diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000003/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000003/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b19ac81a4a051ee43ef72c3ba2fe56eaff433f1d --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000003/ep_meta.json @@ -0,0 +1,397 @@ +{ + "layout_id": 44, + "style_id": 45, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.12682986, + 0.17668013999999999, + 0.24497747 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher004/model.xml" + }, + "reset_region": { + "size": [ + 0.8594342330931681, + 0.650008 + ], + "offset": [ + 0.4908853834534157, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 0.8594342330931681, + 0.650008 + ], + "offset": [ + 0.4908853834534157, + -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_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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_main_group_1", + "sink_counter": "counter_1_main_group_1", + "dining_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": [ + 3.6818731383271626, + -0.7931604095847461, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000006/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000006/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26b1b7e9cfefa7aedfe003c49bd6e570da73f4af --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000006/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 23, + "style_id": 43, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.09887177, + 0.13685549000000002, + 0.26766823 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher002/model.xml" + }, + "reset_region": { + "size": [ + 1.8660810436254982, + 0.65 + ], + "offset": [ + 1.2484594781872511, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.8660810436254982, + 0.65 + ], + "offset": [ + 1.2484594781872511, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_1_main_group", + "sink_counter": "counter_1_main_group", + "dining_counter": "island_2_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": [ + 3.4700715992536804, + -0.7841190881235796, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000009/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000009/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61b4ba30227a943117b22b2d44ec2dc4ae1f91f3 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000009/ep_meta.json @@ -0,0 +1,514 @@ +{ + "layout_id": 17, + "style_id": 40, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_1_right_group_1", + "loc": "left_right", + "min_size": [ + 0.11546911, + 0.15858216, + 0.23110973 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher006/model.xml" + }, + "reset_region": { + "size": [ + 1.5330801243791432, + 0.65 + ], + "offset": [ + 0.9084599378104283, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.5330801243791432, + 0.65 + ], + "offset": [ + 0.9084599378104283, + -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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_1_right_group_1", + "sink_counter": "counter_1_right_group_1", + "dining_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": [ + 4.89283936887243, + -2.713532663798461, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000016/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000016/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8b0c259435aa01829c2afa633cc5c51a47afc605 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000016/ep_meta.json @@ -0,0 +1,397 @@ +{ + "layout_id": 44, + "style_id": 12, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.09887177, + 0.13685549000000002, + 0.26766823 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher002/model.xml" + }, + "reset_region": { + "size": [ + 0.7686069477734423, + 0.650008 + ], + "offset": [ + 0.5362990261132785, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 0.7686069477734423, + 0.650008 + ], + "offset": [ + 0.5362990261132785, + -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_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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_main_group_1", + "sink_counter": "counter_1_main_group_1", + "dining_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": [ + 3.8677615995476606, + -0.8114167001566114, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000017/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000017/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..807db72507a8e08bf4b0b171c564623e2e33510f --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000017/ep_meta.json @@ -0,0 +1,421 @@ +{ + "layout_id": 32, + "style_id": 26, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.11546911, + 0.15858216, + 0.23110973 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher006/model.xml" + }, + "reset_region": { + "size": [ + 1.3742187259761807, + 0.65 + ], + "offset": [ + -0.4128856370119097, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.3742187259761807, + 0.65 + ], + "offset": [ + -0.4128856370119097, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_main_group_1", + "sink_counter": "counter_1_main_group_1", + "dining_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": [ + 2.711390996779804, + -0.7557980497794702, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000019/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000019/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc4de70fe9ba17a0b228078b41254a19913b6c45 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000019/ep_meta.json @@ -0,0 +1,457 @@ +{ + "layout_id": 26, + "style_id": 18, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_front_group", + "sample_region_kwargs": { + "ref": "sink_1_front_group", + "loc": "left_right", + "min_size": [ + 0.09887177, + 0.13685549000000002, + 0.26766823 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher002/model.xml" + }, + "reset_region": { + "size": [ + 1.5936833715595586, + 0.65 + ], + "offset": [ + 0.4531583142202207, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_front_group", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.5936833715595586, + 0.65 + ], + "offset": [ + 0.4531583142202207, + -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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_1_front_group", + "sink_counter": "counter_1_front_group", + "dining_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": [ + 3.440410910593933, + -4.325388559760564, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.5707957029303028 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000026/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000026/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..caa03a1dba6ffd39ea44bfe65334477e825e1de5 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000026/ep_meta.json @@ -0,0 +1,430 @@ +{ + "layout_id": 60, + "style_id": 30, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.1443467, + 0.20561026, + 0.20819429 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher008/model.xml" + }, + "reset_region": { + "size": [ + 1.2902116460768132, + 0.650002 + ], + "offset": [ + 1.1299631769615932, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.2902116460768132, + 0.650002 + ], + "offset": [ + 1.1299631769615932, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_left_group_1", + "sink_counter": "counter_1_left_group_1", + "dining_counter": "counter_5_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": [ + 2.3567727026829943, + -1.5335247331344042, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415922821865117 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000034/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000034/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca470b6ea3b7c7c5f39a34f33929295c4bdd617 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000034/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 23, + "style_id": 58, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.09887177, + 0.13685549000000002, + 0.26766823 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher002/model.xml" + }, + "reset_region": { + "size": [ + 1.8989366106143346, + 0.65 + ], + "offset": [ + 1.2320316946928327, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.8989366106143346, + 0.65 + ], + "offset": [ + 1.2320316946928327, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_1_main_group", + "sink_counter": "counter_1_main_group", + "dining_counter": "island_2_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": [ + 3.4325809264829505, + -0.7949651211298551, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000035/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000035/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d7ae558bc367b752f6cf18051909125ac9fcdf6 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000035/ep_meta.json @@ -0,0 +1,403 @@ +{ + "layout_id": 41, + "style_id": 27, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.14544657, + 0.16947315000000002, + 0.22724964 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher001/model.xml" + }, + "reset_region": { + "size": [ + 0.8262027769485821, + 0.650008 + ], + "offset": [ + 0.896312611525709, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 0.8262027769485821, + 0.650008 + ], + "offset": [ + 0.896312611525709, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_main_group_1", + "sink_counter": "counter_1_main_group_1", + "dining_counter": "island_island_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": [ + 3.3456492002439004, + -0.7769237952028392, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000040/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000040/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c9433fcd4f13adbdbf5acfba834dc5cbe3db897 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000040/ep_meta.json @@ -0,0 +1,430 @@ +{ + "layout_id": 45, + "style_id": 37, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.11546911, + 0.15858216, + 0.23110973 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher006/model.xml" + }, + "reset_region": { + "size": [ + 0.8507075495183671, + 0.65 + ], + "offset": [ + -0.8416462252408163, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 0.8507075495183671, + 0.65 + ], + "offset": [ + -0.8416462252408163, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_main_group_1", + "sink_counter": "counter_1_main_group_1", + "dining_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": [ + 2.2108199860912383, + -0.806262597691211, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000042/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000042/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf2d67bc41122d334ac88db4d981aab2dda808f --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000042/ep_meta.json @@ -0,0 +1,622 @@ +{ + "layout_id": 25, + "style_id": 40, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group", + "sample_region_kwargs": { + "ref": "sink_1_left_group", + "loc": "left_right", + "min_size": [ + 0.09941578, + 0.09941278, + 0.22789667 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher005/model.xml" + }, + "reset_region": { + "size": [ + 2.874190124379143, + 0.65 + ], + "offset": [ + -0.7459049378104283, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_left_group", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 2.874190124379143, + 0.65 + ], + "offset": [ + -0.7459049378104283, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_1_left_group", + "sink_counter": "counter_1_left_group", + "dining_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": [ + 0.7966663614576049, + -2.5040420857162364, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000047/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000047/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..736a6356d2e2b9946021e239c7c570731fe7999b --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000047/ep_meta.json @@ -0,0 +1,496 @@ +{ + "layout_id": 35, + "style_id": 20, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.15936644, + 0.17608354, + 0.24855317999999998 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher003/model.xml" + }, + "reset_region": { + "size": [ + 1.3125433503334862, + 0.65 + ], + "offset": [ + -0.6902783248332568, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.3125433503334862, + 0.65 + ], + "offset": [ + -0.6902783248332568, + -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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_right_group_1", + "sink_counter": "counter_1_right_group_1", + "dining_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": [ + 4.486191469278763, + -1.6249496215968802, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000054/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000054/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..707a64a6566b104134f02dd9d33cf79971d5f6b6 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000054/ep_meta.json @@ -0,0 +1,496 @@ +{ + "layout_id": 35, + "style_id": 58, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.15936644, + 0.17608354, + 0.24855317999999998 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher003/model.xml" + }, + "reset_region": { + "size": [ + 0.7176486106143346, + 0.65 + ], + "offset": [ + 0.9877256946928326, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_right_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 0.7176486106143346, + 0.65 + ], + "offset": [ + 0.9877256946928326, + -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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_right_group_1", + "sink_counter": "counter_1_right_group_1", + "dining_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": [ + 4.500650792982689, + -2.914822595194513, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000057/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000057/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f54f8c368ae643424021097e4c5ad2b5d9457a17 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000057/ep_meta.json @@ -0,0 +1,466 @@ +{ + "layout_id": 51, + "style_id": 52, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.15936644, + 0.17608354, + 0.24855317999999998 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher003/model.xml" + }, + "reset_region": { + "size": [ + 1.3947882427484295, + 0.65 + ], + "offset": [ + 0.8904068786257853, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.3947882427484295, + 0.65 + ], + "offset": [ + 0.8904068786257853, + -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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_main_group_1", + "sink_counter": "counter_2_main_group_1", + "dining_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": [ + 4.700471304566316, + -0.8305691318193577, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000058/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000058/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..836884c0b15d5cc98aa6854d180f67747636bed3 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000058/ep_meta.json @@ -0,0 +1,436 @@ +{ + "layout_id": 54, + "style_id": 56, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_4_right_group_1", + "sample_region_kwargs": { + "ref": "sink_right_group_1", + "loc": "left_right", + "min_size": [ + 0.15936644, + 0.17608354, + 0.24855317999999998 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher003/model.xml" + }, + "reset_region": { + "size": [ + 0.7524816980517521, + 0.65 + ], + "offset": [ + -0.8066091509741239, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_4_right_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 0.7524816980517521, + 0.65 + ], + "offset": [ + -0.8066091509741239, + -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_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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_right_group_1", + "sink_counter": "counter_4_right_group_1", + "dining_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": [ + 4.937439968844088, + -1.3020273564148932, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001619848215634878 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000061/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000061/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ef5f44762f64a0fc84455123698e46160ae794c --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000061/ep_meta.json @@ -0,0 +1,466 @@ +{ + "layout_id": 51, + "style_id": 39, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_2_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.09887177, + 0.13685549000000002, + 0.26766823 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher002/model.xml" + }, + "reset_region": { + "size": [ + 0.9403771419160478, + 0.65 + ], + "offset": [ + -1.117612429041976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_2_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 0.9403771419160478, + 0.65 + ], + "offset": [ + -1.117612429041976, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_main_group_1", + "sink_counter": "counter_2_main_group_1", + "dining_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": [ + 3.447957067233152, + -0.8196150286183816, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000065/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000065/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3daa63812bd378a092709cc2b39ef3903c89bf55 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000065/ep_meta.json @@ -0,0 +1,421 @@ +{ + "layout_id": 32, + "style_id": 29, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.12682986, + 0.17668013999999999, + 0.24497747 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher004/model.xml" + }, + "reset_region": { + "size": [ + 1.1649925000000003, + 0.65 + ], + "offset": [ + -0.5174987499999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.1649925000000003, + 0.65 + ], + "offset": [ + -0.5174987499999999, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_main_group_1", + "sink_counter": "counter_1_main_group_1", + "dining_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": [ + 2.4405919190893024, + -0.8377229113754757, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000067/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000067/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ddb0e008b6e56ad585a14c7efe8fac36331ac9e8 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000067/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 23, + "style_id": 38, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.09941578, + 0.09941278, + 0.22789667 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher005/model.xml" + }, + "reset_region": { + "size": [ + 1.6035490827484296, + 0.65 + ], + "offset": [ + -1.3797254586257854, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.6035490827484296, + 0.65 + ], + "offset": [ + -1.3797254586257854, + -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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_1_main_group", + "sink_counter": "counter_1_main_group", + "dining_counter": "island_2_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": [ + 1.9446602007680556, + -0.7808452309259081, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000081/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000081/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87ef569dd1620ee9ac74e026eadd2550ed1b4314 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000081/ep_meta.json @@ -0,0 +1,415 @@ +{ + "layout_id": 14, + "style_id": 31, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_island_group_1", + "sample_region_kwargs": { + "ref": "sink_1_island_group_1", + "loc": "left_right", + "min_size": [ + 0.11546911, + 0.15858216, + 0.23110973 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher006/model.xml" + }, + "reset_region": { + "size": [ + 0.7651393588788467, + 0.65 + ], + "offset": [ + 0.46743032056057665, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_island_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 0.7651393588788467, + 0.65 + ], + "offset": [ + 0.46743032056057665, + -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" + }, + "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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_1_island_group_1", + "sink_counter": "counter_1_island_group_1", + "dining_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": [ + 2.301891191241932, + -1.4977815811832293, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712388892961913 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000088/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000088/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e6457b62a784ec053c9a7ae8d2dd762f97ab0667 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000088/ep_meta.json @@ -0,0 +1,430 @@ +{ + "layout_id": 60, + "style_id": 23, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_left_group_1", + "sample_region_kwargs": { + "ref": "sink_left_group_1", + "loc": "left_right", + "min_size": [ + 0.11546911, + 0.15858216, + 0.23110973 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher006/model.xml" + }, + "reset_region": { + "size": [ + 1.1812843958889068, + 0.650002 + ], + "offset": [ + 1.1844268020555468, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_left_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.1812843958889068, + 0.650002 + ], + "offset": [ + 1.1844268020555468, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_1" + } + } + ], + "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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_left_group_1", + "sink_counter": "counter_1_left_group_1", + "dining_counter": "counter_5_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": [ + 2.3124114308525723, + -1.7110218219917968, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415922821865117 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000089/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000089/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cefd759bed917f5f28bcd631e6278087539fcfb7 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000089/ep_meta.json @@ -0,0 +1,487 @@ +{ + "layout_id": 23, + "style_id": 34, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group", + "sample_region_kwargs": { + "ref": "sink_1_main_group", + "loc": "left_right", + "min_size": [ + 0.14544657, + 0.16947315000000002, + 0.22724964 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher001/model.xml" + }, + "reset_region": { + "size": [ + 1.6293800344875673, + 0.65 + ], + "offset": [ + -1.3668099827562166, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.6293800344875673, + 0.65 + ], + "offset": [ + -1.3668099827562166, + -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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_1_main_group", + "sink_counter": "counter_1_main_group", + "dining_counter": "island_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": [ + 2.0549414150434084, + -0.7724571141967019, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000097/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000097/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b563adff0945062a74b6afc7520fcc47f3f4ff6 --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000097/ep_meta.json @@ -0,0 +1,463 @@ +{ + "layout_id": 13, + "style_id": 45, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_1_main_group_1", + "loc": "left_right", + "min_size": [ + 0.12682986, + 0.17668013999999999, + 0.24497747 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher004/model.xml" + }, + "reset_region": { + "size": [ + 1.9057898330931684, + 0.65 + ], + "offset": [ + -0.7496050834534157, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.9057898330931684, + 0.65 + ], + "offset": [ + -0.7496050834534157, + -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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_1_main_group_1", + "sink_counter": "counter_1_main_group_1", + "dining_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": [ + 2.1815609041081, + -0.8030007076795113, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000098/ep_meta.json b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000098/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..341f3ff1bf6a696ea9db8b74912ffd7d6db8287a --- /dev/null +++ b/pretrain/composite/ArrangeDrinkware/20250902/lerobot/extras/episode_000098/ep_meta.json @@ -0,0 +1,421 @@ +{ + "layout_id": 32, + "style_id": 59, + "object_cfgs": [ + { + "name": "pitcher", + "obj_groups": "pitcher", + "graspable": true, + "init_robot_here": true, + "placement": { + "fixture": "counter_1_main_group_1", + "sample_region_kwargs": { + "ref": "sink_main_group_1", + "loc": "left_right", + "min_size": [ + 0.11546911, + 0.15858216, + 0.23110973 + ] + }, + "size": [ + 0.5, + 0.3 + ], + "pos": [ + "ref", + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pitcher", + "receptacle" + ], + "groups": [ + "pitcher" + ], + "cat": "pitcher", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher006/model.xml" + }, + "reset_region": { + "size": [ + 1.214628657066536, + 0.65 + ], + "offset": [ + -0.492680671466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "cup", + "obj_groups": "cup", + "graspable": true, + "placement": { + "fixture": "counter_1_main_group_1", + "reuse_region_from": "pitcher", + "size": [ + 0.5, + 0.3 + ], + "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": { + "size": [ + 1.214628657066536, + 0.65 + ], + "offset": [ + -0.492680671466732, + -3.469446951953614e-17, + 0.46 + ], + "name": "geom_0" + } + } + ], + "fixtures": { + "wall_left_1_room": { + "cls": "Wall" + }, + "wall_left_1_backing_room": { + "cls": "Wall" + }, + "wall_main_1_room": { + "cls": "Wall" + }, + "wall_main_1_backing_room": { + "cls": "Wall" + }, + "wall_right_1_room": { + "cls": "Wall" + }, + "wall_right_1_backing_room": { + "cls": "Wall" + }, + "wall_main_2_room": { + "cls": "Wall" + }, + "wall_main_2_backing_room": { + "cls": "Wall" + }, + "floor_1_room": { + "cls": "Floor" + }, + "floor_1_backing_room": { + "cls": "Floor" + }, + "floor_2_room": { + "cls": "Floor" + }, + "floor_2_backing_room": { + "cls": "Floor" + }, + "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": "Place the pitcher and cup on the dining counter for serving.", + "fixture_refs": { + "sink": "sink_main_group_1", + "sink_counter": "counter_1_main_group_1", + "dining_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": [ + 2.504418898293311, + -0.8497458075358548, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ] +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/dataset_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/dataset_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..47008c10b43d726f202a6cbfb8dffc7a831bbce9 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/dataset_meta.json @@ -0,0 +1,390 @@ +{ + "date": "8-11-2025", + "env": "PortionOnSize", + "env_args": { + "type": 1, + "env_name": "PortionOnSize", + "env_version": "0.5.1", + "robosuite_version": "1.5.2", + "mujoco_version": "3.3.1", + "env_kwargs": { + "env_name": "PortionOnSize", + "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": "PortionOnSize", + "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": "19:22:24", + "total": 127077 +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000000/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000000/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc5f238b91f8ae635ca13b710622b1f183a6f022 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000000/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 44, + "style_id": 11, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.1739047401, + 0.17390480034375003, + 0.010560725831250001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.320789638402914, + 0.31788164433539023, + 0.09426197926811392 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.3479529166560051, + 0.890935 + ], + "offset": [ + -0.0545000416719974, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.08695237005, + 0.08695237005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_1_left_group_1", + "dining_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": [ + 2.5150952783853993, + -0.8652099705810716, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000001/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000001/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1d6013e1c2ac309734ce23139e99f320cb7aafd --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000001/ep_meta.json @@ -0,0 +1,753 @@ +{ + "layout_id": 29, + "style_id": 53, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.17487703170000002, + 0.17487709194375003, + 0.01483183760625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.062999889167957, + 1.8 + ], + "offset": [ + 1.2910000554160215, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30623880465000003, + 0.30623851743749997, + 0.03357404235 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4255197033331166, + 1.8 + ], + "offset": [ + 1.1097401483334417, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.08743851585000001, + 0.08743851585000001 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_0/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15311925871874998, + 0.15311925871874998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15311925871874998, + 0.15311925871874998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_6_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 1.44, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_6_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.47000000000000003 + ], + "size": [ + 1.44, + 0.34 + ], + "height": 0.29333333333333333, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_6_main_group", + "dining_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": [ + 3.5217141673410532, + -0.8335773221477002, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000002/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000002/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..187cf0d866bbe5f4b9cbeae26db31eb5a4b19909 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000002/ep_meta.json @@ -0,0 +1,635 @@ +{ + "layout_id": 11, + "style_id": 49, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.18374328279000005, + 0.1837431104625, + 0.020144425410000003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3088217815875, + 0.3068211092625, + 0.025289160525 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09187155523125, + 0.09187155523125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15341055463125, + 0.15341055463125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15341055463125, + 0.15341055463125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.071, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_1_room", + "cabinet": "cab_1_main_group", + "dining_counter": "dining_dining_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": [ + 1.0965875668187293, + -0.8357271519885894, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000004/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000004/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b65110f5f977168c097a314370b843e8f29025d6 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000004/ep_meta.json @@ -0,0 +1,671 @@ +{ + "layout_id": 26, + "style_id": 31, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18410641804125, + 0.1841064517575, + 0.0112298564025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.0779999952791828, + 0.6 + ], + "offset": [ + 0.4550000023604086, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30887476605, + 0.30887195636250003, + 0.026770967859374994 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.666000004720821, + 0.6 + ], + "offset": [ + -0.1609999976395895, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.092053209020625, + 0.092053209020625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_2_right_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.165, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_2_right_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.165, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_2_right_group", + "dining_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": [ + 4.351007596252574, + -3.351898800166998, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 7.085780169280298e-07 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000007/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000007/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..57b057cf75c0c6c6648fcafd8d2185a0892e977d --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000007/ep_meta.json @@ -0,0 +1,628 @@ +{ + "layout_id": 14, + "style_id": 24, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.19247378304174845, + 0.1907289866012342, + 0.05655718756086836 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.28984123349999996, + 0.28984133390625, + 0.01760120971875 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.0953644933006171, + 0.0953644933006171 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_11/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.02, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.02, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_1_main_group_1", + "dining_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": [ + 4.135014554191731, + -0.7730418861726125, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000008/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000008/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77598313a4e120283dc339e172828430f63f1658 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000008/ep_meta.json @@ -0,0 +1,636 @@ +{ + "layout_id": 11, + "style_id": 46, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.18355749501375002, + 0.18355802698125004, + 0.017412858461250003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.320789638402914, + 0.31788164433539023, + 0.09426197926811392 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09177874750687501, + 0.09177874750687501 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_4/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.065, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.065, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_1_room", + "cabinet": "cab_3_main_group", + "dining_counter": "dining_dining_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": [ + 3.245290433211014, + -0.7988401864020038, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000010/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000010/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8457c4897d5144d2f347b2931a52b334effd5be6 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000010/ep_meta.json @@ -0,0 +1,683 @@ +{ + "layout_id": 28, + "style_id": 49, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18355749501375002, + 0.18355802698125004, + 0.017412858461250003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.12899995558925, + 0.406 + ], + "offset": [ + 0.8040000222053751, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30684403006874994, + 0.3068440862625, + 0.018716427337499997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 3.470999955589244, + 0.406 + ], + "offset": [ + 0.133000022205378, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09177874750687501, + 0.09177874750687501 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_3/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_2_main_group", + "dining_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": [ + 1.5542198310334674, + -0.836656254097067, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000011/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000011/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5734e45793a3fdf8f4eeff12f33400400f09cee7 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000011/ep_meta.json @@ -0,0 +1,666 @@ +{ + "layout_id": 21, + "style_id": 19, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18529306895250003, + 0.18409266555750003, + 0.015173496315000002 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.28984123349999996, + 0.28984133390625, + 0.01760120971875 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09204633277875002, + 0.09204633277875002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_1/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_2_left_group", + "dining_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": [ + 0.8283846244029915, + -1.0912324166249014, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000012/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000012/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3104d25f1b244b65fff5c33e60d01e5fd18b4be8 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000012/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 30, + "style_id": 47, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18532485963000003, + 0.18532317381750005, + 0.016062580715625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30887476605, + 0.30887195636250003, + 0.026770967859374994 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09266158690875002, + 0.09266158690875002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_5_left_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_5_left_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_5_left_group", + "dining_counter": "dining_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": [ + 0.8167174684641045, + -4.066811518858696, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000014/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000014/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f30392c91673453661964b6dee48aa4e64f94f7e --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000014/ep_meta.json @@ -0,0 +1,683 @@ +{ + "layout_id": 28, + "style_id": 11, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.19247378304174845, + 0.1907289866012342, + 0.05655718756086836 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 2.12899995558925, + 0.406 + ], + "offset": [ + 0.8040000222053751, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30887476605, + 0.30887195636250003, + 0.026770967859374994 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 3.470999955589244, + 0.406 + ], + "offset": [ + 0.133000022205378, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.0953644933006171, + 0.0953644933006171 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_2_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_2_main_group", + "dining_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": [ + 1.8178937594478473, + -0.7825691335520095, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000015/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000015/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b4579ba1a02933d21830f223038361fb21da832 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000015/ep_meta.json @@ -0,0 +1,646 @@ +{ + "layout_id": 60, + "style_id": 59, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "counter_5_left_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18355749501375002, + 0.18355802698125004, + 0.017412858461250003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 3.383407894556147, + 0.394049 + ], + "offset": [ + -0.08336505272192651, + 0.0, + 0.591655 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "counter_5_left_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30592915835625, + 0.30593004496875, + 0.029021430768750002 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.719407894630542, + 0.394049 + ], + "offset": [ + -0.915365052684729, + 0.0, + 0.591655 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09177874750687501, + 0.09177874750687501 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_0/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7600629999999999, + 0.418885 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7600629999999999, + 0.418885 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_01_main_group_1", + "dining_counter": "counter_5_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": [ + 2.471739222246056, + -0.7754505604551061, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000018/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000018/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a22010603fb04054871c4801083907bd4d2b07b --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000018/ep_meta.json @@ -0,0 +1,590 @@ +{ + "layout_id": 37, + "style_id": 15, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.17487703170000002, + 0.17487709194375003, + 