574021175, -0.989691436290741, -0.40987658500671387, -0.5175787806510925, 0.000752426334656775, 0.019572681433549226, -0.04000270188202462], "max": [2.5160904703369957, -0.9428747616370947, 0.7004498168063497, 0.0, 0.0, 0.7071606516838074, 0.7075669765472412, 0.6228617628537382, 0.1665468155831893, 0.8526318015457751, 0.8899330496788025, 0.05224540829658508, 0.5144702792167664, 0.17834262549877167, 0.04000254652240525, -0.020495410048401462], "mean": [2.5159223720455413, -0.942986821706025, 0.7001768158582784, 0.0, 0.0, 0.7069344728405716, 0.7072789662356395, 0.47578374785683, -0.019212939663590455, 0.7904184490214776, 0.2514604479260047, -0.1713146510003958, 0.1341579170667962, 0.08879648673273902, 0.03196180817199161, -0.032056280710200516], "std": [9.914340959953762e-05, 6.201898449557584e-05, 0.00014357149356486457, 0.0, 0.0, 0.00017930580934516583, 0.00017920382671057368, 0.1181286476860719, 0.14597504610698134, 0.04958136951198537, 0.8049024988767813, 0.14789880194716895, 0.4557978741787029, 0.06357659512122735, 0.007845124188986816, 0.007717441018828032], "count": [803]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7794642857142858, -0.3267857142857143, -0.3455357142857143, -0.09428571428571429, -0.40571428571428575, -0.19142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5035714285714286, 0.6294642857142857, 0.5598214285714286, 0.05714285714285715, 0.09428571428571429, 0.25142857142857145, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007135073830279293, 0.010263965486568242, 0.014800524817648084, -0.0013413983276996976, -0.00813022593844512, 0.0024408468244084616, -0.0361145703611457], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24340012693656915, 0.14059925088492817, 0.14320756686875794, 0.01526845780199191, 0.048666551037463486, 0.06645720327095307, 0.999347656127553], "count": [803]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019925279542803764], "std": [0.13974356651306152], "count": [803]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012453300124533001], "std": [0.035267253445843826], "count": [803]}, "timestamp": {"min": [0.0], "max": [40.1], "mean": [20.05], "std": [11.590297666583028], "count": [803]}, "frame_index": {"min": [0], "max": [802], "mean": [401.0], "std": [231.80595333166056], "count": [803]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [803]}, "index": {"min": [31405], "max": [32207], "mean": [31806.0], "std": [231.80595333166056], "count": [803]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [803]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.054901960784313725]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5781864557594154]], [[0.426352353650218]], [[0.3358953239091861]]], "std": [[[0.1376356439815105]], [[0.186136587901239]], [[0.21821905884616674]]], "count": [138]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6541577134561931]], [[0.52499286752426]], [[0.437853479236322]]], "std": [[[0.17232327534942374]], [[0.2216380100809426]], [[0.25166076587239183]]], "count": [138]}, "observation.images.robot0_agentview_right": {"min": [[[0.08627450980392157]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6168460374394747]], [[0.48536402666287587]], [[0.39816846313650006]]], "std": [[[0.18221674068296909]], [[0.22461097696827753]], [[0.2520748266573253]]], "count": [138]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [715]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [715]}, "observation.state": {"min": [4.890424975540098, -1.09692540381346, 0.6999961407929187, 0.0, 0.0, -0.000557661522179842, 0.9999998807907104, 0.18802251750677268, -0.3143039860376391, 0.6042342520717072, -0.9891024231910706, -0.3368547558784485, -0.5826496481895447, 0.0007352069951593876, 0.02053144576556833, -0.04000175578749443], "max": [4.890601571017659, -1.0964223920229812, 0.7003965525508635, 0.0, 0.0, 2.8486165319918655e-05, 1.0, 0.5302481303866307, 0.5430400323989679, 0.8330912300055969, 0.8936764001846313, 0.1030316948890686, 0.4949740767478943, 0.257411926984787, 0.04000651359640892, -0.020535113924142305], "mean": [4.890468893549917, -1.0965878820956863, 0.700074522562473, 0.0, 0.0, -0.00018167727203227408, 0.9999999984994635, 0.3898055870201692, 0.0929231822727091, 0.7815584058395552, -0.11557533149119023, -0.21897276719133338, -0.08875269752282362, 0.13331473737521995, 0.03476059672353936, -0.034515986585638946], "std": [3.8548153098435945e-05, 9.422278531836082e-05, 0.00010227848080813411, 0.0, 0.0, 0.00011107554019706441, 1.32900820801339e-08, 0.10173585473192118, 0.2937631759106115, 0.038671192416258056, 0.8262608230688, 0.0999380372012979, 0.46388194998944143, 0.07184974398186997, 0.0053254654351747276, 0.0054872338691457885], "count": [715]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8678571428571429, -0.80625, -0.3991071428571428, -0.10857142857142858, -0.7028571428571428, -0.2057142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.48482142857142857, 0.5866071428571429, 0.43660714285714286, 0.13142857142857142, 0.14, 0.26857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.006301198801198825, -0.006106393606393643, -0.0007492507492507876, 0.0032007992007992018, -0.009562437562437564, 0.0016943056943056953, -0.11328671328671329], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2308697913932946, 0.2669116439957677, 0.13020410881376257, 0.027617988967653814, 0.08670739894474658, 0.06438614111816814, 0.9935623385538972], "count": [715]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02237762324512005], "std": [0.1479083001613617], "count": [715]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013986013986013986], "std": [0.03737171808639829], "count": [715]}, "timestamp": {"min": [0.0], "max": [35.7], "mean": [17.85], "std": [10.32012596822345], "count": [715]}, "frame_index": {"min": [0], "max": [714], "mean": [357.0], "std": [206.402519364469], "count": [715]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [715]}, "index": {"min": [32208], "max": [32922], "mean": [32565.0], "std": [206.402519364469], "count": [715]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [715]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.027450980392156862]], [[0.03529411764705882]], [[0.00784313725490196]]], "max": [[[0.9764705882352941]], [[0.9411764705882353]], [[0.8823529411764706]]], "mean": [[[0.4305022386236926]], [[0.43603609650126707]], [[0.4333103113251266]]], "std": [[[0.16316137094395286]], [[0.16379157781620413]], [[0.16243073983819598]]], "count": [129]}, "observation.images.robot0_agentview_left": {"min": [[[0.0392156862745098]], [[0.054901960784313725]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47898049552419986]], [[0.48343754072721323]], [[0.4807574535253327]]], "std": [[[0.20455995358591916]], [[0.19905756399490163]], [[0.19345218112900772]]], "count": [129]}, "observation.images.robot0_agentview_right": {"min": [[[0.058823529411764705]], [[0.058823529411764705]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5240460123438153]], [[0.5303999520884692]], [[0.5238923784410506]]], "std": [[[0.24873873530141738]], [[0.2379855032322656]], [[0.2291085725458794]]], "count": [129]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [652]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [652]}, "observation.state": {"min": [0.7855616793218383, -2.1458332337850248, 0.6999951349194513, 0.0, 0.0, -1.0, 7.140035762631669e-08, 0.17534262859813732, -0.36289847775595696, 0.6208718761887893, -0.9856517314910889, -0.4761820435523987, -0.6141842603683472, 1.6418400264228694e-05, 0.02055643665979388, -0.040004074519437015], "max": [0.7857303162013258, -2.1452450709871487, 0.700865773403462, 0.0, 0.0, 1.0, 0.0007673066575080156, 0.5358478495971408, 0.11342931636431475, 0.9156048916858548, 0.8772072792053223, 0.11916595697402954, 0.5822052955627441, 0.34947967529296875, 0.04000725829398822, -0.020510122362792826], "mean": [0.7856791232368748, -2.145517892414329, 0.7003055992944803, 0.0, 0.0, -0.32208582996590734, 0.00027739290019750655, 0.433368043461568, -0.09143527013559344, 0.8468169709280665, -0.08180243233961562, -0.21925633572087697, -0.042920893915226126, 0.1362282360903199, 0.03316881201427604, -0.03382759246258705], "std": [3.9450074521676444e-05, 0.00015999050102221454, 0.0002606973275477437, 0.0, 0.0, 0.9467104092202087, 0.00025999929230773673, 0.09203370684201034, 0.16680523157402224, 0.05485200088783255, 0.793892797627767, 0.1379738595399859, 0.5151936568975686, 0.10053665377807174, 0.006211389151311076, 0.005588716350208123], "count": [652]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7419642857142859, -0.6910714285714286, -0.41517857142857145, -0.13428571428571429, -0.44, -0.24285714285714288, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.375, 0.5651785714285715, 0.6589285714285714, 0.08285714285714285, 0.1657142857142857, 0.4514285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00823701796669582, -0.012501369412795829, 0.003171560035056929, -4.382120946537168e-06, -0.011056091148115689, 0.00037248028045574165, -0.018404907975460124], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2188513797293075, 0.17773654180316847, 0.16752008634036533, 0.022700768351849577, 0.07570129687933491, 0.08967785359112262, 0.999830615335622], "count": [652]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024539876729249954], "std": [0.1547180414199829], "count": [652]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015337423312883436], "std": [0.039132977982126], "count": [652]}, "timestamp": {"min": [0.0], "max": [32.55], "mean": [16.275000000000002], "std": [9.410798318952542], "count": [652]}, "frame_index": {"min": [0], "max": [651], "mean": [325.5], "std": [188.21596637905085], "count": [652]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [652]}, "index": {"min": [32923], "max": [33574], "mean": [33248.5], "std": [188.21596637905085], "count": [652]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [652]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.09019607843137255]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5210141242335978]], [[0.32915206953322756]], [[0.25466224035240376]]], "std": [[[0.13811110271526003]], [[0.1975942863898163]], [[0.22709618085774047]]], "count": [122]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.011764705882352941]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.529266918038908]], [[0.4032173227857677]], [[0.3451858231125442]]], "std": [[[0.1998356157161948]], [[0.2533386344948353]], [[0.2800168350044421]]], "count": [122]}, "observation.images.robot0_agentview_right": {"min": [[[0.043137254901960784]], [[0.011764705882352941]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.522653873140733]], [[0.34738201458942314]], [[0.2743223233837592]]], "std": [[[0.17310656742136835]], [[0.2312407214919051]], [[0.26500883192234276]]], "count": [122]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [608]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [608]}, "observation.state": {"min": [0.795944969689182, -1.0625751133788794, 0.6999961859135202, 0.0, 0.0, -1.0, 7.774819721362292e-08, 0.13507643576033712, -0.0042847331998703275, 0.6087981875191345, -0.9880231618881226, -0.2509198784828186, -0.5703216791152954, 0.0003730726893991232, 0.020569733484141962, -0.040003420772115716], "max": [0.7960549224254687, -1.062444414046621, 0.7005277054424558, 0.0, 0.0, 1.0, 0.0001492197479819879, 0.526965106869194, 0.34850363038038723, 0.8464232594210078, 0.8833774924278259, 0.07271629571914673, 0.5512736439704895, 0.2084837257862091, 0.040003757240685646, -0.02049682545251091], "mean": [0.7960104261591133, -1.0625166454564343, 0.7002474335241202, 0.0, 0.0, 0.5953947368421053, 3.871196129389073e-05, 0.4227036513365493, 0.1665135478398699, 0.7927690637969841, -0.6855569989665559, -0.1337678698626788, -0.4188593778710224, 0.11584733105614999, 0.03501729426570545, -0.03464177117850884], "std": [2.465353352824664e-05, 3.229395985046136e-05, 0.0001900148203584891, 0.0, 0.0, 0.8034333247636104, 4.342034021806882e-05, 0.09492096130577561, 0.11769888280904299, 0.04655680834188892, 0.4770072207116572, 0.08103439611875796, 0.294085062733398, 0.05162842520705993, 0.004820527103565654, 0.005182319220972456], "count": [608]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9375, -0.5357142857142857, -0.2544642857142857, -0.13714285714285715, -0.5628571428571428, -0.12285714285714287, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3803571428571429, 0.32142857142857145, 0.47946428571428573, 0.20285714285714287, 0.22, 0.08571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01395236137218048, 0.01880286654135341, 0.010071076127819555, 0.0005733082706766899, -0.010700187969924821, 0.0030968045112781963, -0.09868421052631579], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2577774471468198, 0.13990533844473407, 0.14412849018687904, 0.03601518352545493, 0.0753829718409513, 0.023036981092250615, 0.9951188002408519], "count": [608]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02631578966975212], "std": [0.1600726991891861], "count": [608]}, "next.done": {"min": [false], "max": [true], "mean": [0.001644736842105263], "std": [0.04052199011432539], "count": [608]}, "timestamp": {"min": [0.0], "max": [30.35], "mean": [15.174999999999999], "std": [8.775712221808552], "count": [608]}, "frame_index": {"min": [0], "max": [607], "mean": [303.5], "std": [175.51424443617105], "count": [608]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [608]}, "index": {"min": [33575], "max": [34182], "mean": [33878.5], "std": [175.51424443617105], "count": [608]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [608]}}} +{"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": [[[0.32420005309502614]], [[0.3248088012714159]], [[0.3123304085836783]]], "std": [[[0.21220554143453713]], [[0.2064877621856787]], [[0.20817358166731453]]], "count": [127]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5178079232585012]], [[0.49538450537041523]], [[0.4806922124568485]]], "std": [[[0.31207769637580246]], [[0.3152629634689481]], [[0.3206363496244972]]], "count": [127]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.054901960784313725]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4877179059677513]], [[0.46309494199954526]], [[0.4482410750713764]]], "std": [[[0.29292359124801076]], [[0.2940346668993658]], [[0.29951762631563233]]], "count": [127]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [643]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [643]}, "observation.state": {"min": [0.9495814920843788, -0.8203788660232902, 0.6999974271594249, 0.0, 0.0, 0.7061976790428162, 0.7070338129997253, 0.2140092568770129, -0.04529992978458641, 0.6011977287050473, -0.9878378510475159, -0.37463223934173584, -0.598975658416748, 0.0004090986622031778, 0.020556714617722432, -0.03997449929096149], "max": [0.9502955724765754, -0.820219869277846, 0.7007333892677367, 0.0, 0.0, 0.7071797847747803, 0.7080146670341492, 0.5879134548350673, 0.4646655824545752, 0.8571366116886586, 0.9799450635910034, 0.05787235498428345, 0.6276693344116211, 0.26902732253074646, 0.04000887889031345, -0.020509846037445895], "mean": [0.9498422425999504, -0.8202791586385493, 0.7002090267786855, 0.0, 0.0, 0.7067898659275998, 0.707423350673812, 0.4627012559064125, 0.1689938337650245, 0.7943153426445417, -0.18803230470298424, -0.16808658527734677, -0.0838755065369569, 0.13933569914955554, 0.03416519373054534, -0.03318557897366675], "std": [0.0002356213916869572, 3.9001216144560815e-05, 0.00022445451189891024, 0.0, 0.0, 0.00035936349444004026, 0.00035897491899488623, 0.09385824197207217, 0.17316642326580636, 0.04667612415916849, 0.7859152348991565, 0.14389815168685555, 0.5149148401944077, 0.08021522377652744, 0.005454517379108559, 0.006335443263409207], "count": [643]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7982142857142857, -0.6508928571428572, -0.2571428571428572, -0.13428571428571429, -0.5485714285714286, -0.18285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.39107142857142857, 0.5464285714285714, 0.5571428571428572, 0.1457142857142857, 0.2542857142857143, 0.6085714285714285, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0058237058431459725, 0.028297878249277895, 0.007664963341479684, 0.0021595201066429686, -0.011935125527660533, 0.005954232392801592, -0.041990668740279936], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.231609142058943, 0.18713866274808832, 0.15194325326613387, 0.036502550116956, 0.09211513137934511, 0.0914579674615827, 0.9991180029099409], "count": [643]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024883359670639038], "std": [0.15576961636543274], "count": [643]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015552099533437014], "std": [0.03940547265729371], "count": [643]}, "timestamp": {"min": [0.0], "max": [32.1], "mean": [16.05], "std": [9.280894353455382], "count": [643]}, "frame_index": {"min": [0], "max": [642], "mean": [321.0], "std": [185.61788706910764], "count": [643]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [643]}, "index": {"min": [34183], "max": [34825], "mean": [34504.0], "std": [185.61788706910764], "count": [643]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [643]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5922888045505161]], [[0.4327269986144498]], [[0.3574209461240927]]], "std": [[[0.15627432150982012]], [[0.19967262989263637]], [[0.2237830243734133]]], "count": [195]}, "observation.images.robot0_agentview_left": {"min": [[[0.0196078431372549]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5930125639749089]], [[0.48508118473626427]], [[0.4212518049712874]]], "std": [[[0.20200034648677284]], [[0.23393699272089835]], [[0.2666421712891787]]], "count": [195]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.01568627450980392]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6561950379798855]], [[0.5575837399888841]], [[0.5009308382996127]]], "std": [[[0.16780987415849785]], [[0.2126486261140819]], [[0.2548769889754905]]], "count": [195]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1137]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1137]}, "observation.state": {"min": [2.0087533287229036, -0.7953975447956014, 0.6999958782349412, 0.0, 0.0, 0.7056877017021179, 0.7069835066795349, 0.10172030467650572, -0.562439221896923, 0.5914196826152801, -0.9902249574661255, -0.30132728815078735, -0.5920731425285339, 7.373034168267623e-05, 0.020565892423169047, -0.04000272629363241], "max": [2.010492984543382, -0.7947639957302587, 0.703605258537303, 0.0, 0.0, 0.7072300910949707, 0.7085230350494385, 0.4419680297351596, 0.15728673718289166, 0.8419429590985463, 0.9190568923950195, 0.062249958515167236, 0.6012132167816162, 0.1918315589427948, 0.04032038634452991, -0.018627010855817246], "mean": [2.0090470655417976, -0.7950477272214876, 0.7014684708648243, 0.0, 0.0, 0.7069211722259052, 0.7072920820224463, 0.33264349836495327, -0.2145144775648456, 0.793207214305379, 0.1880068043500788, -0.1832672895285364, 0.11300058117694989, 0.09993705552667052, 0.0347192373106222, -0.03334297410635437], "std": [0.0004906483867207924, 0.00024187350402760465, 0.0011726782808509268, 0.0, 0.0, 0.00042012985600475757, 0.0004193810243846621, 0.09521758207695007, 0.26966596817213395, 0.04385443544075324, 0.7980090187502918, 0.07132095177079859, 0.5138525211511213, 0.048585102496939904, 0.005127521768978306, 0.00609792455283496], "count": [1137]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5008928571428571, -0.4285714285714286, -0.40446428571428567, -0.16, -0.44, -0.17714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5571428571428572, 0.5464285714285714, 0.48482142857142857, 0.14857142857142858, 0.16, 0.1457142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.000567753486618937, -0.019404918959668286, -0.02121654730493783, 0.0027842693805754516, -0.004930267621560504, -0.005533358462118357, 0.13984168865435356], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.18724145381324775, 0.17580073517135505, 0.1322795883471706, 0.029338889736122288, 0.04952591535996575, 0.045453730436948635, 0.9901738746878278], "count": [1137]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014072119258344173], "std": [0.11778834462165833], "count": [1137]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008795074758135445], "std": [0.029643446871332836], "count": [1137]}, "timestamp": {"min": [0.0], "max": [56.8], "mean": [28.400000000000002], "std": [16.411175054415413], "count": [1137]}, "frame_index": {"min": [0], "max": [1136], "mean": [568.0], "std": [328.22350108830824], "count": [1137]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [1137]}, "index": {"min": [34826], "max": [35962], "mean": [35394.0], "std": [328.22350108830824], "count": [1137]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1137]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9333333333333333]], [[0.9333333333333333]], [[0.9529411764705882]]], "mean": [[[0.5911586656323818]], [[0.46495493622996925]], [[0.3875385168432749]]], "std": [[[0.16348253684678754]], [[0.14901379204319112]], [[0.17287069996444185]]], "count": [138]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.054901960784313725]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6029230484741592]], [[0.5099742086138973]], [[0.45091514923451265]]], "std": [[[0.20230490137807078]], [[0.22165583352009585]], [[0.24766336141458328]]], "count": [138]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.058823529411764705]], [[0.058823529411764705]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5680080876698647]], [[0.4812261704458165]], [[0.42893181833634153]]], "std": [[[0.21340258127910003]], [[0.22932676123255183]], [[0.25494851993667295]]], "count": [138]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [715]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [715]}, "observation.state": {"min": [4.392003595580577, -2.749523052594082, 0.6999973236407036, 0.0, 0.0, 0.0001443319779355079, 0.9999998807907104, 0.14214393348713195, -0.3055637024686195, 0.599235704122194, -0.9874832630157471, -0.1882396936416626, -0.548036515712738, 6.902237510075793e-05, 0.020521196911944786, -0.040012098621824664], "max": [4.392401760415631, -2.7492876553120182, 0.7016385154117363, 0.0, 0.0, 0.0005512030911631882, 1.0, 0.544658943978142, -0.006543630426966374, 0.8397984322465741, 0.9512903690338135, 0.16746872663497925, 0.5374512672424316, 0.23902490735054016, 0.04000659590070591, -0.020545362490020647], "mean": [4.392236300988198, -2.7494144034657326, 0.7006103932541518, 0.0, 0.0, 0.0003667973397524337, 0.9999999656543865, 0.44364147220536565, -0.1402164333214443, 0.7768343010894284, 0.2793790400445044, -0.02854888422505839, 0.15426844193802014, 0.04594053273180612, 0.03400765224399435, -0.034413455886684784], "std": [0.00014903832241225723, 5.218895832939604e-05, 0.000638313397935859, 0.0, 0.0, 8.591801569065768e-05, 5.3987915476274096e-08, 0.10264433589738961, 0.0874969209669313, 0.043386976107317524, 0.8173862778653157, 0.10904189295130451, 0.4609856559988339, 0.05200765649949419, 0.00650421367687371, 0.005909946147681642], "count": [715]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8383928571428572, -0.41785714285714287, -0.35357142857142865, -0.13714285714285715, -0.44571428571428573, -0.20857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.43124999999999997, 0.3883928571428572, 0.375, 0.10571428571428572, 0.21142857142857144, 0.12, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00597902097902092, -0.006855644355644405, -0.013295454545454553, -0.0021258741258741256, -0.007932067932067943, -0.0020379620379620328, -0.18321678321678322], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2304812467751766, 0.11961869049874982, 0.13254062485144247, 0.02647065251208794, 0.07061799381883432, 0.04060231883602237, 0.9830725356491705], "count": [715]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02237762324512005], "std": [0.1479083001613617], "count": [715]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013986013986013986], "std": [0.03737171808639829], "count": [715]}, "timestamp": {"min": [0.0], "max": [35.7], "mean": [17.85], "std": [10.32012596822345], "count": [715]}, "frame_index": {"min": [0], "max": [714], "mean": [357.0], "std": [206.402519364469], "count": [715]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [715]}, "index": {"min": [35963], "max": [36677], "mean": [36320.0], "std": [206.402519364469], "count": [715]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [715]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5982142280129825]], [[0.3107675624966209]], [[0.2569989258305287]]], "std": [[[0.15737850620223723]], [[0.23440060188739467]], [[0.25876180075937155]]], "count": [136]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4293528973712503]], [[0.3233320330803507]], [[0.30079200111045973]]], "std": [[[0.2611711083653935]], [[0.25723288529501287]], [[0.270341305886986]]], "count": [136]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4957582097565014]], [[0.3528849860238644]], [[0.3246121530851828]]], "std": [[[0.24182423926684726]], [[0.2631379944146235]], [[0.28353338136129635]]], "count": [136]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [704]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [704]}, "observation.state": {"min": [0.8047933776760361, -1.7218822354408991, 0.6999962930928917, 0.0, 0.0, -1.0, 7.946029967342838e-08, 0.21888452154498939, -0.3444950693277611, 0.6039767116387289, -0.9848810434341431, -0.4256342053413391, -0.6037665009498596, 0.0004920494393445551, 0.02056583781324126, -0.04000639549655089], "max": [0.8049957893922376, -1.720854844340105, 0.7008053907950589, 0.0, 0.0, 1.0, 0.002078741556033492, 0.5402060042808301, 0.18433919318199132, 0.8725879813150568, 0.9103394746780396, 0.026730239391326904, 0.6164572834968567, 0.3224252164363861, 0.04000178949805243, -0.020500721168375147], "mean": [0.8049035176576503, -1.7213493439656289, 0.7002960840563942, 0.0, 0.0, -0.4744309639050202, 0.0009949742446111567, 0.44751615215347945, -0.07659769861347888, 0.7944852038144364, 0.09831236599182541, -0.24333450600335543, 0.05271810032850639, 0.18087508951446746, 0.03444672027543663, -0.034230813627126384], "std": [5.064901111920616e-05, 0.000392081600005043, 0.0002582274606324557, 0.0, 0.0, 0.8802917425126684, 0.000870718662033554, 0.08287204108750443, 0.17983042130521718, 0.04747089220699687, 0.7790467882609861, 0.14082158122084373, 0.5082623289242296, 0.10272677396843144, 0.005372429969426381, 0.005443598240120313], "count": [704]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6883928571428571, -0.5410714285714286, -0.30000000000000004, -0.11142857142857143, -0.5457142857142857, -0.6314285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3696428571428571, 0.5544642857142857, 0.5517857142857143, 0.13714285714285715, 0.26571428571428574, 0.6971428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00661272321428567, -0.010044642857142877, 0.00740031452922077, 0.002451298701298702, -0.006168831168831163, -0.003056006493506502, -0.048295454545454544], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2087465283927764, 0.17107489626913056, 0.14189030223426877, 0.03144881938051728, 0.08869977751543041, 0.14561301187999795, 0.9988330936999669], "count": [704]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022727273404598236], "std": [0.14903269708156586], "count": [704]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014204545454545455], "std": [0.037662140862394465], "count": [704]}, "timestamp": {"min": [0.0], "max": [35.15], "mean": [17.575], "std": [10.161354486484566], "count": [704]}, "frame_index": {"min": [0], "max": [703], "mean": [351.5], "std": [203.2270897296913], "count": [704]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [704]}, "index": {"min": [36678], "max": [37381], "mean": [37029.5], "std": [203.2270897296913], "count": [704]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [704]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9490196078431372]], [[0.9372549019607843]], [[0.9411764705882353]]], "mean": [[[0.5848741608026744]], [[0.46172460270365623]], [[0.3555026855808259]]], "std": [[[0.14950445712554467]], [[0.16773359641740385]], [[0.19146607228406476]]], "count": [141]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6255753049398227]], [[0.5509956551897826]], [[0.46967191519781676]]], "std": [[[0.21248149951506698]], [[0.22636701789494537]], [[0.25037992428336053]]], "count": [141]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6797480072203971]], [[0.6016828362723913]], [[0.5152935195178054]]], "std": [[[0.180486723044766]], [[0.20196980540686144]], [[0.23496723481815462]]], "count": [141]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [735]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [735]}, "observation.state": {"min": [3.5687941919730237, -1.125395750364675, 0.6999947985393388, 0.0, 0.0, 0.7065958976745605, 0.7069739103317261, 0.1578226625216962, -0.34341813440212476, 0.6055235903530044, -0.9884664416313171, -0.26250284910202026, -0.5944273471832275, 3.4979568681592355e-06, 0.020547094853528843, -0.03993002440375045], "max": [3.5693917075836854, -1.1252409280284588, 0.7006203280293106, 0.0, 0.0, 0.7072396278381348, 0.7076173424720764, 0.6209577755735883, 0.39424120152228515, 0.8669098543814938, 0.9539664387702942, 0.03607302904129028, 0.6749725341796875, 0.2766219675540924, 0.04001307004340402, -0.02051946556645435], "mean": [3.5690669983414782, -1.1253336261435898, 0.7003089031861789, 0.0, 0.0, 0.7069323540544834, 0.707281087044956, 0.4563181927814189, -0.012025527184403206, 0.8074647112619311, -0.10198404351059272, -0.1473403085048507, -0.013378871237339617, 0.13067678054912996, 0.03359841768085279, -0.03488780674659338], "std": [0.00016207195038141738, 3.0050586376925916e-05, 0.00020356487560404247, 0.0, 0.0, 0.0001972891927333121, 0.00019718750417449654, 0.10328725295242, 0.24479481093472172, 0.04568919474647008, 0.7867137600949166, 0.08240582915299212, 0.5665163716680037, 0.06312373222450957, 0.0054968513201829735, 0.00433738896303775], "count": [735]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8142857142857143, -0.6669642857142857, -0.32410714285714287, -0.1657142857142857, -0.4885714285714286, -0.15428571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4982142857142858, 0.6723214285714286, 0.6616071428571428, 0.1742857142857143, 0.26, 0.2057142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.009026967930029137, 0.018265306122448987, 0.009238338192419801, 0.002289601554907678, -0.007603498542274062, 0.0012866861030126418, 0.06666666666666667], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2604252013181558, 0.2088021720262959, 0.1359338879237862, 0.03630114509165637, 0.07527137408936195, 0.056417154487349304, 0.9977753031397129], "count": [735]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021768707782030106], "std": [0.14592750370502472], "count": [735]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013605442176870747], "std": [0.03686045492284099], "count": [735]}, "timestamp": {"min": [0.0], "max": [36.7], "mean": [18.35], "std": [10.6088013774727], "count": [735]}, "frame_index": {"min": [0], "max": [734], "mean": [367.0], "std": [212.176027549454], "count": [735]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [735]}, "index": {"min": [37382], "max": [38116], "mean": [37749.0], "std": [212.176027549454], "count": [735]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [735]}}} +{"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": [[[0.6971087161232443]], [[0.5184228714774637]], [[0.3380155610103233]]], "std": [[[0.19701933589191198]], [[0.16947521565260668]], [[0.22272335061710938]]], "count": [128]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6989290377672981]], [[0.5498641163695093]], [[0.40644670140509515]]], "std": [[[0.1988446526102263]], [[0.19330613959526827]], [[0.24946186614403348]]], "count": [128]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6651055476244758]], [[0.528738501960156]], [[0.3990799160564647]]], "std": [[[0.23708682640449197]], [[0.21696950300687948]], [[0.2548007439392333]]], "count": [128]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [647]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [647]}, "observation.state": {"min": [1.7495020731308524, -0.8294141849266266, 0.6999968177088677, 0.0, 0.0, 0.7071068286895752, 0.7062593698501587, 0.15752634039872115, -0.327005935023692, 0.6006824445541188, -0.9896109104156494, -0.31762468814849854, -0.5553669333457947, 3.6573003399098525e-06, 0.020560068229823685, -0.03996017794869289], "max": [1.7503080202696248, -0.8292589297501063, 0.700580171732049, 0.0, 0.0, 0.707953155040741, 0.7071067094802856, 0.5993583034332575, 0.06367192281376766, 0.8315365589214311, 0.9146197438240051, 0.0348435640335083, 0.5893194079399109, 0.1980726718902588, 0.040004434833404594, -0.02050649233266891], "mean": [1.7500291227422526, -0.8293308691096921, 0.7002434931640953, 0.0, 0.0, 0.7074034548432234, 0.7068099069079439, 0.4743100203058886, -0.1454243853111871, 0.7837227127348214, -0.02042739993822077, -0.13931130750286155, 0.01741725052066343, 0.07344117176746394, 0.033417651022626664, -0.03363863111526599], "std": [0.00025683043904947645, 4.214068235082171e-05, 0.0001895641794772767, 0.0, 0.0, 0.00021990861029192233, 0.0002201178964996283, 0.10317050783677505, 0.13448895531729618, 0.04450949503041149, 0.8459403584422875, 0.09929555707492642, 0.4963626790542747, 0.05125920263988356, 0.006038495903134271, 0.0057279731705624426], "count": [647]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7285714285714285, -0.5223214285714286, -0.3803571428571429, -0.08571428571428572, -0.52, -0.24, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46339285714285716, 0.41785714285714287, 0.6053571428571428, 0.1, 0.2285714285714286, 0.16857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01080536542283061, -0.011972841686906606, -0.004260046367851623, 0.0008831971737690413, -0.00791786266283948, -0.008756899977920063, -0.023183925811437404], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2516976416266945, 0.14932726510836497, 0.15088087416247897, 0.023804653532374074, 0.08008985784678037, 0.06550989878427511, 0.9997312166697468], "count": [647]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024729520082473755], "std": [0.15529963374137878], "count": [647]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015455950540958269], "std": [0.039283663144169506], "count": [647]}, "timestamp": {"min": [0.0], "max": [32.3], "mean": [16.15], "std": [9.338629449764028], "count": [647]}, "frame_index": {"min": [0], "max": [646], "mean": [323.0], "std": [186.77258899528056], "count": [647]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [647]}, "index": {"min": [38117], "max": [38763], "mean": [38440.0], "std": [186.77258899528056], "count": [647]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [647]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.023529411764705882]], [[0.011764705882352941]]], "max": [[[0.9176470588235294]], [[0.8509803921568627]], [[0.8509803921568627]]], "mean": [[[0.46579816000802177]], [[0.4276754170906644]], [[0.40163714411545864]]], "std": [[[0.14119799517438664]], [[0.14679341120136277]], [[0.15289772892854664]]], "count": [112]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.027450980392156862]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3896272856982148]], [[0.36715089653720373]], [[0.3517290398520248]]], "std": [[[0.23173627937756644]], [[0.226368441685989]], [[0.22345569558731915]]], "count": [112]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.03137254901960784]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3842912652579342]], [[0.365401695956703]], [[0.35281485602969215]]], "std": [[[0.23096509707477425]], [[0.22798983106052179]], [[0.22631863438602098]]], "count": [112]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [545]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [545]}, "observation.state": {"min": [2.5155588967256577, -0.8553349083105819, 0.6999207623341498, 0.0, 0.0, -1.0, 7.597241165058222e-07, 0.10408812573310344, -0.3256078988463602, 0.5934307467338888, -0.9891284108161926, -0.518119752407074, -0.5606993436813354, 0.0004989216104149818, 0.020557520280546512, -0.039929574621787665], "max": [2.515960596222743, -0.8545865221175777, 0.7001276974413277, 0.0, 0.0, 1.0, 0.0008247077348642051, 0.5072256325024309, 0.1335415565155713, 0.8872443637476236, 0.9189934134483337, 0.10794493556022644, 0.567247211933136, 0.21737676858901978, 0.04000690962694202, -0.020509038968312437], "mean": [2.515773067650762, -0.8547264823632451, 0.7000330446156158, 0.0, 0.0, 0.46788982120128947, 0.0004563163237051396, 0.38204928676483674, -0.023456819831959352, 0.831047928016799, -0.26250317140456736, -0.19315926522836774, -0.11481679254168764, 0.10800461689706618, 0.03427342433423748, -0.0341957784972468], "std": [0.00015828373673437045, 0.00020573363066605927, 3.840045263421199e-05, 0.0, 0.0, 0.8837866635879803, 0.00030519922839563566, 0.08678919612693677, 0.15879648790709106, 0.06115849003024507, 0.7998731127125974, 0.16521982969241605, 0.4454642299904615, 0.05831566223516429, 0.005820234735602588, 0.005755140461075334], "count": [545]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9375, -0.5571428571428572, -0.5866071428571429, -0.07714285714285714, -0.5, -0.1457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3776785714285714, 0.5544642857142857, 0.6535714285714286, 0.12285714285714287, 0.2057142857142857, 0.7114285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02029816513761471, 0.011805373525556983, 0.018071756225425933, 0.0057771952817824365, -0.010804718217562254, 0.005614678899082563, -0.14495412844036698], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.26769045278085696, 0.22250037911513956, 0.18149182048975537, 0.021505144368219105, 0.07323391044864057, 0.12462811710578513, 0.9894383763772735], "count": [545]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.029357798397541046], "std": [0.16880734264850616], "count": [545]}, "next.done": {"min": [false], "max": [true], "mean": [0.001834862385321101], "std": [0.04279597720987376], "count": [545]}, "timestamp": {"min": [0.0], "max": [27.2], "mean": [13.600000000000001], "std": [7.866384175718853], "count": [545]}, "frame_index": {"min": [0], "max": [544], "mean": [272.0], "std": [157.3276835143771], "count": [545]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [545]}, "index": {"min": [38764], "max": [39308], "mean": [39036.0], "std": [157.3276835143771], "count": [545]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [545]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4902240446779117]], [[0.34403268585537516]], [[0.2512740350860396]]], "std": [[[0.14814083202865297]], [[0.20655585342280075]], [[0.24941612788535786]]], "count": [135]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4649483452868271]], [[0.377515304886784]], [[0.3115043685569569]]], "std": [[[0.22204018695139577]], [[0.24247839898402362]], [[0.27263400982386066]]], "count": [135]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46755880916819853]], [[0.37867486425994007]], [[0.3114628779481266]]], "std": [[[0.2169801638962361]], [[0.24168633355213656]], [[0.27344680880616645]]], "count": [135]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [695]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [695]}, "observation.state": {"min": [0.806421644949217, -2.2954475225572315, 0.6999966773121888, 0.0, 0.0, -1.0, 0.0, 0.1879653926022985, -0.3572350047498818, 0.6036435349229214, -0.9864498972892761, -0.34720587730407715, -0.5849350690841675, 0.001471307361498475, 0.02056583197544545, -0.04000008753980943], "max": [0.8066258696838683, -2.2948205185858144, 0.7005861063334854, 0.0, 0.0, 1.0, 0.0010830041719600558, 0.5692749269583666, 0.22184564404355234, 0.8511705907658033, 0.8945919871330261, 0.02960115671157837, 0.5844368934631348, 0.23718960583209991, 0.040002414994241946, -0.02050072687304185], "mean": [0.8065352093882419, -2.29509181755437, 0.7002407813595569, 0.0, 0.0, -0.3064746343832222, 0.0004909996124060134, 0.4634335294011053, -0.07742082179667888, 0.8007672577728002, 0.10358136617880073, -0.21628248837354372, 0.059576761186551704, 0.13443735091538309, 0.03343273251211279, -0.033916028698128826], "std": [5.537694449044246e-05, 0.00021190543248537788, 0.00017895410687560252, 0.0, 0.0, 0.9518786303717648, 0.0003753212028635973, 0.09816394641088005, 0.21401824313822473, 0.047382174379370263, 0.8001825818141148, 0.0870805839444135, 0.5192950514042199, 0.05768405445560308, 0.005982711261777766, 0.005515942530760798], "count": [695]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8303571428571429, -0.61875, -0.33214285714285713, -0.07714285714285714, -0.5571428571428572, -0.3942857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.42321428571428565, 0.5464285714285714, 0.54375, 0.10285714285714286, 0.3142857142857143, 0.3342857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007912384378211764, -0.015982785200411066, 0.011831963001027724, 0.0019033915724563201, -0.00994039054470709, -0.00043165467625899407, -0.012949640287769784], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23752609977304145, 0.17882097847399486, 0.14031513146849572, 0.021972221326178078, 0.07811818801762736, 0.08278340530735397, 0.9999161498927912], "count": [695]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.023021582514047623], "std": [0.14997196197509766], "count": [695]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014388489208633094], "std": [0.03790486294192659], "count": [695]}, "timestamp": {"min": [0.0], "max": [34.7], "mean": [17.35], "std": [10.031450543166727], "count": [695]}, "frame_index": {"min": [0], "max": [694], "mean": [347.0], "std": [200.6290108633345], "count": [695]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [695]}, "index": {"min": [39309], "max": [40003], "mean": [39656.0], "std": [200.6290108633345], "count": [695]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [695]}}} +{"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": [[[0.4947183080663018]], [[0.45717389819031307]], [[0.43908901656587707]]], "std": [[[0.1638549857242369]], [[0.1752522596808738]], [[0.17849933742275492]]], "count": [110]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.023529411764705882]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5954730181090547]], [[0.5697267822700813]], [[0.5455613950569574]]], "std": [[[0.24628591990203924]], [[0.24833930636341936]], [[0.25260754542076846]]], "count": [110]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.023529411764705882]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.611337271569672]], [[0.5884076145328515]], [[0.5683947345917237]]], "std": [[[0.2537112930198258]], [[0.2616297125726227]], [[0.2694335635255982]]], "count": [110]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [529]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [529]}, "observation.state": {"min": [0.8038184089771298, -0.8815038743165711, 0.6999965526664574, 0.0, 0.0, -1.0, 7.668743506883402e-08, 0.18574912658318, -0.30708186267453264, 0.6137362901507687, -0.9857269525527954, -0.4521000385284424, -0.5489226579666138, 5.9581467212410644e-05, 0.020569624044793944, -0.040069942274478264], "max": [0.8039574305004028, -0.880744600177711, 0.7006659070348475, 0.0, 0.0, 1.0, 0.0011402301024645567, 0.5641501415017777, 0.23544510946165298, 0.9227318165127987, 0.9142659902572632, 0.026986241340637207, 0.5542122721672058, 0.34036239981651306, 0.04000313981247069, -0.02049693507324416], "mean": [0.8039164879729377, -0.881036866161787, 0.7002229142111829, 0.0, 0.0, -0.23251405037193082, 0.00039271378669083443, 0.45605376758922345, -0.007737431711070053, 0.8393699355783443, -0.2320607916393893, -0.21876045709408976, -0.12469084693263294, 0.15584307089877242, 0.03392118549233141, -0.03444495864930029], "std": [3.40053890895085e-05, 0.00024064456951597803, 0.00020225728233692227, 0.0, 0.0, 0.9725929064804233, 0.00037146959034439336, 0.09923317836799313, 0.18029106829407887, 0.060525526697393806, 0.7668405068454477, 0.15316995835392344, 0.4865211303651916, 0.10123525509395667, 0.006004787695695162, 0.005257190701779432], "count": [529]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8892857142857145, -0.5651785714285715, -0.8035714285714287, -0.1457142857142857, -0.5314285714285715, -0.35428571428571426, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.43392857142857144, 0.5303571428571429, 0.5544642857142857, 0.18285714285714286, 0.33714285714285713, 0.39714285714285713, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.010876316500134995, -0.010202876046448846, 0.001519038617337294, 0.0007723467458817184, -0.015662975965433437, -0.0004374831217931395, -0.09640831758034027], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.26673658564636976, 0.2125798708477475, 0.19375269819620441, 0.0338459382140383, 0.09257034830946803, 0.11515163430370046, 0.9953418690587341], "count": [529]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.030245747417211533], "std": [0.17126280069351196], "count": [529]}, "next.done": {"min": [false], "max": [true], "mean": [0.001890359168241966], "std": [0.04343714666569398], "count": [529]}, "timestamp": {"min": [0.0], "max": [26.4], "mean": [13.200000000000001], "std": [7.63544366752843], "count": [529]}, "frame_index": {"min": [0], "max": [528], "mean": [264.0], "std": [152.7088733505686], "count": [529]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [529]}, "index": {"min": [40004], "max": [40532], "mean": [40268.0], "std": [152.7088733505686], "count": [529]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [529]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4917554099701192]], [[0.3655731372138699]], [[0.2625460272424187]]], "std": [[[0.16609486877797136]], [[0.18847234936023474]], [[0.21853450971449628]]], "count": [161]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4439670539050369]], [[0.3938751752186948]], [[0.3502427996504308]]], "std": [[[0.25648723455131817]], [[0.26519381537363623]], [[0.2766814599097158]]], "count": [161]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.01568627450980392]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4599824376931479]], [[0.39654747922649014]], [[0.3431555260521328]]], "std": [[[0.23622769912451683]], [[0.2530625873360399]], [[0.27443158554641905]]], "count": [161]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [881]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [881]}, "observation.state": {"min": [2.5837851940652317, -0.9178187616692408, 0.6999945072246726, 0.0, 0.0, -1.0, 1.5694678268118878e-06, 0.18068031154716824, -0.21483158154839888, 0.5850667208370902, -0.9912179708480835, -0.3800565004348755, -0.6139940023422241, 0.00017528646276332438, 0.020571926816516324, -0.04000558683729371], "max": [2.5839212913782603, -0.9171159697956527, 0.7007495451422161, 0.0, 0.0, 1.0, 0.0009389905608259141, 0.5834486782575263, 0.20435858697725362, 0.8599568210138165, 0.8880366683006287, 0.2737881541252136, 0.498578280210495, 0.21687035262584686, 0.040039629719955894, -0.020494632096141725], "mean": [2.5838536803344456, -0.9174309005300152, 0.7003954950389891, 0.0, 0.0, -0.3371168442670928, 0.0003502853195303014, 0.48182410612479015, -0.04310011726255083, 0.7771247377689797, -0.4849292278019172, -0.1457950353081191, -0.2777873660341565, 0.11138252508463829, 0.03461160276851819, -0.034322261205516756], "std": [3.0441028299236386e-05, 0.000218998950818649, 0.0002162526172634549, 0.0, 0.0, 0.9414627431008454, 0.00026062254740683716, 0.10532639781078883, 0.13767678473001863, 0.049439623119234714, 0.6898974744907729, 0.13820191334184997, 0.3954362037409686, 0.050867320882043696, 0.006730400458291685, 0.007234736488756304], "count": [881]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9375, -0.6991071428571428, -0.7232142857142858, -0.14285714285714285, -0.52, -0.3914285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.44732142857142854, 0.44464285714285723, 0.6080357142857142, 0.1657142857142857, 0.15714285714285714, 0.26, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004958853575482394, -0.010939273552780954, 0.002955245662396601, 0.0023577103940327537, -0.005412680395654292, -0.005779147073131181, -0.2985244040862656], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24565426529247725, 0.14153162867048213, 0.13167288039838657, 0.03654710261356535, 0.06566972655753674, 0.06990855829529082, 0.9544020013416521], "count": [881]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03291713818907738], "std": [0.17841972410678864], "count": [881]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011350737797956867], "std": [0.033671729793850906], "count": [881]}, "timestamp": {"min": [0.0], "max": [44.0], "mean": [22.0], "std": [12.716131487209466], "count": [881]}, "frame_index": {"min": [0], "max": [880], "mean": [440.0], "std": [254.3226297441893], "count": [881]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [881]}, "index": {"min": [40533], "max": [41413], "mean": [40973.0], "std": [254.3226297441893], "count": [881]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [881]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5330172899801446]], [[0.3427352443207775]], [[0.2498527416207561]]], "std": [[[0.15769871813923342]], [[0.19543669903465075]], [[0.23068180540081754]]], "count": [169]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4809572914938789]], [[0.3018752334759371]], [[0.21106743357244898]]], "std": [[[0.2191510645181056]], [[0.22385687703659052]], [[0.24589834076944264]]], "count": [169]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5412738991691005]], [[0.3366952405947933]], [[0.2335976596774296]]], "std": [[[0.16200223986809298]], [[0.21232769104167717]], [[0.2478467282585948]]], "count": [169]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [939]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [939]}, "observation.state": {"min": [2.8200988153316313, -1.0490361422922354, 0.6999940682974349, 0.0, 0.0, 0.707082211971283, 0.706778347492218, -0.017081067302723296, -0.24508116928445967, 0.3642185671336928, -0.9932095408439636, -0.45275938510894775, -0.527181088924408, 9.336252696812153e-05, 0.020586122961600044, -0.040004596037461856], "max": [2.820344953955041, -1.0489280265774308, 0.7001714422857948, 0.0, 0.0, 0.7074350714683533, 0.7071313261985779, 0.4422588994855796, 0.1453096822882376, 0.8542956804198728, 0.8926813006401062, 0.04962116479873657, 0.6546732783317566, 0.2916935980319977, 0.04000731622482147, -0.0204804383032234], "mean": [2.8202165769629617, -1.049008277337513, 0.7000627392734812, 0.0, 0.0, 0.7072613568732533, 0.7069521569850219, 0.27095227921028187, -0.05893169109370674, 0.6507174200879431, 0.27686169194464233, -0.15167201503206745, 0.26521576468111735, 0.119131848181281, 0.03333675789531331, -0.034182296203507045], "std": [6.34080643154344e-05, 2.2689482326594835e-05, 6.130399779211315e-05, 0.0, 0.0, 0.00010137563512941797, 0.00010140013487684796, 0.11906782710597077, 0.13189656592725804, 0.17734795526124356, 0.7669606592308492, 0.14877426712677766, 0.4463096952489967, 0.07909885591669838, 0.005815884083501023, 0.004979529485403211], "count": [939]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8223214285714285, -0.3669642857142857, -0.7392857142857142, -0.23714285714285716, -0.42, -0.2257142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5223214285714286, 0.4928571428571429, 0.7071428571428573, 0.1142857142857143, 0.28, 0.16857142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.019106572341396625, -0.00790449566408035, -0.0019540164308535046, -0.00020994979461433296, -0.00882701962574168, -0.004174653887113957, 0.0670926517571885], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2815613206001523, 0.13356064668163856, 0.2427085634152099, 0.03367965918548295, 0.07701537807987123, 0.046970727179168725, 0.9977467494711171], "count": [939]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017039403319358826], "std": [0.12941816449165344], "count": [939]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010649627263045794], "std": [0.032616385156791376], "count": [939]}, "timestamp": {"min": [0.0], "max": [46.9], "mean": [23.45], "std": [13.553289883517825], "count": [939]}, "frame_index": {"min": [0], "max": [938], "mean": [469.0], "std": [271.0657976703565], "count": [939]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [939]}, "index": {"min": [41414], "max": [42352], "mean": [41883.0], "std": [271.0657976703565], "count": [939]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [939]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[0.9882352941176471]], [[0.9921568627450981]]], "mean": [[[0.4404657788245506]], [[0.4176086816725388]], [[0.39863012455958946]]], "std": [[[0.17169565219999236]], [[0.1708732084136895]], [[0.15440417343439028]]], "count": [150]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4665275368285335]], [[0.4789803331163195]], [[0.48081108183019305]]], "std": [[[0.26166403425611123]], [[0.2439544010037341]], [[0.24127560346783136]]], "count": [150]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4610396369485294]], [[0.4762117911943423]], [[0.4788939288768893]]], "std": [[[0.22972462883562725]], [[0.21076531858626374]], [[0.2079919875129937]]], "count": [150]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [801]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [801]}, "observation.state": {"min": [5.949745855710495, -0.9296012631882105, 0.699996499859777, 0.0, 0.0, 0.7067481279373169, 0.7066249847412109, 0.20917368326217467, -0.25445663120463013, 0.5887901839052478, -0.9039164185523987, -0.393798828125, -0.5564039349555969, 0.0005463386769406497, 0.0190490950143043, -0.04000451142986811], "max": [5.950347004572805, -0.92945074871577, 0.7005963032988543, 0.0, 0.0, 0.7075883150100708, 0.7074652314186096, 0.5554641397785951, 0.3358903457627411, 0.8503862007160051, 0.9896751046180725, 0.11954519152641296, 0.5427384376525879, 0.27268967032432556, 0.04000248322503917, -0.020529755538576642], "mean": [5.950091154957821, -0.9295403911775005, 0.7001083275143044, 0.0, 0.0, 0.707130723082915, 0.707082744469208, 0.44998830744052165, -0.004323577714390412, 0.8028380932223627, 0.17246216654628702, -0.24110051079859002, 0.11202979911951239, 0.14727720392175536, 0.03134582833910092, -0.03201893104035537], "std": [0.00019019673113561804, 4.30527005046002e-05, 0.00017032378485165426, 0.0, 0.0, 0.00026708131686703474, 0.00026709973020678525, 0.09486959653598603, 0.20276428496274151, 0.04556038681351025, 0.7955515250758467, 0.13060312799497772, 0.47159189053721584, 