0.01483183760625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.4603743918946648, + 1.045 + ], + "offset": [ + 0.6250000155604067, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2914617195, + 0.29146181990625, + 0.024719729343749997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.7896256081051969, + 0.42099999999999993 + ], + "offset": [ + 1.5560476018805502e-08, + 0.31200000000000006, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.08743851585000001, + 0.08743851585000001 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_3/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "microwave_cabinet_left_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.74, + 0.5900080000000001 + ], + "height": 0.49, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "microwave_cabinet_left_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.245 + ], + "size": [ + 0.74, + 0.5900080000000001 + ], + "height": 0.49, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "microwave_cabinet_left_group_1", + "dining_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": [ + 0.9300356668450841, + -4.179572057893966, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000020/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000020/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d354280dd7a38e1028cc75d82196dee0fb348e7d --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000020/ep_meta.json @@ -0,0 +1,665 @@ +{ + "layout_id": 21, + "style_id": 19, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.19247378304174845, + 0.1907289866012342, + 0.05655718756086836 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.28984123349999996, + 0.28984133390625, + 0.01760120971875 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.0953644933006171, + 0.0953644933006171 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6200000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_1_right_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6200000000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_1_right_group", + "dining_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": [ + 4.547334529502052, + -0.2963805387715142, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000022/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000022/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ad54110d90f6fdb3cfe148cfb20d5c025e97585 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000022/ep_meta.json @@ -0,0 +1,672 @@ +{ + "layout_id": 31, + "style_id": 53, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.18355749501375002, + 0.18355802698125004, + 0.017412858461250003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403734, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30684403006874994, + 0.3068440862625, + 0.018716427337499997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 0.7706968915261152, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09177874750687501, + 0.09177874750687501 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.79, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.79, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_4_right_group_1", + "dining_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": [ + 4.862985082411979, + -6.463793199419166, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000024/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000024/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a7e53e078fe39bc9a7d36dd5da98bf89c5e370a --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000024/ep_meta.json @@ -0,0 +1,711 @@ +{ + "layout_id": 24, + "style_id": 20, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18374328279000005, + 0.1837431104625, + 0.020144425410000003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.7265453503334864, + 1.95 + ], + "offset": [ + -1.0367273248332567, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.28984123349999996, + 0.28984133390625, + 0.01760120971875 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.49890929933302697, + 1.3184 + ], + "offset": [ + 0.07600000000000007, + 0.31579999999999997, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09187155523125, + 0.09187155523125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_18/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_5_main_group", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.67277577702593, + -0.7954064174776084, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000025/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000025/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bdad2b9a80ded6f99a2e2fdc7eacb91acf6434e8 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000025/ep_meta.json @@ -0,0 +1,680 @@ +{ + "layout_id": 51, + "style_id": 15, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.18529306895250003, + 0.18409266555750003, + 0.015173496315000002 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.28984123349999996, + 0.28984133390625, + 0.01760120971875 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.3949152333535042, + 1.124697 + ], + "offset": [ + -0.6913798833232478, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09204633277875002, + 0.09204633277875002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_3/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9846519999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9846519999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "cabinet": "hingecabinet_2_main_group_1", + "dining_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": [ + 7.090261105485967, + -0.797033955509367, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000027/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000027/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9cff402a2f4441ce651feb69f751edce347a5286 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000027/ep_meta.json @@ -0,0 +1,680 @@ +{ + "layout_id": 51, + "style_id": 33, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.18374328279000005, + 0.1837431104625, + 0.020144425410000003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.28984123349999996, + 0.28984133390625, + 0.01760120971875 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.3949152333535042, + 1.124697 + ], + "offset": [ + -0.6913798833232478, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09187155523125, + 0.09187155523125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_13/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_1_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.16872, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_1_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.16872, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "cabinet": "hingecabinet_1_right_group_1", + "dining_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": [ + 7.287513234837593, + -3.6321028665805364, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000028/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000028/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4945280e4dffe9e097e045f683c2137000ea501b --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000028/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 54, + "style_id": 25, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.17487703170000002, + 0.17487709194375003, + 0.01483183760625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.9672856114669979, + 1.17 + ], + "offset": [ + 1.161571194266501, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30887476605, + 0.30887195636250003, + 0.026770967859374994 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.153285595255326, + 1.17 + ], + "offset": [ + 0.568571202372337, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.08743851585000001, + 0.08743851585000001 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_1/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_5_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6175679999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_5_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.6175679999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_5_right_group_1", + "dining_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": [ + 4.960963654639363, + -0.9979461653317838, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001619848215634878 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000029/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000029/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aec9174e8484436500ea053f032b43a7bfcf40f3 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000029/ep_meta.json @@ -0,0 +1,683 @@ +{ + "layout_id": 16, + "style_id": 52, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18410641804125, + 0.1841064517575, + 0.0112298564025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.3359999918874497, + 0.976 + ], + "offset": [ + 0.7470000040562752, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30887476605, + 0.30887195636250003, + 0.026770967859374994 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.8139999918874192, + 0.976 + ], + "offset": [ + 0.008000004056290422, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.092053209020625, + 0.092053209020625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_1_right_group_1", + "dining_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": [ + 2.2710081514388514, + -0.946689128114811, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000030/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000030/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..742fcf5615874864e5d1c02db11f0f504c5e467f --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000030/ep_meta.json @@ -0,0 +1,668 @@ +{ + "layout_id": 42, + "style_id": 30, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18532485963000003, + 0.18532317381750005, + 0.016062580715625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.6624193571628552, + 1.242 + ], + "offset": [ + 0.8740001325046141, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.28984123349999996, + 0.28984133390625, + 0.01760120971875 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.4595806428369147, + 0.59421 + ], + "offset": [ + 0.31300013250472913, + 0.32389500000000004, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09266158690875002, + 0.09266158690875002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_17/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.592633, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.592633, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_2_right_group_1", + "dining_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": [ + 4.369193307469584, + -1.2376132450411859, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000031/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000031/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d16de57458b809c205fe25801aa61e84005a4e36 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000031/ep_meta.json @@ -0,0 +1,683 @@ +{ + "layout_id": 28, + "style_id": 29, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18532485963000003, + 0.18532317381750005, + 0.016062580715625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.12899995558925, + 0.406 + ], + "offset": [ + 0.8040000222053751, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30592915835625, + 0.30593004496875, + 0.029021430768750002 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 3.470999955589244, + 0.406 + ], + "offset": [ + 0.133000022205378, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09266158690875002, + 0.09266158690875002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "top_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "top_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "top_main_group", + "dining_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": [ + 0.920495708209241, + -0.9843390344799623, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000032/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000032/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52785e816c64d3f80de521c3d575792ba45f7555 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000032/ep_meta.json @@ -0,0 +1,670 @@ +{ + "layout_id": 27, + "style_id": 59, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.17487703170000002, + 0.17487709194375003, + 0.01483183760625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 0.9289997599370521, + 0.688 + ], + "offset": [ + 0.711000120031474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "counter_3_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30887476605, + 0.30887195636250003, + 0.026770967859374994 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 2.2929997599370466, + 0.688 + ], + "offset": [ + 0.029000120031476673, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.08743851585000001, + 0.08743851585000001 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_12/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_1_main_group", + "dining_counter": "counter_3_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": [ + 2.7473770810797906, + -0.8136248379745296, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000033/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000033/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44a1eeb0e4a56ea6371e9c26885c2c43e2ea603e --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000033/ep_meta.json @@ -0,0 +1,728 @@ +{ + "layout_id": 17, + "style_id": 40, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18529306895250003, + 0.18409266555750003, + 0.015173496315000002 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30739311793125, + 0.30737810795625, + 0.04128722769375 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09204633277875002, + 0.09204633277875002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_5_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_5_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_5_main_group_1", + "dining_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": [ + 4.432011107396976, + -0.8240422073883655, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000036/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000036/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f39a7248cb2c8906d9c2556b769d8ee97adaf62a --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000036/ep_meta.json @@ -0,0 +1,682 @@ +{ + "layout_id": 28, + "style_id": 30, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18443587075875004, + 0.18442686477375003, + 0.024772336616250005 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.12899995558925, + 0.406 + ], + "offset": [ + 0.8040000222053751, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30592915835625, + 0.30593004496875, + 0.029021430768750002 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 3.470999955589244, + 0.406 + ], + "offset": [ + 0.133000022205378, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09221343238687502, + 0.09221343238687502 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_0/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "top_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "top_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "top_main_group", + "dining_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": [ + 0.7889439975580546, + -0.990538923492992, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000037/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000037/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..32da2ba0d8a3f9a65326fc37a418896083ee7c5d --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000037/ep_meta.json @@ -0,0 +1,726 @@ +{ + "layout_id": 15, + "style_id": 57, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.19247378304174845, + 0.1907289866012342, + 0.05655718756086836 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.46963240771391035, + 1.47 + ], + "offset": [ + 0.6190000467904193, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30739311793125, + 0.30737810795625, + 0.04128722769375 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.8523675922860898, + 0.8550000000000001 + ], + "offset": [ + -0.04199995320958072, + 0.3075, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.0953644933006171, + 