0.07434904324367414, 0.007291262244261477, 0.00704545060935437], "count": [801]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7312500000000001, -0.6428571428571429, -0.46071428571428574, -0.14285714285714285, -0.6657142857142857, -0.3457142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.39642857142857146, 0.5785714285714285, 0.6053571428571428, 0.13714285714285715, 0.18, 0.44571428571428573, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005424023542001076, -0.002237158908507197, 0.003260433386837885, 0.001298377028714107, -0.010494025325485986, 0.002685928303905844, 0.14856429463171036], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22316463132755576, 0.1788224120832309, 0.14105695754478348, 0.02942034490971628, 0.07923185336019985, 0.0995424894901463, 0.9889027507093893], "count": [801]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019975030794739723], "std": [0.1399143785238266], "count": [801]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012484394506866417], "std": [0.03531120005925331], "count": [801]}, "timestamp": {"min": [0.0], "max": [40.0], "mean": [20.0], "std": [11.561430130683084], "count": [801]}, "frame_index": {"min": [0], "max": [800], "mean": [400.0], "std": [231.22860261366168], "count": [801]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [801]}, "index": {"min": [42353], "max": [43153], "mean": [42753.0], "std": [231.22860261366168], "count": [801]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [801]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5606985673261722]], [[0.3874094036741535]], [[0.28281045543791966]]], "std": [[[0.16961752402718636]], [[0.19817194094299168]], [[0.22521268775519906]]], "count": [119]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.027450980392156862]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6235527029774456]], [[0.4830453422321364]], [[0.399975123824231]]], "std": [[[0.19639022872560866]], [[0.268363627056696]], [[0.3068394680353443]]], "count": [119]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.01568627450980392]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6098715248679895]], [[0.48838262427558343]], [[0.4166359690705326]]], "std": [[[0.21764383188630906]], [[0.27668098015572073]], [[0.30999992028150974]]], "count": [119]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [590]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [590]}, "observation.state": {"min": [1.0933040466172776, -0.8066007862148845, 0.6999956683573275, 0.0, 0.0, 0.7070536613464355, 0.7065233588218689, 0.1549059167068143, -0.11967143839973593, 0.613680439629399, -0.9846674799919128, -0.13899904489517212, -0.5862545371055603, 6.374523945851251e-05, 0.02056941209632077, -0.04000253912793106], "max": [1.0940249562495838, -0.8062387952320158, 0.7012093992689351, 0.0, 0.0, 0.707689642906189, 0.7071598172187805, 0.5437074806717177, 0.25367812936367184, 0.8600027244757902, 0.9075659513473511, 0.07280430197715759, 0.549765408039093, 0.16999685764312744, 0.04010120237595659, -0.019244873316691214], "mean": [1.0937596262591787, -0.8063685122440744, 0.7004294477079802, 0.0, 0.0, 0.7073034949221854, 0.7069099249476093, 0.44064964222540787, 0.04150397750563528, 0.7890907753555298, -0.1801387686850661, -0.07023140406709606, -0.11528607124494294, 0.06825036993057869, 0.03248176543976269, -0.03196491401622948], "std": [0.00026464246621581703, 0.00011084320984535056, 0.00043144583758991005, 0.0, 0.0, 0.00022888420205572783, 0.00022902325785006372, 0.09728045304622045, 0.12500612788970214, 0.044775659396784254, 0.831614516924881, 0.0530827041696632, 0.4985896562197514, 0.040944623981680146, 0.007426889690646042, 0.008131559220190245], "count": [590]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8624999999999999, -0.6133928571428572, -0.4714285714285715, -0.1142857142857143, -0.5571428571428572, -0.13428571428571429, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46607142857142864, 0.40982142857142867, 0.7848214285714286, 0.23142857142857146, 0.22285714285714286, 0.18285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007282082324455206, -0.00013619854721548134, -0.020561440677966135, 0.002358353510895884, -0.010363196125907996, -0.004358353510895884, -0.07796610169491526], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2795384034178942, 0.18341661583013985, 0.1891576404331234, 0.032132340199087485, 0.0783335572601954, 0.03695559399169069, 0.9969560105573901], "count": [590]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02711864374577999], "std": [0.16242913901805878], "count": [590]}, "next.done": {"min": [false], "max": [true], "mean": [0.001694915254237288], "std": [0.04113444440512406], "count": [590]}, "timestamp": {"min": [0.0], "max": [29.45], "mean": [14.725], "std": [8.515904238540966], "count": [590]}, "frame_index": {"min": [0], "max": [589], "mean": [294.5], "std": [170.31808477081933], "count": [590]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [590]}, "index": {"min": [43154], "max": [43743], "mean": [43448.5], "std": [170.31808477081933], "count": [590]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [590]}}} +{"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": [[[0.6431304005839142]], [[0.5187683417832665]], [[0.41704314233401446]]], "std": [[[0.15016160765344627]], [[0.18946318461693]], [[0.21981998228484204]]], "count": [159]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.588226335294768]], [[0.5257437659538929]], [[0.46060586398443765]]], "std": [[[0.19445166311022405]], [[0.2026358927309571]], [[0.22561560857678967]]], "count": [159]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5969059451027119]], [[0.5247481421045963]], [[0.44749791009723955]]], "std": [[[0.222392358218081]], [[0.2344972989695464]], [[0.2549717486887228]]], "count": [159]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [868]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [868]}, "observation.state": {"min": [2.35907085768702, -0.935140840830864, 0.699995526531307, 0.0, 0.0, 0.7070240378379822, 0.7071449160575867, 0.1929182690762573, -0.33386072278253875, 0.5949698965107519, -0.989600658416748, -0.40189141035079956, -0.5551539659500122, 1.7761194612830877e-05, 0.020568603897660912, -0.04000157464024132], "max": [2.3591003212725212, -0.935128220332873, 0.7005234076029012, 0.0, 0.0, 0.7070686221122742, 0.7071896195411682, 0.5829828251059905, 0.30256504336589085, 0.8515119152757459, 0.8843657970428467, 0.11209532618522644, 0.5949615240097046, 0.3102506101131439, 0.040018817127177767, -0.02049795661433598], "mean": [2.3590838820339584, -0.9351362639601044, 0.700132687312661, 0.0, 0.0, 0.7070513534518431, 0.707162162949962, 0.4264242721396788, -0.0412521720442235, 0.7937127360746448, 0.10857449121738909, -0.12013492668004629, 0.1011449389571693, 0.08015990434735358, 0.033940439210326516, -0.03320076567491517], "std": [3.7902266042105526e-06, 1.3408173174954566e-06, 0.00013795614183588056, 0.0, 0.0, 5.152277403523794e-06, 5.167952460548515e-06, 0.11567476775654241, 0.20082555492042375, 0.050338220544292926, 0.8437340991543222, 0.13609167127846294, 0.4671834032063825, 0.09194979834130018, 0.005186441550889401, 0.005727353176146757], "count": [868]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6562499999999999, -0.6482142857142857, -0.45535714285714285, -0.1742857142857143, -0.5942857142857143, -0.35714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3883928571428572, 0.4875000000000001, 0.4580357142857143, 0.12285714285714287, 0.19714285714285715, 0.40857142857142864, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005779912771560238, -0.010748230743910474, 0.004668984529295651, 0.0015865701119157334, -0.0062541145490454236, -0.0028242264647794536, 0.07373271889400922], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21998026779546365, 0.19242722605823506, 0.1245399896409193, 0.02822074877385901, 0.06830036214991826, 0.08836444442206103, 0.9972780385451766], "count": [868]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018433179706335068], "std": [0.13451169431209564], "count": [868]}, "next.done": {"min": [false], "max": [true], "mean": [0.001152073732718894], "std": [0.033922654065289076], "count": [868]}, "timestamp": {"min": [0.0], "max": [43.35], "mean": [21.675], "std": [12.528492527036123], "count": [868]}, "frame_index": {"min": [0], "max": [867], "mean": [433.5], "std": [250.56985054072248], "count": [868]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [868]}, "index": {"min": [43744], "max": [44611], "mean": [44177.5], "std": [250.56985054072248], "count": [868]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [868]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6014567425861451]], [[0.45198675720960657]], [[0.38600086885340074]]], "std": [[[0.1441176946470188]], [[0.20361636050705004]], [[0.21418748170051802]]], "count": [138]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5668804601228654]], [[0.46167873199367493]], [[0.399757718701158]]], "std": [[[0.21727772084077523]], [[0.23719262619334483]], [[0.244887219046991]]], "count": [138]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5727987820060798]], [[0.45551603967135995]], [[0.3841337970929852]]], "std": [[[0.18378918264307678]], [[0.2054609149129464]], [[0.22016472920953825]]], "count": [138]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [720]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [720]}, "observation.state": {"min": [4.629303475278831, -0.7718612222754686, 0.699996438628422, 0.0, 0.0, 0.7062214016914368, 0.7069523930549622, 0.17381381077174796, -0.15051609524215337, 0.5979058648994998, -0.9911271333694458, -0.4823402166366577, -0.5758869647979736, 0.0002577640407253057, 0.0205539995056085, -0.03997270623702628], "max": [4.630123914145587, -0.7715805109701434, 0.7011196783288148, 0.0, 0.0, 0.7072612047195435, 0.7079910635948181, 0.5328036424533946, 0.366627503158659, 0.9161365995724948, 0.8418099880218506, 0.05205404758453369, 0.6183148622512817, 0.33815741539001465, 0.040009188142618494, -0.020512560773707406], "mean": [4.629686229731375, -0.7717974178197532, 0.7002906525011483, 0.0, 0.0, 0.7067316566076544, 0.7074814902411567, 0.4359360902574698, 0.13871094516122065, 0.8451817109193205, -0.40441663596365185, -0.2827683095509807, -0.22527186727772155, 0.19971170686722972, 0.03287886353887587, -0.03365839094849051], "std": [0.00027707465212136877, 6.994247838178148e-05, 0.00032385262347622894, 0.0, 0.0, 0.00038505191943363575, 0.0003846636062078515, 0.0761014348835862, 0.17558241935539284, 0.05127203257238407, 0.6563716634826512, 0.15480190815002323, 0.44588477342519567, 0.11070895326076921, 0.0056673352774203895, 0.005164388468144185], "count": [720]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6214285714285714, -0.6053571428571428, -0.2598214285714286, -0.06, -0.7257142857142858, -0.29714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45535714285714285, 0.6026785714285715, 0.5785714285714285, 0.13142857142857142, 0.1657142857142857, 0.5771428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.008456101190476248, 0.012719494047619042, 0.008571428571428577, 0.0029206349206349212, -0.010400793650793654, 0.0038134920634920687, 0.15], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1980010432260403, 0.19275076375910574, 0.1412958488438721, 0.022546913662331837, 0.09191869077426855, 0.10048343078993542, 0.9886859966642569], "count": [720]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02222222276031971], "std": [0.14740554988384247], "count": [720]}, "next.done": {"min": [false], "max": [true], "mean": [0.001388888888888889], "std": [0.03724191021608867], "count": [720]}, "timestamp": {"min": [0.0], "max": [35.95], "mean": [17.975], "std": [10.392294821966257], "count": [720]}, "frame_index": {"min": [0], "max": [719], "mean": [359.5], "std": [207.84589643932512], "count": [720]}, "episode_index": {"min": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [720]}, "index": {"min": [44612], "max": [45331], "mean": [44971.5], "std": [207.84589643932512], "count": [720]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [720]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.60109416550281]], [[0.33072629068412035]], [[0.2899334099713494]]], "std": [[[0.14828518564021498]], [[0.21824092680195076]], [[0.23344480354447725]]], "count": [160]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6284018677356197]], [[0.4374480894500134]], [[0.39212154463225724]]], "std": [[[0.18675879524194283]], [[0.2552243046488375]], [[0.25611904694883786]]], "count": [160]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6029097841300216]], [[0.4067889344458486]], [[0.3640856323990167]]], "std": [[[0.20131663413222212]], [[0.26831069756517256]], [[0.2681930623821368]]], "count": [160]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [874]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [874]}, "observation.state": {"min": [2.199502019170201, -0.7916692577275765, 0.699995466112598, 0.0, 0.0, 0.7070430517196655, 0.706572413444519, 0.08479909471597769, -0.2951023018565295, 0.5905040649190569, -0.9907822608947754, -0.3810617923736572, -0.5862306356430054, 0.0001629189500818029, 0.020553601468206124, -0.04006497216079835], "max": [2.2001066460999117, -0.7914549307654711, 0.7007608408875097, 0.0, 0.0, 0.7076407074928284, 0.7071705460548401, 0.42746433082022506, 0.4374389714901612, 0.8493212711014309, 0.9435898065567017, 0.086029052734375, 0.571549654006958, 0.29136839509010315, 0.040009450276449185, -0.020512959364059426], "mean": [2.199787247606018, -0.7915264712014705, 0.7003953892511315, 0.0, 0.0, 0.7072894125835847, 0.7069240758020763, 0.319260468967268, 0.024340880884877566, 0.7922446393914849, -0.3030410990698659, -0.12765983197181666, -0.18510205089807238, 0.11041033716004015, 0.03305810310103783, -0.03370413724612128], "std": [0.0001484436216544047, 4.381841384656636e-05, 0.00020048969593530104, 0.0, 0.0, 0.00015196996932218462, 0.00015205680451630315, 0.07056048932969065, 0.2643586079196026, 0.04597031687991941, 0.7725969584421939, 0.12621031101307717, 0.47468998015072406, 0.08514794871208785, 0.005875742228551961, 0.005324137023426538], "count": [874]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7178571428571429, -0.6053571428571428, -0.31339285714285714, -0.1, -0.3914285714285714, -0.3171428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3830357142857143, 0.9375, 0.594642857142857, 0.14, 0.14285714285714285, 0.32285714285714284, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01625531219352731, 0.012801364825106194, 0.009479200719189253, -0.00018306636155606437, -0.0064269369074861065, 0.0020300751879699266, 0.08466819221967964], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20083142819000357, 0.2153030562313815, 0.12414812624884193, 0.025726344181350523, 0.05702157976301154, 0.07098546858462451, 0.9964092016968894], "count": [874]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018306635320186615], "std": [0.13405783474445343], "count": [874]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011441647597254005], "std": [0.03380614806108503], "count": [874]}, "timestamp": {"min": [0.0], "max": [43.65], "mean": [21.825], "std": [12.61509512449272], "count": [874]}, "frame_index": {"min": [0], "max": [873], "mean": [436.5], "std": [252.3019024898544], "count": [874]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [874]}, "index": {"min": [45332], "max": [46205], "mean": [45768.5], "std": [252.3019024898544], "count": [874]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [874]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6736956996036629]], [[0.5943730073816637]], [[0.4941107098625997]]], "std": [[[0.1645550374497944]], [[0.17656711481388476]], [[0.18069421640324845]]], "count": [118]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6788143519271287]], [[0.6415843533851571]], [[0.5903077738829411]]], "std": [[[0.26971208103443906]], [[0.269612093982004]], [[0.27858435473831267]]], "count": [118]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6313006111061347]], [[0.5968891609067654]], [[0.5514128041291165]]], "std": [[[0.2182609772343987]], [[0.21995817116822194]], [[0.23243905335217474]]], "count": [118]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [582]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [582]}, "observation.state": {"min": [-0.8193292158812034, -3.0137103836906927, 0.6999973386599155, 0.0, 0.0, -0.00025413354160264134, 1.0, 0.19422238573376183, -0.28118888569620504, 0.5998776187194088, -0.987453281879425, -0.3718474507331848, -0.5933446884155273, 0.0004516942717600614, 0.020532014148251603, -0.04000224692300284], "max": [-0.8191768813826882, -3.0134146508157107, 0.7012590507402594, 0.0, 0.0, 0.0002270131662953645, 1.0, 0.5911895529337803, 0.10811212102647971, 0.8366598868494365, 0.8469519019126892, 0.02915799617767334, 0.5728772878646851, 0.20726659893989563, 0.03999133192147878, -0.020534545000295997], "mean": [-0.8192571007829548, -3.0135514896587425, 0.7005788807812467, 0.0, 0.0, 1.0071362521323198e-05, 1.0, 0.4752389379516557, -0.07523215937043141, 0.7871227899632104, 0.017482837041219074, -0.17628705076540457, 0.025344802213903145, 0.10464765756920859, 0.03345258042031345, -0.032971095717296464], "std": [3.6400487479585944e-05, 8.746415422073768e-05, 0.0004082925145390217, 0.0, 0.0, 0.00015339785426291884, 0.0, 0.10507029998154387, 0.12262341307553318, 0.04402215716300138, 0.8230925245211164, 0.11103226311979271, 0.5131509325366025, 0.06237297275877611, 0.005541394730744138, 0.005918489381794888], "count": [582]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8303571428571429, -0.4901785714285714, -0.46875, -0.19428571428571428, -0.4514285714285714, -0.2542857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.43660714285714286, 0.5142857142857143, 0.594642857142857, 0.2, 0.26857142857142857, 0.28, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00017028718703981956, -0.01265187776141381, -0.010590022091310767, 0.00461953853706431, -0.00911634756995583, -0.008075601374570444, 0.044673539518900345], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2529657216942959, 0.15491597821235034, 0.1628435648636895, 0.03652320146836145, 0.06831134503943699, 0.04767245005224747, 0.9990016390711557], "count": [582]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.027491409331560135], "std": [0.16351035237312317], "count": [582]}, "next.done": {"min": [false], "max": [true], "mean": [0.001718213058419244], "std": [0.04141570719310635], "count": [582]}, "timestamp": {"min": [0.0], "max": [29.05], "mean": [14.524999999999999], "std": [8.400434016565256], "count": [582]}, "frame_index": {"min": [0], "max": [581], "mean": [290.5], "std": [168.0086803313051], "count": [582]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [582]}, "index": {"min": [46206], "max": [46787], "mean": [46496.5], "std": [168.0086803313051], "count": [582]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [582]}}} +{"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": [[[0.6428983078364023]], [[0.5836486176754512]], [[0.5636172848508678]]], "std": [[[0.1561931789602501]], [[0.20909464327124794]], [[0.2016844321393875]]], "count": [116]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6947324106707776]], [[0.6641379727150155]], [[0.6392070788318358]]], "std": [[[0.2391504537235984]], [[0.22269505332468736]], [[0.2161550810159414]]], "count": [116]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6150814156986879]], [[0.5935991453592482]], [[0.5746287409722443]]], "std": [[[0.22624975094514804]], [[0.21983879309761536]], [[0.21641076929983596]]], "count": [116]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [568]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [568]}, "observation.state": {"min": [4.4420109053773285, -0.7921377032167038, 0.6999957943211105, 0.0, 0.0, 0.7063946723937988, 0.7069473266601562, 0.1509871379293226, -0.21397446237218887, 0.6065684246198748, -0.9866411685943604, -0.4351770281791687, -0.6027211546897888, 0.0009956177091225982, 0.020572701615103776, -0.04000165867175724], "max": [4.442719017200987, -0.7918949256532005, 0.7007166469104696, 0.0, 0.0, 0.7072662115097046, 0.7078181505203247, 0.5506843126760078, 0.1467140840072716, 0.8988373792725374, 0.9373098015785217, 0.10282856225967407, 0.6145286560058594, 0.2868402302265167, 0.040007525707656484, -0.020493859200045934], "mean": [4.44228539432733, -0.7919944176740011, 0.7002062106014789, 0.0, 0.0, 0.7068996876478195, 0.7073136987820478, 0.4283454962470559, -0.024157541711490267, 0.8285028714539525, -0.341128473550501, -0.18628768357907383, -0.16955071614241937, 0.12731087292830662, 0.03537574429049924, -0.03536225014731702], "std": [0.0002214001186389725, 6.93108875592322e-05, 0.00023492292861556984, 0.0, 0.0, 0.0002858255545418681, 0.00028560871114189626, 0.10846915313556194, 0.11259781235158114, 0.056937336936602016, 0.7496645762368348, 0.138767093244898, 0.46475970956996565, 0.08196268003731742, 0.004980066944917246, 0.004914875193498454], "count": [568]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8303571428571429, -0.43660714285714286, -0.35625, -0.17142857142857143, -0.4714285714285714, -0.3342857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3776785714285714, 0.5116071428571428, 0.5973214285714286, 0.19142857142857142, 0.2142857142857143, 0.44285714285714284, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.012110160965794798, 0.0002876634808853334, 0.004828973843058325, 0.001493963782696177, -0.010100603621730373, -0.0007394366197183119, -0.20422535211267606], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.26961915147214677, 0.15775933681446488, 0.17580460431566589, 0.045412690754116504, 0.07873636390558647, 0.10565628377720118, 0.9789239018199777], "count": [568]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.028169013559818268], "std": [0.16545549035072327], "count": [568]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017605633802816902], "std": [0.0419221158443333], "count": [568]}, "timestamp": {"min": [0.0], "max": [28.35], "mean": [14.174999999999999], "std": [8.198361116711071], "count": [568]}, "frame_index": {"min": [0], "max": [567], "mean": [283.5], "std": [163.96722233422142], "count": [568]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [568]}, "index": {"min": [46788], "max": [47355], "mean": [47071.5], "std": [163.96722233422142], "count": [568]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [568]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5420578401066997]], [[0.41145744046919025]], [[0.32048602425906697]]], "std": [[[0.16878734542507565]], [[0.18225394981262533]], [[0.21977746818097757]]], "count": [127]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5246715235272105]], [[0.3841878132704546]], [[0.28664778496944116]]], "std": [[[0.19639314732299387]], [[0.22380270421433376]], [[0.2558177683259563]]], "count": [127]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5244229944396097]], [[0.3661406123161463]], [[0.25903043736641435]]], "std": [[[0.15209600317660354]], [[0.18483942412956617]], [[0.21557588913038261]]], "count": [127]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [639]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [639]}, "observation.state": {"min": [4.367526895619464, -4.296738175606528, 0.6999968068822013, 0.0, 0.0, -0.0006106148939579725, 0.9999997615814209, 0.0475294504716004, -0.13284726640341749, 0.6026436512247193, -0.9879364371299744, -0.4531753659248352, -0.4667586088180542, 8.862685353960842e-05, 0.0205291816480242, -0.03979049107193387], "max": [4.367648796024963, -4.2961330316009105, 0.7009007863064077, 0.0, 0.0, 0.0006847674958407879, 1.0, 0.36835708828034974, 0.42463385201432624, 0.732072079839267, 0.9602154493331909, 0.11784082651138306, 0.46583473682403564, 0.2751613259315491, 0.040048873157826015, -0.020537377302071207], "mean": [4.36756711059638, -4.296452123469212, 0.7003991611415372, 0.0, 0.0, -2.3939298327809107e-05, 0.9999998839621626, 0.28967339370386425, 0.11711911675876728, 0.6813324659536528, -0.16989164425173836, -0.2758516334638536, -0.08105791165422013, 0.1621455836571607, 0.031728226119475796, -0.030098040061616066], "std": [3.0391986295506012e-05, 0.00022595727421493574, 0.000252234100020293, 0.0, 0.0, 0.0005295774135958809, 7.035115887871784e-08, 0.05552328822904364, 0.21482074131126777, 0.03507109611855563, 0.8361700924735636, 0.14248204050550475, 0.3716541805246731, 0.06762204483680304, 0.005656394988723819, 0.006789729796500911], "count": [639]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7125, -0.567857142857143, -0.23303571428571432, -0.08857142857142856, -0.52, -0.39714285714285713, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3803571428571429, 0.5089285714285714, 0.5705357142857143, 0.20285714285714287, 0.16285714285714287, 0.5314285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02630365526492287, 0.019227867203219312, -0.0032402749832327357, 0.008794992175273868, -0.006322378716744915, -0.0018868768164542918, 0.2644757433489828], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.19890609643644253, 0.20444354510412885, 0.13461260176763845, 0.03489767732508479, 0.06013314459349238, 0.12597433158891522, 0.9643923377858229], "count": [639]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025039123371243477], "std": [0.1562439501285553], "count": [639]}, "next.done": {"min": [false], "max": [true], "mean": [0.001564945226917058], "std": [0.039528422348404035], "count": [639]}, "timestamp": {"min": [0.0], "max": [31.9], "mean": [15.95], "std": [9.223159256278006], "count": [639]}, "frame_index": {"min": [0], "max": [638], "mean": [319.0], "std": [184.46318512556013], "count": [639]}, "episode_index": {"min": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [639]}, "index": {"min": [47356], "max": [47994], "mean": [47675.0], "std": [184.46318512556013], "count": [639]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [639]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6169740449397936]], [[0.6025478697226274]], [[0.5676190624178732]]], "std": [[[0.19474193160382655]], [[0.17216890251718844]], [[0.16185888368574666]]], "count": [218]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.06666666666666667]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6253865016409552]], [[0.5954158307408489]], [[0.5585625319284466]]], "std": [[[0.1976420774926418]], [[0.1894207214232135]], [[0.1849878044759049]]], "count": [218]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6593976345566628]], [[0.6244628055337136]], [[0.5832639271159206]]], "std": [[[0.18199828904970772]], [[0.1739029117674547]], [[0.17173056787462465]]], "count": [218]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1319]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1319]}, "observation.state": {"min": [4.882926894933073, -0.8240308302276701, 0.6999965300589871, 0.0, 0.0, 0.7067473530769348, 0.7068930864334106, 0.14850836360502728, -0.4532140723902911, 0.5831489754261777, -0.992400050163269, -0.37993913888931274, -0.6561414003372192, 0.0004103754763491452, 0.0205578253381067, -0.040017481591970015], "max": [4.883390011663088, -0.8238497822968204, 0.7004115104420177, 0.0, 0.0, 0.7073203921318054, 0.7074659466743469, 0.618282056561056, 0.27092769917626747, 0.8895781395790309, 0.9591283202171326, 0.01172780990600586, 0.6563971638679504, 0.3171756863594055, 0.0400095665531639, -0.016463672251660934], "mean": [4.883158676803904, -0.8239333092535847, 0.7002264637981267, 0.0, 0.0, 0.7070521935538147, 0.7071613190841096, 0.5012502004910887, -0.013906030145399938, 0.8436238973023208, 0.18909537439729518, -0.23097368592426035, 0.1549418914139587, 0.17117753026206817, 0.03533027704970002, -0.030579898093015232], "std": [0.00012469995778509037, 5.959553642349787e-05, 0.00015542983332619674, 0.0, 0.0, 0.00016513783645561968, 0.0001651021456338976, 0.10534143576835997, 0.20449371467681768, 0.04593431117907835, 0.7174027383588227, 0.11945790481837595, 0.5629933565389484, 0.1081062203470919, 0.0044730980118505865, 0.008156964392750581], "count": [1319]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9571428571428572, -0.7285714285714285, -0.2571428571428572, -0.1142857142857143, -0.2914285714285714, -0.2, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.45714285714285713, 0.8785714285714286, 0.7071428571428572, 0.1142857142857143, 0.21714285714285717, 0.2257142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007299902523556808, -0.004998375392613451, 0.01420448391638686, -0.00020145131593198216, -0.0028766381457814368, -0.0044470919527780884, 0.13570887035633056], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.191359836821675, 0.20196186871273958, 0.10792591380556946, 0.016825548644404, 0.04795126144130043, 0.058087051620127936, 0.9907487585188194], "count": [1319]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012130402028560638], "std": [0.10946805775165558], "count": [1319]}, "next.done": {"min": [false], "max": [true], "mean": [0.000758150113722517], "std": [0.0275240862178489], "count": [1319]}, "timestamp": {"min": [0.0], "max": [65.9], "mean": [32.95], "std": [19.03811965504997], "count": [1319]}, "frame_index": {"min": [0], "max": [1318], "mean": [659.0], "std": [380.7623931009994], "count": [1319]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [1319]}, "index": {"min": [47995], "max": [49313], "mean": [48654.0], "std": [380.7623931009994], "count": [1319]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1319]}}} +{"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": [[[0.5219215625915787]], [[0.3910648407736906]], [[0.2805287585376372]]], "std": [[[0.16225121100905576]], [[0.20670736361987466]], [[0.23164155250124133]]], "count": [115]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4814243133883139]], [[0.4021312378658155]], [[0.33699239719452656]]], "std": [[[0.25008757163012696]], [[0.27055599441522854]], [[0.29338440911544855]]], "count": [115]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5407481531271646]], [[0.47652595487498667]], [[0.42492500012488016]]], "std": [[[0.2332593092171126]], [[0.2659195022803269]], [[0.2903329154329111]]], "count": [115]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [564]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [564]}, "observation.state": {"min": [2.7789595877868307, -5.543645444201051, 0.6999970659905136, 0.0, 0.0, -0.7071256041526794, 0.7070878744125366, 0.18685515571857714, -0.18855930751272343, 0.6061732754380299, -0.9885940551757812, -0.32354241609573364, -0.6429357528686523, 9.765286449692212e-06, 0.01966283963933515, -0.04000450389822519], "max": [2.779932229219934, -5.543534019234851, 0.7006998722101532, 0.0, 0.0, -0.706041157245636, 0.7081708312034607, 0.576257899193366, 0.09994353827208435, 0.84619979349825, 0.8790529370307922, 0.09867915511131287, 0.610400378704071, 0.2632136344909668, 0.03991917755807834, -0.020519294831633443], "mean": [2.7793403202969125, -5.5435875266158545, 0.700298084995188, 0.0, 0.0, -0.7067013581593832, 0.7075117649972862, 0.4646497899364206, -0.045123900865161715, 0.7936662552036757, 0.25311653537953155, -0.11000763363343605, 0.1401942401384631, 0.08982499428749237, 0.03076902834818377, -0.031493994390444695], "std": [0.0003129662355718358, 2.1802872912977736e-05, 0.00021279328526323273, 0.0, 0.0, 0.00036979015184260473, 0.0003692837560439246, 0.09711246377277286, 0.09299129015912963, 0.04423231385376853, 0.7803048642032823, 0.12675392765220048, 0.5125180165538097, 0.0921435164104742, 0.008104894198157428, 0.007709873398003083], "count": [564]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9160714285714286, -0.43660714285714286, -0.3723214285714286, -0.13714285714285715, -0.7885714285714286, -0.4028571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4285714285714286, 0.47946428571428573, 0.594642857142857, 0.06857142857142857, 0.2914285714285714, 0.18571428571428572, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.005309650455927108, 0.0024363601823708093, 0.00482522796352583, -0.0010081053698074987, -0.017127659574468098, -0.005466058763931098, 0.04609929078014184], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2885817023533178, 0.1544047188247821, 0.15261289109380413, 0.01883830744748027, 0.11140590162729738, 0.07795630476376833, 0.9989368625641785], "count": [564]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.028368793427944183], "std": [0.1660241037607193], "count": [564]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017730496453900709], "std": [0.042070250062782526], "count": [564]}, "timestamp": {"min": [0.0], "max": [28.15], "mean": [14.075000000000001], "std": [8.14062599968004], "count": [564]}, "frame_index": {"min": [0], "max": [563], "mean": [281.5], "std": [162.81251999360083], "count": [564]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [564]}, "index": {"min": [49314], "max": [49877], "mean": [49595.5], "std": [162.81251999360083], "count": [564]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [564]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0784313725490196]], [[0.00392156862745098]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6358901686068202]], [[0.4704001586064744]], [[0.3806887112834045]]], "std": [[[0.1722009287251416]], [[0.18232515744400163]], [[0.19775901817800967]]], "count": [155]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.0196078431372549]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5666688247091931]], [[0.44368174408750394]], [[0.36616268498169174]]], "std": [[[0.20427992355265925]], [[0.20429135098071982]], [[0.212860868632574]]], "count": [155]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.011764705882352941]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5808951579702571]], [[0.4573127521705507]], [[0.38375759059609227]]], "std": [[[0.19151828641947255]], [[0.2137455952133415]], [[0.24151056939963125]]], "count": [155]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [839]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [839]}, "observation.state": {"min": [0.999322147424492, -4.144057566757809, 0.6999943629090873, 0.0, 0.0, -1.0, 3.1403658340423135e-07, 0.13380017872996697, -0.16853889797829158, 0.41645007107445975, -0.9922052025794983, -0.3332025408744812, -0.45804402232170105, 2.5811235900619067e-05, 0.02055246993962982, -0.040042287502457405], "max": [0.999655131740403, -4.143808015423937, 0.7009817633276072, 0.0, 0.0, 1.0, 0.00023047556169331074, 0.5072434925227545, 0.298229152550503, 0.6032154865119428, 0.9728760123252869, 0.04044805467128754, 0.4655904471874237, 0.2051079124212265, 0.04000750323457956, -0.020514089592515234], "mean": [0.9995279143673113, -4.143950942703013, 0.7005581785411598, 0.0, 0.0, -0.060786650774731825, 6.712935640515155e-05, 0.40203507870476063, 0.09007820375098331, 0.5017217588243743, -0.6589806364034442, -0.15066466766439546, -0.25951242143192793, 0.08881349836702569, 0.03369825544467, -0.03566816666466159], "std": [0.00010216691385582439, 6.92231390471825e-05, 0.00031442681529292765, 0.0, 0.0, 0.9981507817397018, 5.031349585222775e-05, 0.081811434836985, 0.14551809145018998, 0.042831021110731914, 0.6308169284729865, 0.11086190347594253, 0.23069114092908632, 0.0661163901746705, 0.006456898141315779, 0.004863436642555684], "count": [839]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7205357142857144, -0.5196428571428572, -0.23839285714285713, -0.10571428571428572, -0.5657142857142857, -0.23428571428571432, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.35625, 0.39375, 0.44732142857142854, 0.15142857142857147, 0.2857142857142857, 0.12, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.014213349225268176, 0.008240039162268039, -0.015030648731483073, 0.0013723820875191537, -0.0032998467563425827, 0.002233951983654013, -0.08224076281287247], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1862079429538861, 0.13245446362194244, 0.10822547061756899, 0.023876353897023105, 0.07708714316908052, 0.03955446020579973, 0.9966124908568794], "count": [839]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.019070321694016457], "std": [0.13677223026752472], "count": [839]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011918951132300357], "std": [0.034503253459189816], "count": [839]}, "timestamp": {"min": [0.0], "max": [41.9], "mean": [20.95], "std": [12.10991329448729], "count": [839]}, "frame_index": {"min": [0], "max": [838], "mean": [419.0], "std": [242.19826588974578], "count": [839]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [839]}, "index": {"min": [49878], "max": [50716], "mean": [50297.0], "std": [242.19826588974578], "count": [839]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [839]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.580833625695554]], [[0.5503739513933334]], [[0.5009292453726316]]], "std": [[[0.13011828925006472]], [[0.16889703105188603]], [[0.16539685902571916]]], "count": [191]}, "observation.images.robot0_agentview_left": {"min": [[[0.08627450980392157]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5927102287377852]], [[0.5754682789371679]], [[0.5353919277224449]]], "std": [[[0.18619241878481393]], [[0.18307073448644012]], [[0.18562304318046108]]], "count": [191]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5390655470584627]], [[0.5231311678653894]], [[0.4878370135634015]]], "std": [[[0.23420868687999125]], [[0.22735992347028028]], [[0.21943593717897414]]], "count": [191]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1105]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1105]}, "observation.state": {"min": [1.3251042196689393, -0.8112064549062309, 0.69999662916599, 0.0, 0.0, 0.7069138884544373, 0.7065532207489014, 0.20938525982246614, -0.2805027037390062, 0.6000792887390536, -0.9909086227416992, -0.29526156187057495, -0.5819826722145081, 0.00016798936121631414, 0.02056572957200817, -0.0400041778939767], "max": [1.3257264181602517, -0.811061290971592, 0.7007539244175478, 0.0, 0.0, 0.707659900188446, 0.7072996497154236, 0.5964407388021427, 0.4546304827383849, 0.8510091276399746, 0.9551733136177063, 0.17979586124420166, 0.5769557356834412, 0.20784148573875427, 0.04000468327771853, -0.020500831149794486], "mean": [1.3254359849799306, -0.8111383007430892, 0.7002554765210167, 0.0, 0.0, 0.7072654375123761, 0.706948001190548, 0.45153553291501297, 0.07282891356739464, 0.8057635928688758, -0.11545545412943914, -0.17112286272901217, -0.04748873885940103, 0.11300865542297663, 0.03269479463860999, -0.03375225430778409], "std": [0.00019548516461126447, 3.001420831574314e-05, 0.00019671027694423296, 0.0, 0.0, 0.00023663580352292697, 0.0002367477071225287, 0.10921469640823409, 0.2735437277673202, 0.04055871348371466, 0.8231476039589691, 0.11169483143681032, 0.4978445837172491, 0.06681260260819445, 0.005776673362775132, 0.005160311090865617], "count": [1105]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6589285714285714, -0.4741071428571428, -0.45, -0.12857142857142856, -0.6114285714285714, -0.19142857142857142, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40982142857142867, 0.45535714285714285, 0.5410714285714286, 0.13142857142857142, 0.1657142857142857, 0.25142857142857145, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.00018907563025212688, -0.005294117647058839, 0.00027634130575307725, 0.0031596638655462185, -0.006676147382029736, 0.0007420814479637992, 0.16380090497737557], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1941963992173534, 0.1710335153147191, 0.11667528564492607, 0.0247623275100626, 0.06446384947315192, 0.04895815155142402, 0.9864934178840689], "count": [1105]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014479638077318668], "std": [0.11945702135562897], "count": [1105]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009049773755656109], "std": [0.0300692266530971], "count": [1105]}, "timestamp": {"min": [0.0], "max": [55.2], "mean": [27.6], "std": [15.949294655250434], "count": [1105]}, "frame_index": {"min": [0], "max": [1104], "mean": [552.0], "std": [318.98589310500864], "count": [1105]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [1105]}, "index": {"min": [50717], "max": [51821], "mean": [51269.0], "std": [318.98589310500864], "count": [1105]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1105]}}} +{"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": [[[0.4702711380739263]], [[0.29342270339449034]], [[0.22778557320117102]]], "std": [[[0.14802279319503647]], [[0.21172006132053778]], [[0.23512172878443774]]], "count": [176]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.36559396019593915]], [[0.24386173051096327]], [[0.19871028859347584]]], "std": [[[0.21143830686522452]], [[0.22723097091217134]], [[0.24360358852586342]]], "count": [176]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41844347207516486]], [[0.2534396159670145]], [[0.19201340802850572]]], "std": [[[0.19927413215482348]], [[0.2339618757726598]], [[0.2536276920883332]]], "count": [176]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [990]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [990]}, "observation.state": {"min": [2.657164451419136, -1.0349232056290465, 0.6999977194526843, 0.0, 0.0, 0.7065264582633972, 0.7061952352523804, 0.008139405477131323, -0.2913816701359093, 0.36331247583803594, -0.9883849620819092, -0.6185276508331299, -0.6155930161476135, 0.0020682699978351593, 0.02056836095253515, -0.040174158572322594], "max": [2.6582820742984574, -1.0345545908062364, 0.7016735172854246, 0.0, 0.0, 0.708017110824585, 0.7076865434646606, 0.40132203694523305, 0.21933254700241323, 0.8845960001006465, 0.8739089369773865, 0.3735821843147278, 0.63895583152771, 0.4239133298397064, 0.04002442796060204, -0.020498199634883574], "mean": [2.6578569064216104, -1.0348061475032786, 0.7009927679010431, 0.0, 0.0, 0.7071489507501776, 0.707064363029268, 0.29733628392327077, -0.09068984645401562, 0.5668090420563983, -0.0059953077875002465, -0.3135013761845502, 0.10473953812110304, 0.2324286336909434, 0.03507015565950956, -0.033383602133554], "std": [0.0003019977359243277, 0.00013431192131360543, 0.0006486142791325807, 0.0, 0.0, 0.0004102805740510785, 0.00041036473000952633, 0.09454811740437388, 0.1583776868693863, 0.19138894568141224, 0.7416704160156122, 0.2098795745019258, 0.4784171869218272, 0.11696181085681988, 0.004872052309309448, 0.006555974614995903], "count": [990]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8303571428571429, -0.39642857142857146, -0.42589285714285713, -0.26, -0.4628571428571429, -0.3514285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46607142857142864, 0.6133928571428572, 0.6267857142857143, 0.12857142857142856, 0.4371428571428572, 0.7314285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.02947781385281382, 0.01404491341991341, -0.030043290043289966, 0.0009466089466089472, -0.005659451659451654, 8.658008658009285e-05, -0.05454545454545454], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2314420768570455, 0.18583284669866423, 0.1870926647888932, 0.03912391756887778, 0.09243273575902254, 0.15174540327890673, 0.9985112885633558], "count": [990]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016161616891622543], "std": [0.12609685957431793], "count": [990]}, "next.done": {"min": [false], "max": [true], "mean": [0.00101010101010101], "std": [0.0317660306939725], "count": [990]}, "timestamp": {"min": [0.0], "max": [49.45], "mean": [24.725], "std": [14.289411872665253], "count": [990]}, "frame_index": {"min": [0], "max": [989], "mean": [494.5], "std": [285.78823745330504], "count": [990]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [990]}, "index": {"min": [51822], "max": [52811], "mean": [52316.5], "std": [285.78823745330504], "count": [990]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [990]}}} +{"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": [[[0.4590213138402314]], [[0.43974044296512815]], [[0.42203522957753836]]], "std": [[[0.16548616977856478]], [[0.15890188284758514]], [[0.15964131356298158]]], "count": [129]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6096442333197662]], [[0.5880599523319048]], [[0.5689669893041247]]], "std": [[[0.25952465405038333]], [[0.26359536601849487]], [[0.2680378477081785]]], "count": [129]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.011764705882352941]], [[0.054901960784313725]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6052267357251767]], [[0.5803270457381263]], [[0.5588279212711611]]], "std": [[[0.23996041208769622]], [[0.2433261421481284]], [[0.24552645574988052]]], "count": [129]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [654]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [654]}, "observation.state": {"min": [0.9434471040917127, -0.8310575893179744, 0.6999969316981526, 0.0, 0.0, 0.7060760855674744, 0.706811249256134, 0.16460336602431502, -0.12531486061944475, 0.5872692689364657, -0.9921991229057312, -0.3214632272720337, -0.6313428282737732, 0.0009151384583674371, 0.020559819915243003, -0.04000168441671533], "max": [0.9444145530851025, -0.8306024256341882, 0.7016720827291584, 0.0, 0.0, 0.7074021697044373, 0.7081360220909119, 0.5929427364989108, 0.30447282203227755, 0.9031245616687326, 0.9361985325813293, 0.06262582540512085, 0.6315508484840393, 0.2898321747779846, 0.04000323919306764, -0.01849198373435579], "mean": [0.9439044483386481, -0.830898562143008, 0.7004356965716657, 0.0, 0.0, 0.7067626140533237, 0.7074504702463063, 0.47379274787242315, 0.09561775799177308, 0.8425811221886917, -0.2854519322377826, -0.19350085220661367, -0.1324234940111637, 0.15053457916108678, 0.03412538556752583, -0.03295768968657705], "std": [0.00031191324437568725, 0.0001340704278381179, 0.000501738394687312, 0.0, 0.0, 0.0004557609751152769, 0.00045529497978435756, 0.11219681215696845, 0.1449663314697523, 0.05493048270822587, 0.7485254023478443, 0.12126916456973748, 0.5092626074348673, 0.08082751027891534, 0.00581809104400754, 0.006913557712599765], "count": [654]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7928571428571429, -0.4580357142857143, -0.3455357142857143, -0.12, -0.6028571428571429, -0.28285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5303571428571429, 0.43928571428571433, 0.6723214285714286, 0.21142857142857144, 0.20857142857142857, 0.5314285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.008121723460026183, 0.025384993446920037, -0.0018430537352556193, 0.004805591961555264, -0.008702490170380092, 0.0014678899082568796, -0.03669724770642202], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.241480020113238, 0.1564441018205068, 0.17719581040241947, 0.04314333554322092, 0.0857460712764872, 0.1035942338609234, 0.9993264291565479], "count": [654]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024464832618832588], "std": [0.1544872224330902], "count": [654]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015290519877675841], "std": [0.039073187581592166], "count": [654]}, "timestamp": {"min": [0.0], "max": [32.65], "mean": [16.325000000000003], "std": [9.439665866261722], "count": [654]}, "frame_index": {"min": [0], "max": [653], "mean": [326.5], "std": [188.79331732523443], "count": [654]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [654]}, "index": {"min": [52812], "max": [53465], "mean": [53138.5], "std": [188.79331732523443], "count": [654]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [654]}}} +{"episode_index": 70, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6658146581878329]], [[0.6124276757500011]], [[0.577592257580726]]], "std": [[[0.18429855306266804]], [[0.221380654096713]], [[0.20581025125390376]]], "count": [144]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6224760092940985]], [[0.5859825217386216]], [[0.5502623472857838]]], "std": [[[0.21214941369693568]], [[0.20310351792663214]], [[0.19761035552766062]]], "count": [144]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.03529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49164512318463627]], [[0.47085792940426496]], [[0.4475192059618715]]], "std": [[[0.26721315364347725]], [[0.2549454963027161]], [[0.24303843834790467]]], "count": [144]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [757]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [757]}, "observation.state": {"min": [2.4215836699124935, -0.8268514616634937, 0.6999949839229269, 0.0, 0.0, 0.706820547580719, 0.7069905400276184, 0.18707582684785318, -0.021989883138151978, 0.5933848257270149, -0.9908937811851501, -0.3202197551727295, -0.6945552825927734, 0.0003813446091953665, 0.02056138070987751, -0.039989077578328036], "max": [2.421931706151173, -0.8267078702182457, 0.70093784010712, 0.0, 0.0, 0.7072229981422424, 0.7073928713798523, 0.5353340525560886, 0.36294937751886724, 0.8577053956506304, 0.9183288216590881, 0.03467583656311035, 0.6829014420509338, 0.25979703664779663, 0.040003831342462166, -0.020505179718740787], "mean": [2.421759566729169, -0.8267890725292878, 0.7003826808276813, 0.0, 0.0, 0.7070221618270622, 0.7071913609101561, 0.41612169856412323, 0.14946674852922479, 0.79554989905651, -0.7575217127957464, -0.14578773557667374, -0.5194900027984357, 0.10994293644278903, 0.03473438139917509, -0.03404830624013189], "std": [7.676254827761574e-05, 3.287111388195091e-05, 0.0002994494085602819, 0.0, 0.0, 8.162960181189764e-05, 8.161441428746528e-05, 0.10143826949095061, 0.12829740699807532, 0.05286534789340455, 0.2667638917225177, 0.08977952509824101, 0.19400547993903744, 0.07802578002550914, 0.004772873684129698, 0.005307539035102383], "count": [757]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7767857142857144, -0.6348214285714286, -0.3616071428571429, -0.08857142857142856, -0.6914285714285714, -0.23142857142857146, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.41785714285714287, 0.5705357142857143, 0.5008928571428571, 0.12285714285714287, 0.3142857142857143, 0.15428571428571428, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.006903425174561276, 0.019531987167390123, 0.0051448386488016406, 0.0012304208341196447, -0.009820720890734106, 0.0018003396867333416, 0.01453104359313078], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24326510109965374, 0.19660240791602132, 0.13978066199593694, 0.016583179707775033, 0.10053244440166507, 0.049659714273567884, 0.9998944188123564], "count": [757]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02113606408238411], "std": [0.14383786916732788], "count": [757]}, "next.done": {"min": [false], "max": [true], "mean": [0.001321003963011889], "std": [0.036321603923031756], "count": [757]}, "timestamp": {"min": [0.0], "max": [37.8], "mean": [18.9], "std": [10.926344310884588], "count": [757]}, "frame_index": {"min": [0], "max": [756], "mean": [378.0], "std": [218.52688621769175], "count": [757]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [757]}, "index": {"min": [53466], "max": [54222], "mean": [53844.0], "std": [218.52688621769175], "count": [757]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [757]}}} +{"episode_index": 71, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6437479116905264]], [[0.5435190459455841]], [[0.45849791152961644]]], "std": [[[0.14693685270147874]], [[0.1754416858920895]], [[0.15630517223251275]]], "count": [119]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5981822223949322]], [[0.5291165693644185]], [[0.47896629354866943]]], "std": [[[0.19726344060241408]], [[0.21661360405208596]], [[0.2227660455250468]]], "count": [119]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6281567259112975]], [[0.543280221885974]], [[0.48791440899946836]]], "std": [[[0.15643472107002113]], [[0.19635283994857777]], [[0.20331760558797196]]], "count": [119]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [587]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [587]}, "observation.state": {"min": [2.4808476310880145, -0.9499728186820036, 0.6999959431534252, 0.0, 0.0, -0.0002721248019952327, 1.0, 0.18867749857148075, -0.1339811993977721, 0.5918929219583654, -0.9916679263114929, -0.3357715606689453, -0.5983206033706665, 9.05731285456568e-05, 0.0205457721248652, -0.0400010606804555], "max": [2.4809815831840956, -0.9496604905028071, 0.7006126074198967, 0.0, 0.0, 0.0002675512514542788, 1.0, 0.5727036150350502, 0.22934060371879317, 0.8517957862403067, 0.9043372869491577, 0.1039993166923523, 0.5878546833992004, 0.18760009109973907, 0.03999769882916605, -0.020520787044254432], "mean": [2.480898079967572, -0.9498206385857235, 0.7002570487764278, 0.0, 0.0, -7.97864506279705e-06, 1.0, 0.4734367685035859, 0.0645440766456882, 0.7882379344888131, -0.07901282550122912, -0.17898327673212633, -0.043391998089354934, 0.10462401472771565, 0.03499185216268585, -0.034388615900158626], "std": [3.262184591110153e-05, 9.554284953181626e-05, 0.00018463503152547895, 0.0, 0.0, 0.0001671155310953963, 0.0, 0.09215432949135767, 0.12349893230080682, 0.0466791736871766, 0.8182318792361781, 0.09740365472484214, 0.5171831381836305, 0.04923049854635774, 0.004772877895642325, 0.005388197581809938], "count": [587]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7982142857142857, -0.6133928571428572, -0.2571428571428572, -0.06285714285714286, -0.6371428571428571, -0.24, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.35357142857142865, 0.5303571428571429, 0.6053571428571428, 0.13428571428571429, 0.10857142857142858, 0.34285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.008902713555609584, 0.013411109759065454, 0.010043502068629778, 0.004132392309564372, -0.014431735215380872, -0.00016549038695546053, -0.09028960817717206], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24666287969720163, 0.19047516922696517, 0.1555016091626133, 0.022038472151551705, 0.09017271970770302, 0.07110259329746264, 0.9959155519697498], "count": [587]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.027257239446043968], "std": [0.16283206641674042], "count": [587]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017035775127768314], "std": [0.04123924510020512], "count": [587]}, "timestamp": {"min": [0.0], "max": [29.3], "mean": [14.649999999999999], "std": [8.472602905837142], "count": [587]}, "frame_index": {"min": [0], "max": [586], "mean": [293.0], "std": [169.45205811674285], "count": [587]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [587]}, "index": {"min": [54223], "max": [54809], "mean": [54516.0], "std": [169.45205811674285], "count": [587]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [587]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.027450980392156862]]], "max": [[[0.9607843137254902]], [[0.9568627450980393]], [[0.9529411764705882]]], "mean": [[[0.5276563565742333]], [[0.3519509398671241]], [[0.278382259159978]]], "std": [[[0.1334703040362203]], [[0.1980768924524395]], [[0.2331494082735281]]], "count": [116]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6044711094276578]], [[0.48977677536784514]], [[0.4253131626585676]]], "std": [[[0.17851580941819958]], [[0.24655455130235251]], [[0.27566321292819784]]], "count": [116]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.597965998259487]], [[0.48686082748402765]], [[0.423724260001347]]], "std": [[[0.18927164506800886]], [[0.24698983924693219]], [[0.27387566005794106]]], "count": [116]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [569]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [569]}, "observation.state": {"min": [3.5390220645150747, -0.7783560475579823, 0.6999956234353393, 0.0, 0.0, 0.7069861888885498, 0.705856204032898, 0.19809014315346862, -0.5016770091298266, 0.5936570255215289, -0.9889453053474426, -0.5001856684684753, -0.6079899668693542, 0.0002529410121496767, 0.02056748852865444, -0.04018554040374836], "max": [3.5402618334139166, -0.7779150269227466, 0.7014324801007346, 0.0, 0.0, 0.7083550095558167, 0.707227349281311, 0.5405315704035469, 0.38222790839647036, 0.8775441887077153, 0.8988316655158997, 0.13140201568603516, 0.5232791900634766, 0.31985828280448914, 0.04000793836307661, -0.016969147405677027], "mean": [3.5398095950983466, -0.778085882194057, 0.7004239755148559, 0.0, 0.0, 0.7075496776870768, 0.7066633711799796, 0.42902029654303014, -0.09763765902598198, 0.811340840546714, 0.014839864678039282, -0.24802593808287268, 0.021095875486967224, 0.16714789229071772, 0.034011857229987986, -0.0333337021462777], "std": [0.0003730247169011356, 0.00012196467286945396, 0.00043644086783014397, 0.0, 0.0, 0.0003998304216892032, 0.0004003681795778619, 0.09225825841356054, 0.32262460498917145, 0.05865296532286536, 0.7970955948929899, 0.15905174958059115, 0.48857910269457805, 0.1025235110664182, 0.0061064199181667935, 0.00665648006895638], "count": [569]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7446428571428572, -0.8678571428571429, -0.9375, -0.20857142857142857, -0.5542857142857143, -0.35714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4875000000000001, 0.6000000000000001, 0.48482142857142857, 0.1457142857142857, 0.42, 0.2285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.011735814712528297, -0.036586743660557405, -0.026305548581471303, 0.0011197589756464905, -0.015320110469495355, -0.019181521466231474, -0.054481546572934976], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23459203642728216, 0.28222270140763456, 0.28102270852534317, 0.058203513441148574, 0.11792324518408373, 0.08717775718122665, 0.9985147775987191], "count": [569]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.028119508177042007], "std": [0.16531424224376678], "count": [569]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017574692442882249], "std": [0.04188532614345513], "count": [569]}, "timestamp": {"min": [0.0], "max": [28.4], "mean": [14.200000000000001], "std": [8.212794895770866], "count": [569]}, "frame_index": {"min": [0], "max": [568], "mean": [284.0], "std": [164.25589791541734], "count": [569]}, "episode_index": {"min": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [569]}, "index": {"min": [54810], "max": [55378], "mean": [55094.0], "std": [164.25589791541734], "count": [569]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [569]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[0.9607843137254902]], [[0.9568627450980393]], [[0.9333333333333333]]], "mean": [[[0.5627880768556452]], [[0.5397451295456126]], [[0.48497560596850664]]], "std": [[[0.1578604129424884]], [[0.15392336042471683]], [[0.14450597612300867]]], "count": [141]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5464661073160841]], [[0.5405071582669526]], [[0.4888937744174576]]], "std": [[[0.20649361411497114]], [[0.1960236370525494]], [[0.19411230897446635]]], "count": [141]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45610839521216845]], [[0.4608367202709985]], [[0.42102334355797394]]], "std": [[[0.24792752862101355]], [[0.2429320164833218]], [[0.2293698066940219]]], "count": [141]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [735]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [735]}, "observation.state": {"min": [5.578153997747959, -0.7924672894559834, 0.6999956299290312, 0.0, 0.0, 0.7070545554161072, 0.7066404819488525, 0.12266191042929098, -0.16759561865547123, 0.5984901288576149, -0.9894815683364868, -0.39804381132125854, -0.6393336653709412, 0.0007128264405764639, 0.02058069229514601, -0.03999815791313877], "max": [5.578570606576135, -0.7922801898952403, 0.7007200040000031, 0.0, 0.0, 0.707572877407074, 0.7071589231491089, 0.5438837600805667, 0.2915364678084629, 0.8634748486620458, 0.8787785768508911, 0.02148216962814331, 0.6157844066619873, 0.21994753181934357, 0.040001132581229955, -0.02048586828532878], "mean": [5.57844413327849, -0.7924177486107683, 0.7002489452974315, 0.0, 0.0, 0.7072228131651067, 0.706990655263265, 0.44582274067955296, 0.05975521529351533, 0.8027824620107932, -0.09426799874727418, -0.15926763597799806, -0.09126687078248887, 0.11181373467809856, 0.0337696249012077, -0.033669535037287944], "std": [0.00012289156731287647, 3.856706650068283e-05, 0.0001798071446074045, 0.0, 0.0, 0.00017192469842448136, 0.00017199221743828338, 0.09090912952433043, 0.1537991918707677, 0.0459918354175756, 0.800425610226658, 0.12162619609966561, 0.5338920059570135, 0.0663374270031651, 0.005498038162514025, 0.005623758394532613], "count": [735]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9080357142857143, -0.6321428571428571, -0.28660714285714284, -0.09714285714285714, -0.5028571428571429, -0.30285714285714294, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46339285714285716, 0.4580357142857143, 0.6803571428571429, 0.22285714285714286, 0.2142857142857143, 0.2714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.015539358600583059, 0.00524052478134115, 0.005794460641399414, 0.0027094266277939744, -0.00883965014577262, -0.002643343051506321, 0.02857142857142857], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.25117798918161166, 0.16942480443348776, 0.15754864558367607, 0.03178821269689223, 0.08736947528256442, 0.061677137107249064, 0.9995917534020454], "count": [735]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021768707782030106], "std": [0.14592750370502472], "count": [735]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013605442176870747], "std": [0.03686045492284099], "count": [735]}, "timestamp": {"min": [0.0], "max": [36.7], "mean": [18.35], "std": [10.6088013774727], "count": [735]}, "frame_index": {"min": [0], "max": [734], "mean": [367.0], "std": [212.176027549454], "count": [735]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [735]}, "index": {"min": [55379], "max": [56113], "mean": [55746.0], "std": [212.176027549454], "count": [735]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [735]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3135688830875644]], [[0.30542777817495326]], [[0.3150186632876234]]], "std": [[[0.17570618181351935]], [[0.17120036838588015]], [[0.15810986234812133]]], "count": [137]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39001102843338525]], [[0.38839511721195946]], [[0.40058186412181773]]], "std": [[[0.288997952834786]], [[0.2903692957953447]], [[0.28376841355133986]]], "count": [137]}, "observation.images.robot0_agentview_right": {"min": [[[0.10196078431372549]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.321265949594867]], [[0.31790564845385294]], [[0.3314679078249115]]], "std": [[[0.2408441954236667]], [[0.24172971018784206]], [[0.2346754758978912]]], "count": [137]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [712]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [712]}, "observation.state": {"min": [0.8416474077209498, -0.5141505858797335, 0.6999978340159435, 0.0, 0.0, -1.0, 9.909815901210095e-08, 0.02253732271590736, -0.27106164742726496, 0.44179326705187894, -0.9933509230613708, -0.36825448274612427, -0.4079921543598175, 0.00014046466094441712, 0.020574579635783324, -0.04000291431230176], "max": [0.8421003469404927, -0.5137102659858309, 0.7009686307376708, 0.0, 0.0, 1.0, 0.0005235166172496974, 0.40617855304638534, 0.15187364785428625, 0.5908628303035084, 0.9862483143806458, 0.1747663915157318, 0.3206244707107544, 0.19623513519763947, 0.040008284883428974, -0.020491979482588997], "mean": [0.8418889616703781, -0.5138994694271084, 0.7004341799690943, 0.0, 0.0, 0.29775276746642726, 0.00026488736665819274, 0.3026655950196107, -0.04222721526432746, 0.5300867984186689, -0.08103475267632623, -0.1984007924878865, -0.06049246828626381, 0.09052029278585026, 0.0330562142605565, -0.0343743596929921], "std": [0.0001375491146358357, 0.00012805323670329755, 0.00027457563690097634, 0.0, 0.0, 0.9546429732739931, 0.0002067211326438229, 0.06792109157634986, 0.14479662336852747, 0.04007905403996267, 0.9079331703691952, 0.1363625859101365, 0.3112191104789778, 0.04921886430845775, 0.005650602747195635, 0.004560055561708743], "count": [712]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9375, -0.46875, -0.2839285714285715, -0.09142857142857143, -0.19714285714285715, -0.3914285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.34285714285714286, 0.5571428571428572, 0.5705357142857143, 0.1657142857142857, 0.22, 0.31142857142857144, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.028098665730337084, -0.005191613162118782, -0.02840339085072232, -0.00047351524879614773, -0.004145264847512039, 0.001328250401284101, 0.10393258426966293], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2219451313313025, 0.1540224134242211, 0.14046246873939489, 0.024261730159554913, 0.0426337515914076, 0.0760519079989746, 0.9945843443001812], "count": [712]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02247191034257412], "std": [0.14821243286132812], "count": [712]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014044943820224719], "std": [0.037450257376329725], "count": [712]}, "timestamp": {"min": [0.0], "max": [35.55], "mean": [17.775], "std": [10.27682465550522], "count": [712]}, "frame_index": {"min": [0], "max": [711], "mean": [355.5], "std": [205.5364931101044], "count": [712]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [712]}, "index": {"min": [56114], "max": [56825], "mean": [56469.5], "std": [205.5364931101044], "count": [712]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [712]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.047058823529411764]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6409356689453125]], [[0.6010569715312882]], [[0.5752032763911229]]], "std": [[[0.15724976515886524]], [[0.18982719202947648]], [[0.1865807235936059]]], "count": [100]}, "observation.images.robot0_agentview_left": {"min": [[[0.050980392156862744]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.657927838493796]], [[0.6298105528588388]], [[0.6055808721804151]]], "std": [[[0.24291623315734998]], [[0.2298843342397666]], [[0.22425067333546286]]], "count": [100]}, "observation.images.robot0_agentview_right": {"min": [[[0.06666666666666667]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6689373073203891]], [[0.6467483508540135]], [[0.6258323555740656]]], "std": [[[0.20890287677863092]], [[0.2009649838771276]], [[0.19996920397030485]]], "count": [100]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [441]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [441]}, "observation.state": {"min": [3.6772489944070115, -0.8340193380715064, 0.6999964231176343, 0.0, 0.0, 0.7068148255348206, 0.7068514823913574, 0.19920731546769466, -0.10334562830344618, 0.6124731755438715, -0.9878731966018677, -0.26129090785980225, -0.5208741426467896, 0.0003294502093922347, 0.020551714135566158, -0.040000749980256864], "max": [3.677638490675884, -0.8338412597716843, 0.7005897568975091, 0.0, 0.0, 0.7073620557785034, 0.707398533821106, 0.5880471506685266, 0.27905546817408267, 0.8940044475104065, 0.9377051591873169, 0.10806101560592651, 0.5584635734558105, 0.19376613199710846, 0.040006219213133645, -0.020514846389767215], "mean": [3.6774755934120833, -0.8339668508981856, 0.7001972361495591, 0.0, 0.0, 0.7070635434180971, 0.7071499786679707, 0.47180693783870664, 0.10276677361963425, 0.8255206000312809, -0.30166506267188625, -0.10261536114205039, -0.1412930665981202, 0.08827841646196911, 0.034514942483382924, -0.03433523139096594], "std": [9.24297302249675e-05, 4.607620486828445e-05, 0.00017662675411111032, 0.0, 0.0, 0.0001465509774945245, 0.00014654107151231384, 0.10985840665246371, 0.12232892422894326, 0.06026368267862332, 0.8054183054815768, 0.08028919044934016, 0.45956410321324836, 0.06608558105834234, 0.005274787202238536, 0.0055205746549285275], "count": [441]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8866071428571427, -0.6830357142857143, -0.9375, -0.10857142857142858, -0.4114285714285714, -0.24, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.4928571428571429, 0.5169642857142857, 0.6026785714285715, 0.1742857142857143, 0.09714285714285714, 0.37714285714285717, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007908163265306134, 0.016684888241010706, -0.007349368318756126, 0.00700356333009394, -0.01663751214771621, -0.0014965986394557857, -0.13378684807256236], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.29223428039086813, 0.22924853402582487, 0.23388767521052936, 0.038551975757669284, 0.07425308945468441, 0.08372245676221565, 0.9910101307669902], "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": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [441]}, "index": {"min": [56826], "max": [57266], "mean": [57046.0], "std": [127.30540705982078], "count": [441]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [441]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.023529411764705882]], [[0.011764705882352941]]], "max": [[[0.9294117647058824]], [[0.8980392156862745]], [[0.8862745098039215]]], "mean": [[[0.4698664799708946]], [[0.5006909189261642]], [[0.48450064816942406]]], "std": [[[0.1463399012482895]], [[0.13222339214541998]], [[0.1295772745394147]]], "count": [125]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.023529411764705882]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5232527271943934]], [[0.5467914182176777]], [[0.5287316650390625]]], "std": [[[0.23451946726862682]], [[0.19395498442255782]], [[0.17786601896085671]]], "count": [125]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.027450980392156862]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5342889131433823]], [[0.5529094582950368]], [[0.5312013456456801]]], "std": [[[0.24004538381517757]], [[0.19623520792785012]], [[0.1785950660925931]]], "count": [125]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [628]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [628]}, "observation.state": {"min": [0.7975395020635043, -1.2112145841562076, 0.6999958089413933, 0.0, 0.0, -1.0, 2.732709525332666e-08, 0.18910300649083367, -0.3612107554902856, 0.6083317662383271, -0.9861788749694824, -0.49938780069351196, -0.5137370824813843, 8.52993325679563e-05, 0.02056230161529617, -0.04000235599686459], "max": [0.7977250286052054, -1.2102665845578013, 0.700640769655159, 0.0, 0.0, 1.0, 0.0010137801291421056, 0.5632496545815148, 0.30556120110724283, 0.8830714895901559, 0.9039293527603149, 0.06168743968009949, 0.5889009833335876, 0.296749085187912, 0.04000253783407766, -0.020504257294618078], "mean": [0.7976346732687909, -1.2108229952076577, 0.7002963068715274, 0.0, 0.0, -0.03821638587174142, 0.0005137777174555466, 0.4403889426889585, -0.03670101669441747, 0.8236869087967462, -0.060012994203597875, -0.2603593521579436, -0.02017271556672017, 0.16161109305909457, 0.03473813193124519, -0.03328920622951493], "std": [4.0353480626637323e-05, 0.000300083270306214, 0.0001960029984031824, 0.0, 0.0, 0.9992693016975399, 0.0003671178255082203, 0.1044299481303721, 0.24684749849867343, 0.04608342075405368, 0.8070102536162513, 0.14299888045937803, 0.4733803317650878, 0.07926661551920448, 0.005447936995840625, 0.006906712621075276], "count": [628]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9375, -0.7392857142857142, -0.35625, -0.07428571428571429, -0.5914285714285714, -0.38857142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.43124999999999997, 0.61875, 0.6375000000000001, 0.07714285714285714, 0.1457142857142857, 0.2285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00800159235668789, -0.013478161965423159, 0.006286965423111887, -0.001237488626023658, -0.007766151046405825, -0.0055323020928116536, -0.11146496815286625], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2601627731700776, 0.2523752917097605, 0.16296431403848438, 0.014897802155707945, 0.0779645778989324, 0.09186552859587636, 0.993768363792428], "count": [628]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025477707386016846], "std": [0.15757091343402863], "count": [628]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015923566878980893], "std": [0.039872560590920106], "count": [628]}, "timestamp": {"min": [0.0], "max": [31.35], "mean": [15.675000000000002], "std": [9.06438773442531], "count": [628]}, "frame_index": {"min": [0], "max": [627], "mean": [313.5], "std": [181.2877546885062], "count": [628]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [628]}, "index": {"min": [57267], "max": [57894], "mean": [57580.5], "std": [181.2877546885062], "count": [628]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [628]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.08235294117647059]], [[0.0]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41805591236964984]], [[0.40360010705309324]], [[0.4153858312802118]]], "std": [[[0.19327559830243193]], [[0.19046977943493199]], [[0.18076887597999836]]], "count": [135]}, "observation.images.robot0_agentview_left": {"min": [[[0.09803921568627451]], [[0.00784313725490196]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.526137300379136]], [[0.5237612252384316]], [[0.5183026951919367]]], "std": [[[0.25661660456530205]], [[0.22997705176841557]], [[0.2106019448501754]]], "count": [135]}, "observation.images.robot0_agentview_right": {"min": [[[0.047058823529411764]], [[0.011764705882352941]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5961061055191029]], [[0.575264854015608]], [[0.5448961888176856]]], "std": [[[0.2421616607238586]], [[0.21308673472783937]], [[0.19146749550073422]]], "count": [135]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [696]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [696]}, "observation.state": {"min": [0.3011047919228642, -5.551468682371272, 0.6999977829879527, 0.0, 0.0, -0.7074856162071228, 0.7067277431488037, 0.19410693440137816, -0.18138970442413305, 0.613028009077046, -0.9833443760871887, -0.42238712310791016, -0.6343138813972473, 0.00044127972796559334, 0.02051505196495921, -0.040003682177371096], "max": [0.3035809059190664, -5.550897759648606, 0.7015065621708519, 0.0, 0.0, -0.7051023244857788, 0.7091055512428284, 0.5956949401140967, 0.23552871407818515, 0.851040726868019, 0.9607744216918945, 0.07549390196800232, 0.5765178203582764, 0.22762039303779602, 0.039989884824024755, -0.020551508700818257], "mean": [0.3022250640557561, -5.551232291567028, 0.7006857415354641, 0.0, 0.0, -0.7063509314909748, 0.7078606577097685, 0.4751299835046957, -0.006160190655311519, 0.7799438646270155, 0.2896430945430679, -0.23286821945816621, 0.13750079546080923, 0.14419333885314115, 0.03573129467103951, -0.03416686492360524], "std": [0.0009497771886522687, 0.0002207399380354673, 0.0004905057441561505, 0.0, 0.0, 0.000905458887106832, 0.0009033559066355642, 0.09065505854350576, 0.14437171698438184, 0.04292714173770272, 0.7532305370258768, 0.12816632874437553, 0.4834761984292446, 0.06818352743609199, 0.00441821080988171, 0.005834238494460178], "count": [696]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9375, -0.5866071428571429, -0.31875000000000003, -0.06, -0.46857142857142864, -0.4285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40178571428571436, 0.45, 0.5517857142857143, 0.14285714285714285, 0.1657142857142857, 0.37714285714285717, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004483528325123132, -0.0056573275862068576, -0.007127463054187203, 0.0023193760262725763, -0.008045977011494239, 0.0014408866995073882, -0.13218390804597702], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24879262689625625, 0.17804422807723844, 0.1459015479850595, 0.021678981160270422, 0.06852116211191783, 0.10462156522563813, 0.9912252087460729], "count": [696]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02298850566148758], "std": [0.1498667150735855], "count": [696]}, "next.done": {"min": [false], "max": [true], "mean": [0.0014367816091954023], "std": [0.03787766185765537], "count": [696]}, "timestamp": {"min": [0.0], "max": [34.75], "mean": [17.375], "std": [10.045884314816027], "count": [696]}, "frame_index": {"min": [0], "max": [695], "mean": [347.5], "std": [200.9176862963205], "count": [696]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [696]}, "index": {"min": [57895], "max": [58590], "mean": [58242.5], "std": [200.9176862963205], "count": [696]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [696]}}} +{"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": [[[0.5369138513629219]], [[0.3939453095810542]], [[0.30331170744784197]]], "std": [[[0.17355340059678673]], [[0.23433920077923537]], [[0.2721314388929927]]], "count": [123]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5504231503263304]], [[0.4823751898676932]], [[0.4350762650477493]]], "std": [[[0.20759323207365732]], [[0.2416554650820523]], [[0.26717704977350104]]], "count": [123]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5597741269160739]], [[0.4919412791396411]], [[0.4371592437291704]]], "std": [[[0.2179886344926841]], [[0.2558452481272355]], [[0.2871043833713552]]], "count": [123]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [618]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [618]}, "observation.state": {"min": [-0.828323924410505, -2.944900796375581, 0.6999975839722323, 0.0, 0.0, -0.0012721713865175843, 0.9999991655349731, 0.20657971070502623, -0.3471166830757313, 0.574319813911478, -0.9939226508140564, -0.4465672969818115, -0.6024088263511658, 0.0007044567028060555, 0.020533906878292717, -0.039948233731083645], "max": [-0.8280766723571094, -2.944129988039748, 0.7010595998289001, 0.0, 0.0, 1.4387132978299633e-06, 1.0, 0.5797465311599265, -0.005865888226997296, 0.8416226496183532, 0.8847748637199402, 0.19788122177124023, 0.5996866822242737, 0.25622841715812683, 0.04000763973102214, -0.020532652457645396], "mean": [-0.8282086862465741, -2.9442890301746742, 0.7004434652978246, 0.0, 0.0, -0.00020775661954972236, 0.9999999658575336, 0.4712495271138591, -0.15053417242143363, 0.7860627717909793, -0.07529293285218643, -0.09660156565480248, -0.027035463420511448, 0.10420052832652571, 0.03427077722106987, -0.03400984769959589], "std": [6.609958476150027e-05, 0.00015742329718893371, 0.0003382688120620752, 0.0, 0.0, 0.0002462023325927951, 1.4340321631330933e-07, 0.09241834513755243, 0.11222291756739186, 0.051498961182640815, 0.8263351695363678, 0.15839157008454957, 0.5098809144136798, 0.07425765562870419, 0.005803020053869149, 0.006007680171037601], "count": [618]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7821428571428571, -0.3080357142857143, -0.3455357142857143, -0.11142857142857143, -0.40571428571428575, -0.21142857142857144, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.48482142857142857, 0.3830357142857143, 0.5651785714285715, 0.21142857142857144, 0.20285714285714287, 0.6942857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0051014216366158235, -0.015755027739251085, 0.007255547850208036, 0.0024687933425797523, -0.011091077207582048, 0.0004808136846971825, -0.11326860841423948], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.23345907486245812, 0.13793724961309195, 0.14803115093770466, 0.03543358623410239, 0.07939241378446327, 0.10215474575145289, 0.9935644027177625], "count": [618]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025889968499541283], "std": [0.15880703926086426], "count": [618]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016181229773462784], "std": [0.0401933409332499], "count": [618]}, "timestamp": {"min": [0.0], "max": [30.85], "mean": [15.424999999999999], "std": [8.920049981175367], "count": [618]}, "frame_index": {"min": [0], "max": [617], "mean": [308.5], "std": [178.40099962350735], "count": [618]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [618]}, "index": {"min": [58591], "max": [59208], "mean": [58899.5], "std": [178.40099962350735], "count": [618]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [618]}}} +{"episode_index": 79, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5203775222666501]], [[0.30590796800244324]], [[0.2968779749954354]]], "std": [[[0.14981399624552533]], [[0.19767275373290974]], [[0.1943912305116984]]], "count": [198]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45595487827687103]], [[0.3271596774461837]], [[0.3203896733882947]]], "std": [[[0.25424846840027593]], [[0.2678553414871119]], [[0.25656529603377437]]], "count": [198]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4573410291061658]], [[0.32135937109539403]], [[0.31508904478058386]]], "std": [[[0.24839274546465961]], [[0.2723376832697663]], [[0.2629050759520997]]], "count": [198]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1157]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1157]}, "observation.state": {"min": [0.7768289834715079, -1.4947338200175715, 0.6999978102741274, 0.0, 0.0, -1.0, 1.560207692818949e-06, 0.11620049669600685, -0.4665304571460285, 0.5735832799335565, -0.9939835667610168, -0.43229544162750244, -0.68021559715271, 1.3391661923378706e-05, 0.02055950187756022, -0.04000396189611739], "max": [0.7769774641122392, -1.4944237268119727, 0.7003303845891345, 0.0, 0.0, 1.0, 0.00029640895081683993, 0.4960317080205955, -0.008739211098766964, 0.85316732391504, 0.8633589148521423, 0.08549124002456665, 0.6578477025032043, 0.3027920424938202, 0.04000527297604773, -0.02010406940122581], "mean": [0.7769057987261163, -1.4945469683090078, 0.7001612961183217, 0.0, 0.0, 0.5868625756266206, 0.00016289920266001083, 0.40586478956414873, -0.2702179804175748, 0.797845324006015, 0.13846274687487603, -0.1393475001331744, 0.0790032253004192, 0.11898556942739066, 0.033878232786508415, -0.033257311950170024], "std": [3.4422773181465375e-05, 9.126015225571822e-05, 0.0001096419879404624, 0.0, 0.0, 0.8096865549883424, 8.284081640623832e-05, 0.07006690229642466, 0.14177043543944434, 0.05297268475023202, 0.7518450854096466, 0.2060746451916081, 0.5625403745093552, 0.12969887355272122, 0.005812389841005785, 0.006364257568869596], "count": [1157]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.75, -0.3785714285714286, -0.45714285714285713, -0.07142857142857142, -0.3457142857142857, -0.12857142857142856, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.29285714285714287, 0.4785714285714286, 0.45714285714285713, 0.08857142857142856, 0.09714285714285714, 0.18285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.011501419928386214, -0.01617483639955553, 0.01296456352636127, 0.0012100259291270535, -0.007603407828126925, -0.002299049265341404, 0.05099394987035436], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.14647493380849613, 0.10672306740643649, 0.10187386240435571, 0.010300027272779726, 0.04728959324145297, 0.03785826501929284, 0.9986989621886236], "count": [1157]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013828868046402931], "std": [0.11678025871515274], "count": [1157]}, "next.done": {"min": [false], "max": [true], "mean": [0.000864304235090752], "std": [0.029386343993085564], "count": [1157]}, "timestamp": {"min": [0.0], "max": [57.8], "mean": [28.900000000000002], "std": [16.699850298730226], "count": [1157]}, "frame_index": {"min": [0], "max": [1156], "mean": [578.0], "std": [333.9970059746045], "count": [1157]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [1157]}, "index": {"min": [59209], "max": [60365], "mean": [59787.0], "std": [333.9970059746045], "count": [1157]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1157]}}} +{"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": [[[0.47023938665371484]], [[0.40927737124331365]], [[0.3856921658417379]]], "std": [[[0.15965057317615855]], [[0.17715893791410708]], [[0.1772394461262]]], "count": [111]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.023529411764705882]], [[0.027450980392156862]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40389423057018414]], [[0.3788819464498391]], [[0.3632457194743572]]], "std": [[[0.22035856701345752]], [[0.215866775409751]], [[0.21281850066628505]]], "count": [111]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39324339203058756]], [[0.36941714520126745]], [[0.3544906899230343]]], "std": [[[0.2264763563917809]], [[0.2217645339543719]], [[0.21850160020546985]]], "count": [111]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [537]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [537]}, "observation.state": {"min": [1.6724818428948438, -0.8319898139369131, 0.6999953938338548, 0.0, 0.0, 0.7070717215538025, 0.7064930200576782, 0.18800848765696077, -0.38917064294204184, 0.5931554006569277, -0.9876662492752075, -0.28687232732772827, -0.590080976486206, 0.0016840562457218766, 0.020569452160654627, -0.03997101425006182], "max": [1.6730782648569216, -0.8317379550001262, 0.7010796516937097, 0.0, 0.0, 0.7077199816703796, 0.7071418166160583, 0.6004208576338068, 0.09439439969966412, 0.8652211076127986, 0.8880534172058105, 0.10688835382461548, 0.650040328502655, 0.2607494592666626, 0.04000741271354979, -0.020497108672140486], "mean": [1.672777438767859, -0.8318599778931843, 0.7005000140967915, 0.0, 0.0, 0.7074172208207058, 0.706796116891076, 0.4792116662468007, -0.13654862832999065, 0.7884590094321091, 0.050193100224216115, -0.1487798633910646, 0.07086608410436569, 0.11248027649252837, 0.03350616520018072, -0.03509447491725883], "std": [0.00020352844411247885, 6.67813099041694e-05, 0.00032251148902221437, 0.0, 0.0, 0.00023596001254095247, 0.00023614453808966146, 0.09264858871882097, 0.17493411077082524, 0.04867546513598237, 0.8201779100575584, 0.08443322043264975, 0.521972792087082, 0.07345081427220344, 0.006290209641156547, 0.0048712426594258685], "count": [537]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8678571428571429, -0.6696428571428571, -0.34821428571428575, -0.17714285714285713, -0.4571428571428572, -0.28285714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5142857142857143, 0.7098214285714286, 0.5571428571428572, 0.19428571428571428, 0.18, 0.2257142857142857, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.008434756584197964, -0.01698922585794095, -0.006309856344772535, 0.004048949188613996, -0.017350359138068632, -0.005006650704974731, -0.10242085661080075], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.30358813981081045, 0.22301080969592427, 0.18020241296877695, 0.040957001363414805, 0.09302674813691073, 0.06475502595468367, 0.9947411563472743], "count": [537]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02979515865445137], "std": [0.17002178728580475], "count": [537]}, "next.done": {"min": [false], "max": [true], "mean": [0.00186219739292365], "std": [0.04311298660257067], "count": [537]}, "timestamp": {"min": [0.0], "max": [26.8], "mean": [13.4], "std": [7.750913924606999], "count": [537]}, "frame_index": {"min": [0], "max": [536], "mean": [268.0], "std": [155.01827849213998], "count": [537]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [537]}, "index": {"min": [60366], "max": [60902], "mean": [60634.0], "std": [155.01827849213998], "count": [537]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [537]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5656338722762884]], [[0.44366096075242917]], [[0.37116533537780794]]], "std": [[[0.16819373211420496]], [[0.17466909864112082]], [[0.18601047569260953]]], "count": [218]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5550880724458648]], [[0.473725193364733]], [[0.41892793301649073]]], "std": [[[0.2333469358241856]], [[0.23768019538218685]], [[0.23798762419464384]]], "count": [218]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5446289153081046]], [[0.43377285233545826]], [[0.37148345409269107]]], "std": [[[0.19235478404389184]], [[0.21497334044469368]], [[0.22857416294324992]]], "count": [218]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1314]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1314]}, "observation.state": {"min": [0.8385479173335239, -1.029677131169693, 0.6999984879790588, 0.0, 0.0, -1.0, 8.097475756585482e-08, 0.22762981498007362, -0.3353370613897383, 0.605551443141542, -0.9888150095939636, -0.36951661109924316, -0.6357592344284058, 6.58281787764281e-05, 0.0006128672448559523, -0.03996625164969817], "max": [0.8391691447753721, -1.0291864743760124, 0.7001866205216423, 0.0, 0.0, 1.0, 0.0003385806339792907, 0.5768238429207602, 0.1077853293482165, 0.904399727511274, 0.9003692865371704, 0.06895262002944946, 0.6475253701210022, 0.22147062420845032, 0.040008310708845946, -0.0003621145721583902], "mean": [0.8389809797243223, -1.029485375702403, 0.7000783091234041, 0.0, 0.0, 0.4200913242009132, 0.00014745110040092878, 0.465711544402219, -0.11335178233955981, 0.816446330866193, -0.2625489803300419, -0.10102898763603271, -0.18372596251456524, 0.0840462176702439, 0.03172619925299637, -0.030995238022817773], "std": [0.0002520418985856787, 0.00010852196918309229, 4.4604303115033726e-05, 0.0, 0.0, 0.9074818341603925, 0.00010393034615718563, 0.10360379016311357, 0.14251090173724254, 0.05340984726773043, 0.7413671388434757, 0.14965596211812662, 0.5497959043791976, 0.07579259061864574, 0.010368615785572927, 0.010752856897931802], "count": [1314]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7714285714285714, -0.3214285714285714, -0.4, -0.10571428571428572, -0.27714285714285714, -0.23428571428571432, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3214285714285714, 0.5785714285714286, 0.40714285714285714, 0.045714285714285714, 0.06857142857142857, 0.14, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.00038595346814521305, -0.0028375733855185723, 0.012714720591432865, -0.0008784518373559472, -0.00530550119591216, -0.0009371602522287474, -0.0487062404870624], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16239029252053078, 0.11827876808415685, 0.09527548140850069, 0.009655253050680324, 0.03354874965316501, 0.03518901655972864, 0.9988131467584916], "count": [1314]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01217656023800373], "std": [0.10967356711626053], "count": [1314]}, "next.done": {"min": [false], "max": [true], "mean": [0.00076103500761035], "std": [0.02757636367122289], "count": [1314]}, "timestamp": {"min": [0.0], "max": [65.65], "mean": [32.825], "std": [18.96595085058133], "count": [1314]}, "frame_index": {"min": [0], "max": [1313], "mean": [656.5], "std": [379.31901701162656], "count": [1314]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [1314]}, "index": {"min": [60903], "max": [62216], "mean": [61559.5], "std": [379.31901701162656], "count": [1314]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1314]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.023529411764705882]]], "max": [[[0.984313725490196]], [[0.9803921568627451]], [[0.9725490196078431]]], "mean": [[[0.5406676237139901]], [[0.5282524195150089]], [[0.5102197839549397]]], "std": [[[0.15603595966042216]], [[0.1613284801113014]], [[0.15696920486882798]]], "count": [137]}, "observation.images.robot0_agentview_left": {"min": [[[0.023529411764705882]], [[0.011764705882352941]], [[0.050980392156862744]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6393213958106908]], [[0.6311402301889335]], [[0.6213883946616541]]], "std": [[[0.21915107324153088]], [[0.22041016395762703]], [[0.22059180675098142]]], "count": [137]}, "observation.images.robot0_agentview_right": {"min": [[[0.0196078431372549]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6460992695453667]], [[0.6379454430787198]], [[0.6282028169851711]]], "std": [[[0.22439732345056995]], [[0.22629309648208018]], [[0.22742029799063188]]], "count": [137]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [713]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [713]}, "observation.state": {"min": [4.692716525598777, -0.7724259407938517, 0.6999980351283528, 0.0, 0.0, 0.7067832350730896, 0.707055926322937, 0.1646279221226471, -0.37916643554875584, 0.6085968101771261, -0.9884024262428284, -0.3534145951271057, -0.6188473105430603, 5.817411420139251e-06, 0.020553246411382023, -0.03994167215320558], "max": [4.693002122997384, -0.7723639098652268, 0.7002043735681702, 0.0, 0.0, 0.7071576118469238, 0.7074301838874817, 0.5047012963260549, 0.4471796551514444, 0.8570436062292982, 0.8850946426391602, 0.11451876163482666, 0.5120148062705994, 0.3383606970310211, 0.040005036204375, -0.02051331410660676], "mean": [4.692831234956095, -0.7723974992528247, 0.7001104561117736, 0.0, 0.0, 0.7069850008919062, 0.7072285156263376, 0.38462923235321617, 0.04135365800368096, 0.7919948600977195, -0.6508595401742515, -0.11178158758649652, -0.3915034949068936, 0.1238037315599246, 0.03261102210746444, -0.031682140118784154], "std": [8.499539790541823e-05, 1.3135315834829337e-05, 5.845105118508191e-05, 0.0, 0.0, 0.00011279254505730093, 0.0001127600419492087, 0.08660636991411948, 0.2741270484293895, 0.048550737706054795, 0.5193715933729054, 0.14274890891626954, 0.3049816379823617, 0.11021107964504426, 0.007135485845518556, 0.007584159707615362], "count": [713]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.5491071428571428, -0.5758928571428572, -0.30000000000000004, -0.1142857142857143, -0.37142857142857144, -0.15714285714285714, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5598214285714286, 0.6589285714285714, 0.3830357142857143, 0.17714285714285713, 0.20285714285714287, 0.25142857142857145, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007723903025445797, -0.010691745141254322, 0.010451312362252073, 0.0016429573231817266, -0.009669404928871961, -0.003334001202163897, 0.021037868162692847], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2251668756133433, 0.251767248513214, 0.11457837751909773, 0.026597024838264885, 0.06548789801143105, 0.060748321111804005, 0.9997786795602124], "count": [713]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022440392524003983], "std": [0.14811085164546967], "count": [713]}, "next.done": {"min": [false], "max": [true], "mean": [0.001402524544179523], "std": [0.03742402262027022], "count": [713]}, "timestamp": {"min": [0.0], "max": [35.6], "mean": [17.8], "std": [10.291258426451062], "count": [713]}, "frame_index": {"min": [0], "max": [712], "mean": [356.0], "std": [205.82516852902125], "count": [713]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [713]}, "index": {"min": [62217], "max": [62929], "mean": [62573.0], "std": [205.82516852902125], "count": [713]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [713]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.10588235294117647]], [[0.06666666666666667]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5109755447487425]], [[0.38635664946113535]], [[0.31178225598304105]]], "std": [[[0.13813804771645852]], [[0.18201033943420675]], [[0.21776577449103535]]], "count": [120]}, "observation.images.robot0_agentview_left": {"min": [[[0.09019607843137255]], [[0.054901960784313725]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5562467388078278]], [[0.4959116059346916]], [[0.459011741089665]]], "std": [[[0.21629062689489686]], [[0.24945620580678962]], [[0.27998599030790916]]], "count": [120]}, "observation.images.robot0_agentview_right": {"min": [[[0.09411764705882353]], [[0.0784313725490196]], [[0.0196078431372549]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5877416538413054]], [[0.5149356627620124]], [[0.47025695002936074]]], "std": [[[0.21472030200129974]], [[0.2599451410927085]], [[0.29760120922907063]]], "count": [120]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [595]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [595]}, "observation.state": {"min": [3.7046829587119507, -0.8406348352630978, 0.6999960835476328, 0.0, 0.0, 0.7070332169532776, 0.7067668437957764, 0.1374143356690929, -0.22082280713788904, 0.593792319059151, -0.987906813621521, -0.3393791913986206, -0.5960697531700134, 0.003395248670130968, 0.02058088771260941, -0.03997398377107859], "max": [3.705065145821488, -0.8404242081328722, 0.7010375365237204, 0.0, 0.0, 0.7074465751647949, 0.707180380821228, 0.6072772171303693, 0.25201816234679253, 0.9080102623234139, 0.8881721496582031, 0.0011303424835205078, 0.584363579750061, 0.25676393508911133, 0.040003634092718184, -0.020485673033913944], "mean": [3.704903664689604, -0.8405402123919131, 0.700460271451857, 0.0, 0.0, 0.7071956166700155, 0.7070178902449729, 0.48169194261822507, 0.04870641579302035, 0.8455288041661516, -0.12670236585520897, -0.18834292012102463, -0.06837111776616393, 0.10928105717806631, 0.034127338716663534, -0.03386702497183522], "std": [0.00012211826816612155, 6.353233210284909e-05, 0.0003735396684746211, 0.0, 0.0, 0.00013236134505889547, 0.0001323899224863798, 0.11147702525724199, 0.16205207253754053, 0.05235172297421259, 0.8068613879101403, 0.08211083167713955, 0.5199527770284841, 0.06114016331132037, 0.00524002197285286, 0.005402306857469692], "count": [595]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9375, -0.5303571428571429, -0.4205357142857143, -0.16857142857142857, -0.7257142857142858, -0.24, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.43124999999999997, 0.48482142857142857, 0.7794642857142858, 0.09142857142857143, 0.16285714285714287, 0.18285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01048469387755098, 0.0013460384153661576, 0.0026020408163265137, 0.0011812725090036013, -0.015433373349339731, -0.006669867947178864, -0.005042016806722689], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2763148651109099, 0.17792945345811628, 0.19566035329827652, 0.029665555303920534, 0.09004116883204982, 0.06034786754107387, 0.9999872889524768], "count": [595]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02689075656235218], "std": [0.16176415979862213], "count": [595]}, "next.done": {"min": [false], "max": [true], "mean": [0.0016806722689075631], "std": [0.0409615381746351], "count": [595]}, "timestamp": {"min": [0.0], "max": [29.7], "mean": [14.85], "std": [8.588073124979783], "count": [595]}, "frame_index": {"min": [0], "max": [594], "mean": [297.0], "std": [171.76146249959564], "count": [595]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [595]}, "index": {"min": [62930], "max": [63524], "mean": [63227.0], "std": [171.76146249959564], "count": [595]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [595]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49219869537504185]], [[0.3730907046823479]], [[0.2982559322486863]]], "std": [[[0.15562715669041816]], [[0.17895240624430897]], [[0.20243874859557096]]], "count": [139]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49719513150394207]], [[0.41243004117501036]], [[0.360906860162146]]], "std": [[[0.24270673051378402]], [[0.2585809489095066]], [[0.2820155887712312]]], "count": [139]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47926292597011544]], [[0.3904771031807367]], [[0.3360172714597164]]], "std": [[[0.2502109570460609]], [[0.26047340121281315]], [[0.28105644164125715]]], "count": [139]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [721]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [721]}, "observation.state": {"min": [0.801769224284881, -0.9826912099032493, 0.6999953965176935, 0.0, 0.0, 0.7070805430412292, 0.7070632576942444, 0.11829049090486354, -0.32323824408037105, 0.5732010415274735, -0.9917978644371033, -0.3615034818649292, -0.6021793484687805, 0.003328547812998295, 0.02058181502693014, -0.04000640613838168], "max": [0.8018234074547188, -0.9826785415892797, 0.7004347641143808, 0.0, 0.0, 0.7071502804756165, 0.7071329355239868, 0.4844096002181379, 0.11616800555121465, 0.9312036359916296, 0.9307988882064819, 0.06860551238059998, 0.581771194934845, 0.22005531191825867, 0.03991500973818881, -0.020484746159791078], "mean": [0.8017951022404551, -0.9826838065788461, 0.7001905042880978, 0.0, 0.0, 0.7071065581952649, 0.7071069523630129, 0.4024351929288661, -0.06902225157593739, 0.8576490572023812, 0.1970472734281987, -0.21857516219563028, 0.08719290995482103, 0.14860494605791283, 0.03266988000353665, -0.03409745983495446], "std": [4.225939501272973e-06, 1.289365742999388e-06, 0.00013540431862470517, 0.0, 0.0, 6.185032858493153e-06, 6.183138368145403e-06, 0.076531031032152, 0.15341065291679667, 0.0668725867494295, 0.7808181129064167, 0.12606991115482616, 0.505320670605799, 0.05283668182815273, 0.005912250109911972, 0.004849914137687065], "count": [721]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8544642857142859, -0.5223214285714286, -0.36428571428571427, -0.1657142857142857, -0.48, -0.4942857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3776785714285714, 0.5169642857142857, 0.6348214285714286, 0.07428571428571429, 0.18, 0.22285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.016312908658609074, -0.015124083614028148, 0.022844016247275563, -0.0009510600356647511, -0.011888250445809401, -0.008365365563701205, 0.11511789181692095], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21381233486082352, 0.1620772283874521, 0.14031831020718663, 0.028402534483631302, 0.07718675317545923, 0.08748855476616763, 0.9933518364525361], "count": [721]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022191401571035385], "std": [0.14730560779571533], "count": [721]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013869625520110957], "std": [0.03721611058252077], "count": [721]}, "timestamp": {"min": [0.0], "max": [36.0], "mean": [18.0], "std": [10.406728592598157], "count": [721]}, "frame_index": {"min": [0], "max": [720], "mean": [360.0], "std": [208.13457185196313], "count": [721]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [721]}, "index": {"min": [63525], "max": [64245], "mean": [63885.0], "std": [208.13457185196313], "count": [721]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [721]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6534607976491378]], [[0.5831309381052225]], [[0.4777047460219439]]], "std": [[[0.17756122874008717]], [[0.15412022766067782]], [[0.1512631358011646]]], "count": [140]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.058823529411764705]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6871939044172356]], [[0.642846947677997]], [[0.5812960148659073]]], "std": [[[0.19904501009063522]], [[0.20376249298482157]], [[0.23093578090624275]]], "count": [140]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6088433987486597]], [[0.5608868929651939]], [[0.4935633089295288]]], "std": [[[0.22791567635335266]], [[0.2226070424703736]], [[0.2341526516517737]]], "count": [140]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [727]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [727]}, "observation.state": {"min": [3.8876732069733277, -0.99565646881013, 0.6999975349681493, 0.0, 0.0, -0.00036289310082793236, 0.9999998807907104, 0.2254886566070704, -0.2981331255429801, 0.5953620541125494, -0.990157425403595, -0.31979620456695557, -0.6460720300674438, 0.0017550139455124736, 0.020533903960773994, -0.04000131283346156], "max": [3.8878285141131035, -0.9951073098054136, 0.7005576343088552, 0.0, 0.0, 0.00047062159865163267, 1.0, 0.5841367295037179, 0.24246610007112934, 0.8610123917170494, 0.8733183741569519, 0.028440117835998535, 0.6042037010192871, 0.24176977574825287, 0.04000663138678208, -0.0205326553442442], "mean": [3.8877602534278224, -0.9954607668678606, 0.7001964192594101, 0.0, 0.0, -3.427161313005061e-05, 0.9999999895056472, 0.4715153751210217, -0.0106978640598629, 0.7978239554049317, -0.12548483123149637, -0.12908587138459313, -0.10337087417731095, 0.08830385591352469, 0.033408718970241856, -0.03431304077744868], "std": [3.1989981973769356e-05, 0.00013773667161164787, 0.00016739114193994994, 0.0, 0.0, 0.0002254532042387166, 3.377710625645544e-08, 0.09009940838379604, 0.16268122444682642, 0.04791379052561772, 0.7960456496999423, 0.08558572571314454, 0.5506211030239498, 0.07007210539152267, 0.006041920823957314, 0.005285796785239814], "count": [727]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6428571428571429, -0.42589285714285713, -0.26517857142857143, -0.05714285714285715, -0.44285714285714284, -0.2742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.33482142857142855, 0.3803571428571429, 0.4982142857142858, 0.18285714285714286, 0.18285714285714286, 0.2542857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.002033798388681484, -0.014052367852230338, 0.007516211436431466, 0.006158380821379445, -0.009707211632933775, -0.0038710945175869527, -0.0068775790921595595], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.20745306316596623, 0.15579031327463505, 0.13484124765482433, 0.029686898067850288, 0.06931736442512045, 0.055055452306549645, 0.9999763491732393], "count": [727]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022008253261446953], "std": [0.14671021699905396], "count": [727]}, "next.done": {"min": [false], "max": [true], "mean": [0.001375515818431912], "std": [0.03706243077113475], "count": [727]}, "timestamp": {"min": [0.0], "max": [36.3], "mean": [18.15], "std": [10.493331215586402], "count": [727]}, "frame_index": {"min": [0], "max": [726], "mean": [363.0], "std": [209.86662431172803], "count": [727]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [727]}, "index": {"min": [64246], "max": [64972], "mean": [64609.0], "std": [209.86662431172803], "count": [727]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [727]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4147875813802083]], [[0.4120596229702818]], [[0.4057157236136642]]], "std": [[[0.18237123677104378]], [[0.1811945428860046]], [[0.18401276455483484]]], "count": [125]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0196078431372549]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.533670623180913]], [[0.5013328306908701]], [[0.4928145392922794]]], "std": [[[0.22346273360111857]], [[0.23712074528048777]], [[0.24098201433105554]]], "count": [125]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5259737376493566]], [[0.5139122122970281]], [[0.5088563873889399]]], "std": [[[0.2664132756835292]], [[0.2723349357448034]], [[0.2742580040220744]]], "count": [125]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [628]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [628]}, "observation.state": {"min": [6.737019652871331, -3.8596339389652807, 0.6999967501741309, 0.0, 0.0, -0.7071947455406189, 0.7070188522338867, 0.20628452669446862, -0.25030154617178013, 0.5222594137357549, -0.9893432259559631, -0.2639816999435425, -0.6136308312416077, 0.0007641706615686417, 0.020525561674534547, -0.04000200154640803], "max": [6.737386084750713, -3.859457876870731, 0.7008791613681516, 0.0, 0.0, -0.7066919207572937, 0.7075213193893433, 0.5720486394659581, 0.09074491632115667, 0.8618410405878952, 0.9072068333625793, 0.08649569749832153, 0.6133878231048584, 0.20612592995166779, 0.04000596093460349, -0.02054099878834746], "mean": [6.73715900920932, -3.8595183063917964, 0.700398779929949, 0.0, 0.0, -0.7070002744721758, 0.7072132373121893, 0.46244470901591, -0.06637455524156705, 0.7909780150486377, -0.3023764806188596, -0.12703119128183193, -0.16502662608103388, 0.08671512216319194, 0.033419595780486124, -0.03306230783646198], "std": [0.00010577142140667904, 3.661984669016736e-05, 0.0002907776996445617, 0.0, 0.0, 0.00012894372416837464, 0.00012890518028814228, 0.10507610686928279, 0.11011276316287862, 0.06260486276012199, 0.7581946466373852, 0.08141409738855292, 0.5219970655729415, 0.06090918632364944, 0.006523489417859536, 0.0068766744390743005], "count": [628]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8383928571428572, -0.6000000000000001, -0.8839285714285714, -0.14857142857142858, -0.4114285714285714, -0.4257142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5142857142857143, 0.6348214285714286, 0.4875000000000001, 0.18857142857142858, 0.39714285714285713, 0.24571428571428575, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00017914012738852382, 0.007907757051865331, -0.01991014558689719, 0.0015332120109190174, -0.008598726114649674, -0.008571428571428574, -0.09235668789808917], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2336017937224667, 0.1945293487467458, 0.21338139279399276, 0.02809108452072276, 0.07791261079590525, 0.07755844648949609, 0.9957259875088582], "count": [628]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.025477707386016846], "std": [0.15757091343402863], "count": [628]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015923566878980893], "std": [0.039872560590920106], "count": [628]}, "timestamp": {"min": [0.0], "max": [31.35], "mean": [15.675000000000002], "std": [9.06438773442531], "count": [628]}, "frame_index": {"min": [0], "max": [627], "mean": [313.5], "std": [181.2877546885062], "count": [628]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [628]}, "index": {"min": [64973], "max": [65600], "mean": [65286.5], "std": [181.2877546885062], "count": [628]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [628]}}} +{"episode_index": 87, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5151914230047487]], [[0.33040800252831004]], [[0.2597553516692885]]], "std": [[[0.1407312151162144]], [[0.2158074578408173]], [[0.24775688263878862]]], "count": [130]}, "observation.images.robot0_agentview_left": {"min": [[[0.03137254901960784]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5212701139838447]], [[0.4687549725700827]], [[0.42559248704176683]]], "std": [[[0.21352531405913774]], [[0.2518920003352876]], [[0.2635569475748595]]], "count": [130]}, "observation.images.robot0_agentview_right": {"min": [[[0.027450980392156862]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5733340951220482]], [[0.4763354082524687]], [[0.4224589922920791]]], "std": [[[0.21411367300719694]], [[0.261401654635682]], [[0.28079807274024765]]], "count": [130]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [663]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [663]}, "observation.state": {"min": [3.651857314082883, -0.9560939610981456, 0.6999972133698941, 0.0, 0.0, 0.706618070602417, 0.7070335745811462, 0.23189671836608428, -0.4128328573209541, 0.5941944252267921, -0.9892211556434631, -0.3297622799873352, -0.6050611734390259, 0.00019566698756534606, 0.02056269140445277, -0.039958196438895165], "max": [3.6522603749493476, -0.9560037818531121, 0.7003927494196235, 0.0, 0.0, 0.7071799635887146, 0.70759516954422, 0.6143757687340476, 0.06612133889880578, 0.8606468251676695, 0.902709424495697, 0.207813560962677, 0.6211498975753784, 0.257244348526001, 0.04000383126488817, -0.020503869649103668], "mean": [3.6519762333471806, -0.9560492208798979, 0.7001847446304434, 0.0, 0.0, 0.7069956395061487, 0.7072178342942919, 0.47722177689998413, -0.16890118368898438, 0.7942156183566521, 0.21084297206786604, -0.19929733159944843, 0.14138084288186437, 0.14226177753698446, 0.03357442594515383, -0.034420922471415975], "std": [0.0001170322107959814, 1.708357508367825e-05, 0.00013308682515339687, 0.0, 0.0, 0.00016964984579810675, 0.00016958008827932798, 0.09754001844173303, 0.15929522293279638, 0.04730440426222698, 0.7705630829982121, 0.10522390157379778, 0.5138660973820841, 0.0818593715499569, 0.006339507880206795, 0.005387961481455747], "count": [663]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7741071428571428, -0.40178571428571436, -0.33214285714285713, -0.14285714285714285, -0.5685714285714286, -0.26571428571428574, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40982142857142867, 0.5383928571428572, 0.5571428571428572, 0.17142857142857143, 0.19142857142857142, 0.2285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004844053005817623, -0.01913380736910147, 0.012019230769230737, 0.004020685197155784, -0.01344968756733462, -0.004137039431157084, -0.07993966817496229], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2436008638087544, 0.1965285026965812, 0.15064515632834338, 0.036963924371957085, 0.08982591480601244, 0.07995535082033153, 0.996799703778081], "count": [663]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024132730439305305], "std": [0.15346121788024902], "count": [663]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015082956259426848], "std": [0.03880748214259007], "count": [663]}, "timestamp": {"min": [0.0], "max": [33.1], "mean": [16.55], "std": [9.569569826625786], "count": [663]}, "frame_index": {"min": [0], "max": [662], "mean": [331.0], "std": [191.3913965325157], "count": [663]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [663]}, "index": {"min": [65601], "max": [66263], "mean": [65932.0], "std": [191.3913965325157], "count": [663]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [663]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3368395569954946]], [[0.337654577097614]], [[0.3269131300277668]]], "std": [[[0.21561310282786583]], [[0.20916784306386157]], [[0.21254895061103046]]], "count": [107]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4698703580621793]], [[0.44390230323885177]], [[0.42942093787491264]]], "std": [[[0.2927634490676949]], [[0.291441951241107]], [[0.29604351545524227]]], "count": [107]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4916201537839873]], [[0.45028337783072486]], [[0.4316169524861273]]], "std": [[[0.2845023833190113]], [[0.2857901088175279]], [[0.29298540453810007]]], "count": [107]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [508]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [508]}, "observation.state": {"min": [3.7283706318180645, -1.5839660704853282, 0.6999947302688685, 0.0, 0.0, -0.0007310413639061153, 0.9999997615814209, 0.17194233797666847, -0.2460778058201336, 0.6136580387397785, -0.9864899516105652, -0.22743123769760132, -0.5975236296653748, 0.0003361704293638468, 0.020518812211020167, -0.04009483616632209], "max": [3.728505032404095, -1.583403919131207, 0.7007887382557086, 0.0, 0.0, 0.0003543911734595895, 1.0, 0.6036666370673367, 0.12305571365836032, 0.8485970388179707, 0.9819721579551697, 0.05312849581241608, 0.6786804795265198, 0.2262236773967743, 0.04000474866382815, -0.020547747127212957], "mean": [3.7284390175692574, -1.5836683769192905, 0.7003748634166722, 0.0, 0.0, -0.00019125705114802043, 0.999999946731282, 0.47841174926464275, -0.038859887916863525, 0.7848261448756325, -0.25770159405986154, -0.1067872899254476, -0.08486594805332619, 0.10642563286487207, 0.035042877536328336, -0.03301546054186055], "std": [2.3764978223625162e-05, 0.000156240142329835, 0.00024071895462955464, 0.0, 0.0, 0.00033445538015550543, 7.872792110802016e-08, 0.11804051293394627, 0.11541960604076971, 0.0486503278325692, 0.7886401217099158, 0.07371050223857037, 0.5230674782161023, 0.05168801713136582, 0.005038821018513317, 0.006990261870524219], "count": [508]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9375, -0.39375, -0.32410714285714287, -0.21714285714285717, -0.5571428571428572, -0.29428571428571426, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5410714285714286, 0.48482142857142857, 0.6294642857142857, 0.1742857142857143, 0.4257142857142857, 0.5285714285714286, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.020869656917885192, 0.007503163667041606, 0.020695655230596164, 0.0015973003374578174, -0.011636670416197972, -0.0013442069741282235, -0.12598425196850394], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.3413367332575107, 0.16621496127972496, 0.1801567908496207, 0.03385728485170394, 0.12553714288057483, 0.09929532829990405, 0.9920322415405282], "count": [508]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.031496062874794006], "std": [0.17465411126613617], "count": [508]}, "next.done": {"min": [false], "max": [true], "mean": [0.001968503937007874], "std": [0.04432413483936103], "count": [508]}, "timestamp": {"min": [0.0], "max": [25.35], "mean": [12.674999999999999], "std": [7.33233421224101], "count": [508]}, "frame_index": {"min": [0], "max": [507], "mean": [253.5], "std": [146.64668424482022], "count": [508]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [508]}, "index": {"min": [66264], "max": [66771], "mean": [66517.5], "std": [146.64668424482022], "count": [508]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [508]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9882352941176471]], [[0.9803921568627451]], [[0.9882352941176471]]], "mean": [[[0.450678881134321]], [[0.31081443755788335]], [[0.25860170530819676]]], "std": [[[0.15515372804804162]], [[0.2081338258505627]], [[0.22876429283655744]]], "count": [131]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.00784313725490196]], [[0.01568627450980392]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43643562763398536]], [[0.34283122493913476]], [[0.3074999330358187]]], "std": [[[0.24289456476484897]], [[0.2841215503239644]], [[0.3043820736542582]]], "count": [131]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.023529411764705882]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5094173390857117]], [[0.4371991654709952]], [[0.41186895577462557]]], "std": [[[0.21181572603473944]], [[0.2675639066032096]], [[0.2926476583770689]]], "count": [131]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [666]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [666]}, "observation.state": {"min": [2.7232193880681543, -5.555269389124646, 0.6999953467441341, 0.0, 0.0, -0.7076884508132935, 0.7065246105194092, 0.12843945352780217, -0.09233856444739486, 0.6062496235961817, -0.9845203757286072, -0.25231754779815674, -0.5590389370918274, 0.0006208400009199977, 0.02052697824808405, -0.039960773459832656], "max": [2.723800169803983, -5.555109224607547, 0.7010937196426384, 0.0, 0.0, -0.706969141960144, 0.7072443962097168, 0.5794482647231893, 0.321152286965114, 0.8334644563530392, 0.8995082974433899, 0.0131378173828125, 0.5286027193069458, 0.152791827917099, 0.040002467728468, -0.020539582296854198], "mean": [2.723524782018961, -5.555173145917312, 0.7003579619265164, 0.0, 0.0, -0.7073025956705168, 0.7069108275858847, 0.4626122399532369, 0.12062152949877991, 0.7808697682741634, -0.11661933510153143, -0.1740070690845584, -0.06514009452975907, 0.09814796646014792, 0.0324646687196759, -0.03242306480774853], "std": [0.00017895142500273212, 3.977105015814388e-05, 0.0003116416233460211, 0.0, 0.0, 0.00023444945771580614, 0.00023457277245424667, 0.0876128973439497, 0.16239141458414288, 0.04159558839198212, 0.8506969473589092, 0.07504874596940812, 0.4595226390816471, 0.042030393984966996, 0.005789816964385596, 0.005932964459321436], "count": [666]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8464285714285713, -0.4205357142857143, -0.2571428571428572, -0.06, -0.4371428571428572, -0.14, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5410714285714286, 0.5705357142857143, 0.6669642857142857, 0.1457142857142857, 0.16857142857142857, 0.3514285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.01466377091377093, 0.01854890604890608, 0.003293918918918939, 0.0019605319605319606, -0.010536250536250534, -0.00034320034320033696, 0.15015015015015015], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24978742656147326, 0.17407843808042736, 0.14914484686724006, 0.02027977777707795, 0.07364464825312803, 0.06626560649969834, 0.9886632047415754], "count": [666]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.024024024605751038], "std": [0.15312370657920837], "count": [666]}, "next.done": {"min": [false], "max": [true], "mean": [0.0015015015015015015], "std": [0.03872011098566855], "count": [666]}, "timestamp": {"min": [0.0], "max": [33.25], "mean": [16.625], "std": [9.61287114584746], "count": [666]}, "frame_index": {"min": [0], "max": [665], "mean": [332.5], "std": [192.2574229169492], "count": [666]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [666]}, "index": {"min": [66772], "max": [67437], "mean": [67104.5], "std": [192.2574229169492], "count": [666]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [666]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44735907952539217]], [[0.4387074276943669]], [[0.42939047594558294]]], "std": [[[0.17023982298092635]], [[0.16490804244951374]], [[0.1623173561013795]]], "count": [179]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4651488338507649]], [[0.4610003891434149]], [[0.4533548038151298]]], "std": [[[0.26905526613348135]], [[0.2676729819275313]], [[0.2626684951961643]]], "count": [179]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.011764705882352941]], [[0.0392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5759263009280179]], [[0.5678778330902892]], [[0.55407432834451]]], "std": [[[0.25496550639599475]], [[0.25609011263475584]], [[0.24979834668591103]]], "count": [179]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1015]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1015]}, "observation.state": {"min": [2.5771537203348496, -0.9636025978949986, 0.6999966559684149, 0.0, 0.0, 1.0, 0.00015076740237418562, 0.1951065698396781, -0.3158058583905713, 0.6081221291955716, -0.9879093766212463, -0.45346128940582275, -0.5869704484939575, 0.0015552371041849256, 0.02056976856705539, -0.04000571987631452], "max": [2.5771867341884978, -0.9635602245713122, 0.7008617686342575, 0.0, 0.0, 1.0, 0.0002363363018957898, 0.5933629933124727, 0.1334744213693012, 0.8652397488779202, 0.8712769150733948, 0.04772752523422241, 0.6681132316589355, 0.31513702869415283, 0.040005940892289114, -0.02049679040908063], "mean": [2.577180682439187, -0.9635857346986116, 0.7001991891671072, 0.0, 0.0, 1.0, 0.0001865220648836427, 0.4692871393711801, -0.09947648897389069, 0.8068570899188473, 0.05447883958299759, -0.2517657739922331, 0.053363164084885506, 0.17700248727967202, 0.03459662024774012, -0.03355669250288212], "std": [3.369861438956238e-06, 4.939674123667536e-06, 0.00022942969141653607, 0.0, 0.0, 0.0, 9.455430643650299e-06, 0.09989180057696934, 0.16089151982208436, 0.047090984332025396, 0.7803539524729931, 0.12313910427018586, 0.5177208463882269, 0.08554611308230148, 0.005258282630197081, 0.006153952363529118], "count": [1015]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6508928571428572, -0.5732142857142857, -0.24642857142857144, -0.1457142857142857, -0.35714285714285715, -0.3171428571428571, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3375, 0.5089285714285714, 0.43124999999999997, 0.10285714285714286, 0.19142857142857142, 0.4314285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.00424085151301905, -0.007571252638986609, 0.008523926812104163, 0.0024461646727656577, -0.008934553131597463, -0.00029556650246305677, -0.022660098522167486], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.16899842047992517, 0.11458296738704166, 0.10240252388540881, 0.024943648002432952, 0.0581508979479195, 0.08296836127708716, 0.9997432270012981], "count": [1015]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015763547271490097], "std": [0.12455945461988449], "count": [1015]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009852216748768472], "std": [0.03137277503072051], "count": [1015]}, "timestamp": {"min": [0.0], "max": [50.7], "mean": [25.35], "std": [14.650255970460039], "count": [1015]}, "frame_index": {"min": [0], "max": [1014], "mean": [507.0], "std": [293.00511940920074], "count": [1015]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [1015]}, "index": {"min": [67438], "max": [68452], "mean": [67945.0], "std": [293.00511940920074], "count": [1015]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1015]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4350970464005778]], [[0.4142907972609116]], [[0.4023542158596803]]], "std": [[[0.18804543636063503]], [[0.18963520188194527]], [[0.17888392515198873]]], "count": [143]}, "observation.images.robot0_agentview_left": {"min": [[[0.027450980392156862]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45086340183062956]], [[0.4434632113420242]], [[0.44053619104403946]]], "std": [[[0.251036060449573]], [[0.2524195236104924]], [[0.2525501949432209]]], "count": [143]}, "observation.images.robot0_agentview_right": {"min": [[[0.023529411764705882]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5052299843687065]], [[0.4940179349626515]], [[0.49016545205617756]]], "std": [[[0.24959675377085142]], [[0.2529457443561482]], [[0.2534990469084769]]], "count": [143]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [752]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [752]}, "observation.state": {"min": [3.476397778506662, -1.158380700972756, 0.6999954096604276, 0.0, 0.0, 0.7067896127700806, 0.7070592641830444, 0.2074986155163786, -0.2242300123993206, 0.6107464348102053, -0.9877403974533081, -0.2337929606437683, -0.5731152892112732, 0.00011665082274703309, 0.020560512824113565, -0.0400027785079522], "max": [3.4767201295133794, -1.1581872679087146, 0.7003501170150922, 0.0, 0.0, 0.7071542739868164, 0.7074238061904907, 0.5894381974856195, 0.2853566365436775, 0.8466766008313862, 0.9151135683059692, 0.03209078311920166, 0.6008569598197937, 0.17723660171031952, 0.04000497743900599, -0.01969533525752712], "mean": [3.4765194971913833, -1.1582858560422267, 0.7001424342047292, 0.0, 0.0, 0.7069964794877995, 0.7072170189720519, 0.48758388029542565, 0.030578177544113783, 0.7941958128250286, -0.04161333903036219, -0.12671435210219723, -0.010855294724411152, 0.10184452516407273, 0.03278005730161416, -0.03202279736468653], "std": [9.843628514574842e-05, 5.0512050023416047e-05, 0.00010582346936867628, 0.0, 0.0, 0.00011686529208289528, 0.00011684272015790166, 0.10224626412023242, 0.171390268525891, 0.045367786267897926, 0.8338193096015202, 0.07727879968862394, 0.5175255014580807, 0.051598037278103255, 0.0071022032837164155, 0.00820801378818843], "count": [752]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9107142857142857, -0.28660714285714284, -0.23303571428571432, -0.11142857142857143, -0.42, -0.16, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.40178571428571436, 0.44732142857142854, 0.5544642857142857, 0.08571428571428572, 0.11714285714285716, 0.17714285714285713, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004035666793313069, 0.013546020136778093, 0.012181800911854133, -0.000512917933130699, -0.010444528875379937, 0.0012613981762917904, -0.034574468085106384], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21888455039069, 0.1402080275034656, 0.11500557510293641, 0.02043033677507905, 0.05878452935671763, 0.046059136402632254, 0.9994021243506678], "count": [752]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.021276595070958138], "std": [0.14430490136146545], "count": [752]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013297872340425532], "std": [0.036441993633097663], "count": [752]}, "timestamp": {"min": [0.0], "max": [37.55], "mean": [18.775], "std": [10.854175463848003], "count": [752]}, "frame_index": {"min": [0], "max": [751], "mean": [375.5], "std": [217.08350927696006], "count": [752]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [752]}, "index": {"min": [68453], "max": [69204], "mean": [68828.5], "std": [217.08350927696006], "count": [752]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [752]}}} +{"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": [[[0.543167186580469]], [[0.3393136292321841]], [[0.3353969983480128]]], "std": [[[0.16482807573937075]], [[0.24935408347183693]], [[0.24712866837896028]]], "count": [139]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46976852126410085]], [[0.35325256984784414]], [[0.343586822867074]]], "std": [[[0.24710748969626453]], [[0.27410865878249985]], [[0.261900830582171]]], "count": [139]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5170039735100707]], [[0.45163352041827015]], [[0.4440457953604947]]], "std": [[[0.23310565431920705]], [[0.2616845430791531]], [[0.24617372921044664]]], "count": [139]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [726]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [726]}, "observation.state": {"min": [6.0294317965032675, -0.9316771499653149, 0.6999967295120734, 0.0, 0.0, 0.7065890431404114, 0.7069653272628784, 0.1880498211088426, -0.14431941009521942, 0.6029214947470279, -0.9899252653121948, -0.38374269008636475, -0.5625180006027222, 0.0035197592806071043, 0.020562297066082667, -0.0400069206045178], "max": [6.029882235647121, -0.9315263619404883, 0.7004893453277071, 0.0, 0.0, 0.7072482109069824, 0.7076241970062256, 0.595567268728495, 0.4723018667689489, 0.8583690832705013, 0.9410650134086609, 0.05392375588417053, 0.4927436113357544, 0.2622970640659332, 0.04000374286187431, -0.02050426329713032], "mean": [6.0296633760232226, -0.9316140022229632, 0.7001877818664538, 0.0, 0.0, 0.7068740837173357, 0.7073393461625438, 0.46244538170161803, 0.18942919716301243, 0.7920313788380052, -0.5067491835142298, -0.18669253879177997, -0.31111128016608475, 0.12206040907968041, 0.03334907741410526, -0.03321908762831317], "std": [0.00012512813052320288, 4.828395385503929e-05, 0.00017350862565878341, 0.0, 0.0, 0.0002021810671410814, 0.00020207233212297138, 0.09867587178456468, 0.18549701142144612, 0.05570104990702388, 0.6648468712591975, 0.10903642963462055, 0.3704302997398856, 0.07438597153602944, 0.005418203887612374, 0.00550926485225576], "count": [726]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6562499999999999, -0.5223214285714286, -0.4955357142857143, -0.17714285714285713, -0.27714285714285714, -0.3057142857142857, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.3723214285714286, 0.4205357142857143, 0.3508928571428571, 0.09142857142857143, 0.14, 0.29714285714285715, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.007253541912632776, 0.02865628689492323, 0.005161599763872504, 0.002081857536402991, -0.014092876820149532, 0.006753246753246753, 0.09917355371900827], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2270319942071565, 0.1648206500392376, 0.12269905086661553, 0.027580930979945496, 0.05102510114816127, 0.07595334013722364, 0.9950701514178476], "count": [726]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.022038567811250687], "std": [0.1468089520931244], "count": [726]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013774104683195593], "std": [0.03708791189486573], "count": [726]}, "timestamp": {"min": [0.0], "max": [36.25], "mean": [18.125], "std": [10.478897445183184], "count": [726]}, "frame_index": {"min": [0], "max": [725], "mean": [362.5], "std": [209.57794890366367], "count": [726]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [726]}, "index": {"min": [69205], "max": [69930], "mean": [69567.5], "std": [209.57794890366367], "count": [726]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [726]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9450980392156862]], [[0.9294117647058824]], [[0.9254901960784314]]], "mean": [[[0.2818831757041821]], [[0.28604487380647636]], [[0.2730674559439123]]], "std": [[[0.22741066920238517]], [[0.2264511628776848]], [[0.23174947488475015]]], "count": [121]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.40043697996978683]], [[0.3922707549796617]], [[0.3769945559133067]]], "std": [[[0.2758149636407813]], [[0.27547539268455984]], [[0.2784021402974487]]], "count": [121]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3629513936034286]], [[0.35641680568954076]], [[0.34420694175946465]]], "std": [[[0.2684143065458856]], [[0.26780259879694684]], [[0.26950197693242073]]], "count": [121]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [605]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [605]}, "observation.state": {"min": [3.908992477507178, -1.2467523345236224, 0.6999955107617147, 0.0, 0.0, -0.00015130339306779206, 0.9999991655349731, 0.20843854684632213, -0.27790374592966294, 0.5849590121268913, -0.9901629686355591, -0.31973469257354736, -0.619718074798584, 0.0001339098671451211, 0.02053092890185575, -0.04000922550408235], "max": [3.9093718509806537, -1.245836313986621, 0.7004538356608297, 0.0, 0.0, 0.0013159868540242314, 1.0, 0.5599787634312747, 0.21251947058184006, 0.8463706097643255, 0.9219816327095032, 0.21601814031600952, 0.637244701385498, 0.3020612299442291, 0.040222457849717695, -0.02053563022525448], "mean": [3.909277486253661, -1.246305950458105, 0.7001936091258444, 0.0, 0.0, 0.0006619644353535974, 0.9999996364609269, 0.45262585056382193, -0.03536928411249766, 0.7831835557683532, 0.06385094626875948, -0.1958376187923526, 0.08411930119695742, 0.14125792714901853, 0.033415864481892196, -0.03403405006711411], "std": [9.90919255844586e-05, 0.0003107010554564743, 0.000154770573341004, 0.0, 0.0, 0.0005693794420396929, 3.5404720784191105e-07, 0.08698485361413115, 0.16016081635074253, 0.047789502443887105, 0.7969223405174379, 0.1155074524825969, 0.5244059392138537, 0.08433298248511618, 0.006339233031035474, 0.005742918034299528], "count": [605]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.825, -0.43124999999999997, -0.46607142857142864, -0.17714285714285713, -0.5114285714285715, -0.4542857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.567857142857143, 0.43124999999999997, 0.5705357142857143, 0.12285714285714287, 0.2485714285714286, 0.38, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.010019185360094414, -0.005374852420307019, 0.020467827626918508, 0.002979929161747343, -0.009605667060212516, -0.0012231404958677628, -0.0743801652892562], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2710265616054257, 0.17810045536947985, 0.15405719495102457, 0.04089352540726329, 0.09566806938055544, 0.10791813156796533, 0.9972299589420408], "count": [605]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.026446281000971794], "std": [0.16045834124088287], "count": [605]}, "next.done": {"min": [false], "max": [true], "mean": [0.001652892561983471], "std": [0.04062216769403144], "count": [605]}, "timestamp": {"min": [0.0], "max": [30.2], "mean": [15.1], "std": [8.732410892760372], "count": [605]}, "frame_index": {"min": [0], "max": [604], "mean": [302.0], "std": [174.64821785520743], "count": [605]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [605]}, "index": {"min": [69931], "max": [70535], "mean": [70233.0], "std": [174.64821785520743], "count": [605]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [605]}}} +{"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": [[[0.4563408951258288]], [[0.43030945775495694]], [[0.43429182157137697]]], "std": [[[0.15703930844875716]], [[0.1573721940418944]], [[0.14286176113020765]]], "count": [195]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.491924378638174]], [[0.44942436237440686]], [[0.431461492186518]]], "std": [[[0.25932220402001677]], [[0.2323814022463491]], [[0.2113664878739718]]], "count": [195]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3902215269308344]], [[0.37051703712459544]], [[0.36500024855945984]]], "std": [[[0.25669242206693743]], [[0.2392095851600642]], [[0.23011205155290443]]], "count": [195]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1135]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1135]}, "observation.state": {"min": [4.810090305520074, -4.8093159975045054, 0.6999966682007539, 0.0, 0.0, -0.7076802849769592, 0.7065327763557434, 0.11247434236442366, -0.15784237799342105, 0.6128575811644742, -0.9849820137023926, -0.43146955966949463, -0.6306019425392151, 0.00039306236431002617, 0.02054719940709682, -0.04004232890603473], "max": [4.810886067267297, -4.809206704704731, 0.7003651137096638, 0.0, 0.0, -0.706504225730896, 0.7077087759971619, 0.5884166077663391, 0.40834977866951316, 0.8930784551716557, 0.8315458297729492, 0.022043466567993164, 0.6362079381942749, 0.296194851398468, 0.04000237376595652, -0.019756644250464188], "mean": [4.810462664763268, -4.809252713907289, 0.7002042065571805, 0.0, 0.0, -0.7071044776408157, 0.7071089226768931, 0.4696634453557786, 0.09161861784757515, 0.8093884178338566, -0.004478864837848142, -0.2690768030115161, -0.008016010803798221, 0.19193535400636594, 0.033427858556251404, -0.03343390794706351], "std": [0.0002126768537492939, 2.0831322168874685e-05, 0.0001437069019308664, 0.0, 0.0, 0.0003466423414726787, 0.0003466592998578647, 0.0880984860055204, 0.16234102312143164, 0.0463933539318687, 0.7614513586335409, 0.10816838504902673, 0.542509174624053, 0.06963761084688991, 0.006791747335069866, 0.007102117467229619], "count": [1135]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9571428571428572, -0.44285714285714284, -0.42142857142857143, -0.06571428571428571, -0.41714285714285715, -0.4028571428571428, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5428571428571429, 0.8, 0.6428571428571428, 0.08, 0.10857142857142858, 0.4514285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.013882945248583982, 0.002013845185651354, 0.01829452485840152, 0.001241032095657647, -0.0033983637507866587, -0.0025349276274386446, -0.048458149779735685], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.22060193975256373, 0.15854993642383514, 0.11737898010109529, 0.012776084574117316, 0.049472649973572376, 0.10724792213035322, 0.9988252137986517], "count": [1135]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014096916653215885], "std": [0.11789059638977051], "count": [1135]}, "next.done": {"min": [false], "max": [true], "mean": [0.000881057268722467], "std": [0.029669529939176625], "count": [1135]}, "timestamp": {"min": [0.0], "max": [56.7], "mean": [28.35], "std": [16.382307529771257], "count": [1135]}, "frame_index": {"min": [0], "max": [1134], "mean": [567.0], "std": [327.6461505954251], "count": [1135]}, "episode_index": {"min": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [1135]}, "index": {"min": [70536], "max": [71670], "mean": [71103.0], "std": [327.6461505954251], "count": [1135]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1135]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31873706662856277]], [[0.32013764470201894]], [[0.33322727223597526]]], "std": [[[0.20566543492025388]], [[0.20712332947220424]], [[0.20001445073650403]]], "count": [159]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4496777977510039]], [[0.4482716340086054]], [[0.4559840119653895]]], "std": [[[0.3080928354664511]], [[0.3093343935979412]], [[0.304902003572496]]], "count": [159]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4889655761116603]], [[0.4910635766243285]], [[0.49886435582702765]]], "std": [[[0.2565236164265257]], [[0.25780941521209455]], [[0.2534162074689917]]], "count": [159]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [862]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [862]}, "observation.state": {"min": [4.812546920956531, -4.834868786100781, 0.6999968438357592, 0.0, 0.0, -0.7075385451316833, 0.7066748142242432, 0.14961979029687544, -0.07969424862008712, 0.5925533473057313, -0.9911945462226868, -0.32893168926239014, -0.6116299033164978, 1.233274997503031e-05, 0.020529882902543158, -0.039959437678682264], "max": [4.812849871240848, -4.834772538879844, 0.7000941224793285, 0.0, 0.0, -0.7071014642715454, 0.7071120142936707, 0.5852443750788305, 0.4028789572101763, 0.871992753869829, 0.9220820665359497, 0.047264933586120605, 0.6407063007354736, 0.23121878504753113, 0.040004562068291206, -0.020536677698663224], "mean": [4.8127125242952795, -4.8348072190356195, 0.7000293654549531, 0.0, 0.0, -0.7073101417232832, 0.7069032977047763, 0.46013863813473954, 0.14317827743934922, 0.8054533032901827, -0.3254106873840854, -0.13977333955172874, -0.20898266167762386, 0.10137203706242263, 0.03350225649999656, -0.03369763720666795], "std": [0.00010566542064072781, 1.8490891966484625e-05, 3.0455789028274547e-05, 0.0, 0.0, 0.0001660972311627797, 0.00016617081982383945, 0.11951798872678657, 0.1845895327657541, 0.05036066625595461, 0.729610145268095, 0.12531633985566032, 0.5148538054861594, 0.08666985896828887, 0.006194335193564111, 0.005898498931779184], "count": [862]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -1.0, -0.9285714285714287, -0.5, -0.12571428571428572, -0.3914285714285714, -0.3342857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5142857142857143, 0.7214285714285715, 0.7000000000000001, 0.15142857142857147, 0.2285714285714286, 0.4114285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.006098773616175022, 0.009777925091150153, 0.022124627113026166, 0.0012263838249917133, -0.007467683128936016, -0.0011203181968843237, -0.02320185614849188], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24824608278325005, 0.1841342179540201, 0.152445035964038, 0.022832515588964472, 0.05804331614626991, 0.06628718484114077, 0.9997308007015069], "count": [862]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.018561484292149544], "std": [0.13497020304203033], "count": [862]}, "next.done": {"min": [false], "max": [true], "mean": [0.001160092807424594], "std": [0.034040372972439004], "count": [862]}, "timestamp": {"min": [0.0], "max": [43.05], "mean": [21.525], "std": [12.441889928784933], "count": [862]}, "frame_index": {"min": [0], "max": [861], "mean": [430.5], "std": [248.8377985756987], "count": [862]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [862]}, "index": {"min": [71671], "max": [72532], "mean": [72101.5], "std": [248.8377985756987], "count": [862]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [862]}}} +{"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": [[[0.5125561138682254]], [[0.4674052904830522]], [[0.4482081892290722]]], "std": [[[0.16717742583034884]], [[0.19692262588110493]], [[0.19795040502754338]]], "count": [107]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5697673146795043]], [[0.5464247591879552]], [[0.529181931048102]]], "std": [[[0.2437347234754502]], [[0.250002210664511]], [[0.2527743590764307]]], "count": [107]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.618169208042172]], [[0.5943335937365782]], [[0.5757503828985778]]], "std": [[[0.23070531276456735]], [[0.23938484342572008]], [[0.24403191170540509]]], "count": [107]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [511]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [511]}, "observation.state": {"min": [0.7843899087854013, -1.0859172444013383, 0.6999965360087506, 0.0, 0.0, -1.0, 3.127599157437544e-08, 0.1388852603078693, -0.22671260995398546, 0.5936430636821273, -0.9915815591812134, -0.19239628314971924, -0.6116017699241638, 1.3580062841356266e-05, 0.020545171709997145, -0.04010278085048447], "max": [0.7845287075310212, -1.0856837505396197, 0.7006113776303758, 0.0, 0.0, 1.0, 0.0003202205407433212, 0.5266724238582415, 0.12629679633692348, 0.8928024799564358, 0.874579131603241, 0.15536463260650635, 0.5481830835342407, 0.2142409235239029, 0.04000330693153478, -0.020521387823677836], "mean": [0.7844658960635751, -1.0858059471719395, 0.7002492232693344, 0.0, 0.0, 0.9060665362035225, 0.00014536390945276413, 0.4291341157352063, -0.05154453200452787, 0.8156797545965265, -0.5347646401353079, -0.07447374109069428, -0.32732575883954007, 0.07114444115911146, 0.03444964636446584, -0.03468343593892686], "std": [2.6367273686202323e-05, 6.780542967876413e-05, 0.000190869674832309, 0.0, 0.0, 0.4231352407589675, 9.477303565135293e-05, 0.09310966523152595, 0.11221956808592416, 0.06244458604154278, 0.6534410708892205, 0.06608064427262308, 0.40025140446424445, 0.06872900679249733, 0.006001043055699591, 0.005813389758391046], "count": [511]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.9133928571428572, -0.6107142857142858, -0.8651785714285715, -0.05142857142857143, -0.4571428571428572, -0.16, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.46607142857142864, 0.40982142857142867, 0.5866071428571429, 0.15142857142857147, 0.1657142857142857, 0.15714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.013214635169136148, -0.0020076181157394606, 0.004308778305842783, 0.004786133631534805, -0.014224210232038037, -0.004858820240424935, -0.17025440313111545], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.27433056244372805, 0.18530346311336016, 0.18875710773080742, 0.029310560892199997, 0.0750174454952286, 0.04657238899618273, 0.9854001411682799], "count": [511]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.03131115436553955], "std": [0.1741573065519333], "count": [511]}, "next.done": {"min": [false], "max": [true], "mean": [0.0019569471624266144], "std": [0.04419408920014174], "count": [511]}, "timestamp": {"min": [0.0], "max": [25.5], "mean": [12.75], "std": [7.37563556583431], "count": [511]}, "frame_index": {"min": [0], "max": [510], "mean": [255.0], "std": [147.5127113166862], "count": [511]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [511]}, "index": {"min": [72533], "max": [73043], "mean": [72788.0], "std": [147.5127113166862], "count": [511]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [511]}}} +{"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": [[[0.4835889486816862]], [[0.49418249050108326]], [[0.4774686645355842]]], "std": [[[0.15976280621311648]], [[0.16885768582228883]], [[0.16707672914973765]]], "count": [126]}, "observation.images.robot0_agentview_left": {"min": [[[0.03529411764705882]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5310449381168483]], [[0.5504482797622087]], [[0.5326516586859352]]], "std": [[[0.23538462911948896]], [[0.19845597766086356]], [[0.1826879419035434]]], "count": [126]}, "observation.images.robot0_agentview_right": {"min": [[[0.09803921568627451]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49252194340192673]], [[0.5169476563411823]], [[0.5069851506954778]]], "std": [[[0.22952556813761127]], [[0.19920798175660517]], [[0.18582149858081984]]], "count": [126]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [638]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [638]}, "observation.state": {"min": [0.8286460939630544, -3.0490746622829787, 0.6999973263785619, 0.0, 0.0, -1.0, 1.5847793122247822e-07, 0.20601001923070417, -0.36859204146352154, 0.6100691037256285, -0.8560729026794434, -0.4341474771499634, -0.5908658504486084, 0.0007222716812975705, 0.020541857893501318, -0.04000829738728802], "max": [0.8287897802128131, -3.0485158347043244, 0.7003195975209715, 0.0, 0.0, 1.0, 0.0008123650914058089, 0.5732794400507625, 0.3230996742971053, 0.9139428431290616, 0.986474335193634, 0.28284621238708496, 0.5701665878295898, 0.26977118849754333, 0.04001331779403961, -0.02052470167047401], "mean": [0.8287537844010968, -3.0487628140476115, 0.7000895328560981, 0.0, 0.0, 0.047022040361147315, 0.0004368193237514106, 0.4605601100180915, -0.013535351893869693, 0.8356058571498112, 0.02384007659078018, -0.23740371031727536, -0.015261041730362046, 0.14727676049125568, 0.03513703091364163, -0.03523654078886864], "std": [3.026032137613691e-05, 0.00020477009282596749, 9.091137432362678e-05, 0.0, 0.0, 0.9988937551838711, 0.0002547822359517662, 0.10890723453576577, 0.26130336779306523, 0.05958066923149695, 0.8126772865437477, 0.10804421654868125, 0.4946854359903479, 0.06569765586093199, 0.005432673585078761, 0.005355695904407465], "count": [638]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.7205357142857144, -0.6401785714285715, -0.6723214285714286, -0.18857142857142858, -0.48571428571428577, -0.4971428571428572, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.43660714285714286, 0.5276785714285714, 0.39107142857142857, 0.18, 0.3, 0.34, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, 0.0003526645768025412, -0.0131829377519032, 0.012599361845051466, 0.0006448723690102994, -0.017769816390506038, -0.0031706224809672987, -0.23510971786833856], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.21988349110396557, 0.22908037221731778, 0.16724772106714922, 0.04195337539490508, 0.0863561042341091, 0.09883618848075351, 0.9719688372390696], "count": [638]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02664576843380928], "std": [0.1610458493232727], "count": [638]}, "next.done": {"min": [false], "max": [true], "mean": [0.001567398119122257], "std": [0.03955934001292778], "count": [638]}, "timestamp": {"min": [0.0], "max": [31.85], "mean": [15.925000000000002], "std": [9.208725481846008], "count": [638]}, "frame_index": {"min": [0], "max": [637], "mean": [318.5], "std": [184.17450963692016], "count": [638]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [638]}, "index": {"min": [73044], "max": [73681], "mean": [73362.5], "std": [184.17450963692016], "count": [638]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [638]}}} +{"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": [[[0.5632793626648822]], [[0.4194809327077537]], [[0.32369013120714923]]], "std": [[[0.16301236722416604]], [[0.1872281620962125]], [[0.2087635711598267]]], "count": [185]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5733667380328398]], [[0.4570304316696062]], [[0.38262837533794136]]], "std": [[[0.20488676795753924]], [[0.22882535724846345]], [[0.24854558235428392]]], "count": [185]}, "observation.images.robot0_agentview_right": {"min": [[[0.01568627450980392]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48449936940042065]], [[0.3962356653097261]], [[0.3410901399661955]]], "std": [[[0.2629647555792246]], [[0.25363636333358264]], [[0.25883410800338147]]], "count": [185]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1055]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1055]}, "observation.state": {"min": [1.485976128503004, -0.8487622813307906, 0.6999986193734377, 0.0, 0.0, 0.7069340348243713, 0.706993579864502, 0.2313106633209454, -0.20086941993605878, 0.6008378863601562, -0.8388405442237854, -0.31971025466918945, -0.6515489220619202, 3.695192208397202e-05, 0.02054290345871952, -0.040002853673773084], "max": [1.4861600614352628, -0.8487001736046336, 0.7000688908930833, 0.0, 0.0, 0.7072199583053589, 0.7072795033454895, 0.6101323889604221, 0.052823479360065706, 0.8674701434706503, 0.9891571998596191, 0.04392071068286896, 0.6490843892097473, 0.23336587846279144, 0.04000359551109322, -0.019634143196082764], "mean": [1.4860613740217792, -0.8487378265322004, 0.7000416570036274, 0.0, 0.0, 0.7070765128632858, 0.707137040108866, 0.4960413745984775, -0.07285208572932109, 0.8037047885685238, -0.32462767645081075, -0.11590905514373598, -0.2466749309787253, 0.08947958019225855, 0.03394238986951904, -0.03298025376902986], "std": [5.349647862884066e-05, 1.2684815389368942e-05, 2.2178120848411597e-05, 0.0, 0.0, 9.50286068929891e-05, 9.50238375341971e-05, 0.10375057757160143, 0.08578455405792187, 0.05048130038309484, 0.7401969343014447, 0.1148411643887076, 0.49448602962532406, 0.08203910911494539, 0.006923572183887165, 0.008204798751435446], "count": [1055]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.6857142857142858, -0.3857142857142857, -0.20714285714285713, -0.06285714285714286, -0.23428571428571432, -0.2485714285714286, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.42142857142857143, 0.29285714285714287, 0.4857142857142857, 0.03142857142857143, 0.1, 0.15142857142857147, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0025253893026404885, -0.009404197698036585, 0.017244414353419064, 0.0001597833446174679, -0.006884224779959377, -0.0005822613405551802, -0.17535545023696683], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.1624325321666661, 0.08975260721434207, 0.08866234297325948, 0.005226063139974649, 0.03520029381271693, 0.04729782574513935, 0.9845051884435034], "count": [1055]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015165876597166061], "std": [0.12221241742372513], "count": [1055]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009478672985781991], "std": [0.03077285892084915], "count": [1055]}, "timestamp": {"min": [0.0], "max": [52.7], "mean": [26.35], "std": [15.227606509231844], "count": [1055]}, "frame_index": {"min": [0], "max": [1054], "mean": [527.0], "std": [304.55213018463684], "count": [1055]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [1055]}, "index": {"min": [73682], "max": [74736], "mean": [74209.0], "std": [304.55213018463684], "count": [1055]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1055]}}} +{"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": [[[0.610356737133621]], [[0.5483156785517912]], [[0.47980651062907315]]], "std": [[[0.13735934608502776]], [[0.15021835717321413]], [[0.15478109746854857]]], "count": [151]}, "observation.images.robot0_agentview_left": {"min": [[[0.054901960784313725]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.596656123459641]], [[0.5279435704024082]], [[0.47412419543918305]]], "std": [[[0.16964979968942318]], [[0.1925766235524958]], [[0.206814629073358]]], "count": [151]}, "observation.images.robot0_agentview_right": {"min": [[[0.09019607843137255]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6487303142005199]], [[0.6033065223272799]], [[0.561416709591794]]], "std": [[[0.14400375188830944]], [[0.17667797740128174]], [[0.20146646402450516]]], "count": [151]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [807]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [807]}, "observation.state": {"min": [3.7303435976810095, -3.641920755963652, 0.6999986555251798, 0.0, 0.0, -0.0003429810458328575, 0.9999998807907104, 0.20505001415353608, -0.28960584686021296, 0.5961064081840898, -0.9890247583389282, -0.3139970302581787, -0.6017939448356628, 0.00012841988063883036, 0.020522807067729416, -0.04000528648650474], "max": [3.7304631692001937, -3.6414404282323147, 0.7003759782075463, 0.0, 0.0, 0.0004936201730743051, 1.0, 0.6289768737733623, 0.4642396131633433, 0.8436692090115746, 0.9634395837783813, 0.1644960641860962, 0.6555793285369873, 0.21627573668956757, 0.040011781631540684, -0.02054375228008585], "mean": [3.7303997294199878, -3.641718925772092, 0.7000863382765662, 0.0, 0.0, 4.1762389394843495e-05, 0.9999999985228093, 0.46162956286320567, 0.0732807147622863, 0.7919881968336606, -0.016576407271837804, -0.13239220203889496, -0.0024255975028396096, 0.09670559676370773, 0.034921828798849024, -0.03520856287743515], "std": [2.4371725611712572e-05, 0.00013835283010323602, 0.0001043965609144897, 0.0, 0.0, 0.00025678671387809304, 1.318759878072646e-08, 0.12760264317223285, 0.22870922479411926, 0.04660598831183062, 0.8071383683971007, 0.12683255244635477, 0.5483621845144305, 0.06767381869528706, 0.005474548823628891, 0.00519773185197815], "count": [807]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.825, -0.6107142857142858, -0.3883928571428572, -0.11714285714285716, -0.3514285714285714, -0.2742857142857143, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.34821428571428575, 0.5035714285714286, 0.33482142857142855, 0.2542857142857143, 0.19714285714285715, 0.1742857142857143, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.0005974508762613187, 0.006027615507169368, 0.008653080191184234, 0.004599044078597983, -0.009626482563285533, -0.00200035404496371, -0.17224287484510534], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.24369569907679559, 0.2331115552658516, 0.12052340064085697, 0.03868538003466442, 0.05886482804155765, 0.06282039431637003, 0.9850545122302082], "count": [807]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01982651837170124], "std": [0.139403834939003], "count": [807]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012391573729863693], "std": [0.035179850226960074], "count": [807]}, "timestamp": {"min": [0.0], "max": [40.3], "mean": [20.15], "std": [11.64803273804923], "count": [807]}, "frame_index": {"min": [0], "max": [806], "mean": [403.0], "std": [232.96065476098462], "count": [807]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [807]}, "index": {"min": [74737], "max": [75543], "mean": [75140.0], "std": [232.96065476098462], "count": [807]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [807]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5676103175281043]], [[0.3877436745154476]], [[0.29273637234241967]]], "std": [[[0.16615438299625315]], [[0.20584963155502425]], [[0.24522464403227615]]], "count": [114]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5410052330665339]], [[0.4416618801204864]], [[0.3830990618432475]]], "std": [[[0.2414847676200076]], [[0.2711156194199673]], [[0.29674344175696465]]], "count": [114]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.023529411764705882]], [[0.03137254901960784]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5617316477972083]], [[0.46066908126111944]], [[0.4011782934545117]]], "std": [[[0.23614449696489212]], [[0.2748705201638661]], [[0.30093471337860694]]], "count": [114]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [558]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [558]}, "observation.state": {"min": [1.759559698250168, -0.8341769881143161, 0.6999970225171294, 0.0, 0.0, 0.7066056728363037, 0.7067109942436218, 0.19622690710082258, -0.1805136094596569, 0.6013246870939691, -0.9890131950378418, -0.5278007388114929, -0.5928834080696106, 5.5008273193379864e-05, 0.020549676832990034, -0.03988056640128748], "max": [1.7601365483438116, -0.8338889716023727, 0.7008951856877824, 0.0, 0.0, 0.7075023055076599, 0.7076075077056885, 0.5820698920562555, 0.15324048162792936, 0.8528942444779312, 0.9524412155151367, 0.11840492486953735, 0.5836334824562073, 0.3941194415092468, 0.04000529184091923, -0.02051688379240713], "mean": [1.7597711540068395, -0.8340976059504092, 0.7004881306192025, 0.0, 0.0, 0.7071597834641788, 0.7070537158237991, 0.4737853068667723, 0.004949615539523186, 0.8021839333984446, -0.09559426288450917, -0.22475890695087372, -0.03198734019285462, 0.1787173926171635, 0.03352478700351757, -0.03312235855102424], "std": [0.0001312367239474672, 8.36191743950862e-05, 0.000266873390238843, 0.0, 0.0, 0.00022371901793008875, 0.00022377170630208615, 0.08983677443431222, 0.12113101466954126, 0.048071599149789646, 0.7797939542189205, 0.18982144319082628, 0.4969546067207394, 0.12770039485637721, 0.0051802234636760015, 0.005401352991608473], "count": [558]}, "action": {"min": [0.0, 0.0, 0.0, 0.0, -1.0, -0.8946428571428571, -0.43392857142857144, -0.35892857142857143, -0.12857142857142856, -0.3942857142857143, -0.29714285714285715, -1.0], "max": [0.0, 0.0, 0.0, 0.0, -1.0, 0.5758928571428572, 0.46339285714285716, 0.7446428571428572, 0.18, 0.2285714285714286, 0.5714285714285714, 1.0], "mean": [0.0, 0.0, 0.0, 0.0, -1.0, -0.004013056835637396, 0.01084869431643626, 0.006249999999999956, 0.006789554531490016, -0.010363543266769068, 0.0016487455197132647, 0.0931899641577061], "std": [0.0, 0.0, 0.0, 0.0, 0.0, 0.2762983830973691, 0.15780311854859774, 0.17269976494878087, 0.030757859217114884, 0.07268314171326441, 0.11624902118380627, 0.9956483468475619], "count": [558]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02867383509874344], "std": [0.16688813269138336], "count": [558]}, "next.done": {"min": [false], "max": [true], "mean": [0.0017921146953405018], "std": [0.042295425524035646], "count": [558]}, "timestamp": {"min": [0.0], "max": [27.85], "mean": [13.925], "std": [8.054023321711123], "count": [558]}, "frame_index": {"min": [0], "max": [557], "mean": [278.5], "std": [161.08046643422244], "count": [558]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [558]}, "index": {"min": [75544], "max": [76101], "mean": [75822.5], "std": [161.08046643422244], "count": [558]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [558]}}} diff --git a/pretrain/composite/StackCans/20250731/lerobot/meta/info.json b/pretrain/composite/StackCans/20250731/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ba072c1fd8bd9f2028d0b53a6dcd57cf629862af --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 101, + "total_frames": 76102, + "total_tasks": 1, + "total_videos": 303, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:101" + }, + "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/composite/StackCans/20250731/lerobot/meta/modality.json b/pretrain/composite/StackCans/20250731/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/StackCans/20250731/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/composite/StackCans/20250731/lerobot/meta/stats.json b/pretrain/composite/StackCans/20250731/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..40fd18998ec52289079ef1e6871e0e56d69d9cfc --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/meta/stats.json @@ -0,0 +1,378 @@ +{ + "annotation.human.task_description": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "annotation.human.task_name": { + "mean": [ + 1.0 + ], + "std": [ + 0.0 + ], + "min": [ + 1.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 1.0 + ] + }, + "observation.state": { + "mean": [ + 2.6649715900421143, + -1.6190615892410278, + 0.6998951435089111, + 0.0, + 0.0, + 0.35860174894332886, + 0.5911368727684021, + 0.4311729669570923, + -0.009062566794455051, + 0.790964663028717, + -0.09895148128271103, + -0.16606833040714264, + -0.050262223929166794, + 0.11871953308582306, + 0.03363524004817009, + -0.03346720337867737 + ], + "std": [ + 1.722497582435608, + 1.4486634731292725, + 0.000528842443600297, + 0.0, + 0.0, + 0.6475061178207397, + 0.3202069401741028, + 0.11232972890138626, + 0.20833826065063477, + 0.08518058806657791, + 0.8080872297286987, + 0.1367100477218628, + 0.5164201855659485, + 0.08729468286037445, + 0.006196067202836275, + 0.006399574689567089 + ], + "min": [ + -0.8283239006996155, + -5.708456516265869, + 0.6999207735061646, + 0.0, + 0.0, + -1.0, + 0.0, + -0.017081066966056824, + -0.5624392032623291, + 0.3633124828338623, + -0.9945013523101807, + -0.6185276508331299, + -0.6945552825927734, + 3.4979568681592355e-06, + 0.0006128672393970191, + -0.04018554091453552 + ], + "max": [ + 6.737386226654053, + -0.24470534920692444, + 0.7036052346229553, + 0.0, + 0.0, + 1.0, + 1.0, + 0.6289768815040588, + 0.5430400371551514, + 0.9351162314414978, + 0.9908581376075745, + 0.3735821843147278, + 0.7025877833366394, + 0.4239133298397064, + 0.04032038524746895, + -0.00036211457336321473 + ], + "q01": [ + -0.8192954063415527, + -5.708391189575195, + 0.6999979615211487, + 0.0, + 0.0, + -1.0, + 8.992947186925448e-06, + 0.1550653725862503, + -0.4576931893825531, + 0.44068068265914917, + -0.984516441822052, + -0.47416967153549194, + -0.6406576037406921, + 0.0009498096769675612, + 0.021418137475848198, + -0.040003739297389984 + ], + "q99": [ + 6.558610439300537, + -0.349254846572876, + 0.7016597390174866, + 0.0, + 0.0, + 1.0, + 1.0, + 0.6028850674629211, + 0.45386043190956116, + 0.9059598445892334, + 0.9274880290031433, + 0.08497842401266098, + 0.6477117538452148, + 0.3379141390323639, + 0.040009044110774994, + -0.019764555618166924 + ] + }, + "action": { + "mean": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -0.009160145185887814, + -0.0001488480338593945, + 0.00466154795140028, + 0.001760935876518488, + -0.009279056452214718, + -0.0013507071416825056, + -0.011405744589865208 + ], + "std": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.23151253163814545, + 0.18111543357372284, + 0.14878034591674805, + 0.028399355709552765, + 0.07333037257194519, + 0.07993075251579285, + 0.9998759031295776 + ], + "min": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -1.0, + -0.9857142567634583, + -0.9375, + -0.25999999046325684, + -0.7885714173316956, + -0.631428599357605, + -1.0 + ], + "max": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + 0.6857143044471741, + 0.9375, + 0.9214285612106323, + 0.27714285254478455, + 0.43714284896850586, + 0.8714285492897034, + 1.0 + ], + "q01": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + -0.7955357432365417, + -0.5571428537368774, + -0.3285714387893677, + -0.08857142925262451, + -0.34857141971588135, + -0.25999999046325684, + -1.0 + ], + "q99": [ + 0.0, + 0.0, + 0.0, + 0.0, + -1.0, + 0.40714284777641296, + 0.5116071701049805, + 0.5142857432365417, + 0.11428571492433548, + 0.15714286267757416, + 0.2857142984867096, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.021444903686642647 + ], + "std": [ + 0.1448620706796646 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.001327166217379272 + ], + "std": [ + 0.03640611469745636 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 20.167232513427734 + ], + "std": [ + 13.382251739501953 + ], + "min": [ + 0.0 + ], + "max": [ + 72.05000305175781 + ], + "q01": [ + 0.3499999940395355 + ], + "q99": [ + 57.79999923706055 + ] + }, + "frame_index": { + "mean": [ + 403.3446350097656 + ], + "std": [ + 267.64508056640625 + ], + "min": [ + 0.0 + ], + "max": [ + 1441.0 + ], + "q01": [ + 7.0 + ], + "q99": [ + 1156.0 + ] + }, + "episode_index": { + "mean": [ + 49.850162506103516 + ], + "std": [ + 29.09575080871582 + ], + "min": [ + 0.0 + ], + "max": [ + 100.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 99.0 + ] + }, + "index": { + "mean": [ + 38050.5 + ], + "std": [ + 21968.75390625 + ], + "min": [ + 0.0 + ], + "max": [ + 76101.0 + ], + "q01": [ + 761.010009765625 + ], + "q99": [ + 75339.9921875 + ] + }, + "task_index": { + "mean": [ + 0.0 + ], + "std": [ + 0.0 + ], + "min": [ + 0.0 + ], + "max": [ + 0.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + } +} \ No newline at end of file diff --git a/pretrain/composite/StackCans/20250731/lerobot/meta/tasks.jsonl b/pretrain/composite/StackCans/20250731/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..902c81bb25c524a7c05b4487d2134c6af63cedcf --- /dev/null +++ b/pretrain/composite/StackCans/20250731/lerobot/meta/tasks.jsonl @@ -0,0 +1,2 @@ +{"task_index": 0, "task": "Stack two cans on top of the other two cans in the cabinet."} +{"task_index": 1, "task": "StackCans"}