0.0953644933006171 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_13/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_1_left_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_1_left_group_1", + "dining_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": [ + 0.7829842845458355, + -2.2401687738896094, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000039/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000039/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..31ccbe549212649597a8fdb0f62d25137b15646b --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000039/ep_meta.json @@ -0,0 +1,660 @@ +{ + "layout_id": 53, + "style_id": 26, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.18532485963000003, + 0.18532317381750005, + 0.016062580715625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.9286180409651053, + 1.259164 + ], + "offset": [ + 0.2741629795174474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.30739311793125, + 0.30737810795625, + 0.04128722769375 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.667270009342277, + 1.259164 + ], + "offset": [ + -0.4048369953288615, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09266158690875002, + 0.09266158690875002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_1_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_1_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "cabinet": "hingecabinet_1_right_group_1", + "dining_counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.992213464891215, + -4.339882654746354, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000041/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000041/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ffc8ba4bd121e12610e49929f9bf699a4485a6e3 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000041/ep_meta.json @@ -0,0 +1,726 @@ +{ + "layout_id": 15, + "style_id": 43, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18355749501375002, + 0.18355802698125004, + 0.017412858461250003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.44774218083183426, + 1.47 + ], + "offset": [ + 0.6190000467904193, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30592915835625, + 0.30593004496875, + 0.029021430768750002 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.8742578191681654, + 0.8550000000000001 + ], + "offset": [ + -0.04199995320958072, + 0.3075, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09177874750687501, + 0.09177874750687501 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_13/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_3_front_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_3_front_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_3_front_group_1", + "dining_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": [ + 0.278396378625118, + -5.683845094405392, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -1.57079623937212 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000043/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000043/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2996f849689538356e4c5f85ea5ff904b8dd8c97 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000043/ep_meta.json @@ -0,0 +1,597 @@ +{ + "layout_id": 55, + "style_id": 47, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18355749501375002, + 0.18355802698125004, + 0.017412858461250003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.5305872589961047, + 1.16985 + ], + "offset": [ + 0.33041187050194765, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2914617195, + 0.29146181990625, + 0.024719729343749997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.756634755979873, + 1.16985 + ], + "offset": [ + -0.21738812201006352, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09177874750687501, + 0.09177874750687501 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_13/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_11/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_3_main_group_1", + "dining_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": [ + 2.3267326393401624, + -0.9270311722372372, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000044/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000044/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..adae5b63d394fdac4802556b520f46b9f4a2c01a --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000044/ep_meta.json @@ -0,0 +1,644 @@ +{ + "layout_id": 60, + "style_id": 45, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "counter_5_left_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18443587075875004, + 0.18442686477375003, + 0.024772336616250005 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 3.383407894556147, + 0.394049 + ], + "offset": [ + -0.08336505272192651, + 0.0, + 0.591655 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "counter_5_left_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.28984123349999996, + 0.28984133390625, + 0.01760120971875 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.719407894630542, + 0.394049 + ], + "offset": [ + -0.915365052684729, + 0.0, + 0.591655 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09221343238687502, + 0.09221343238687502 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "croissant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_10/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7600629999999999, + 0.418885 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7600629999999999, + 0.418885 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_01_main_group_1", + "dining_counter": "counter_5_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": [ + 2.426578515803358, + -0.7661797048294733, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000045/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000045/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ad8cfaf31cb16436d2645b37e660852db8140156 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000045/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 44, + "style_id": 50, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18410641804125, + 0.1841064517575, + 0.0112298564025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.320789638402914, + 0.31788164433539023, + 0.09426197926811392 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.3479529166560051, + 0.890935 + ], + "offset": [ + -0.0545000416719974, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.092053209020625, + 0.092053209020625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_1_left_group_1", + "dining_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": [ + 2.4972490654590644, + -0.8885302236025537, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000048/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000048/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a58bdbb6b424b614d3a63677661bffa3e3f535c5 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000048/ep_meta.json @@ -0,0 +1,727 @@ +{ + "layout_id": 17, + "style_id": 48, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18410641804125, + 0.1841064517575, + 0.0112298564025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2914617195, + 0.29146181990625, + 0.024719729343749997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.833, + 1.167 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.092053209020625, + 0.092053209020625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "croissant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_3/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_5_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_5_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_5_main_group_1", + "dining_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": [ + 4.582600362708836, + -0.770526426556369, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000049/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000049/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a792b2e72285251824bf81030e8a77228f6f408 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000049/ep_meta.json @@ -0,0 +1,670 @@ +{ + "layout_id": 31, + "style_id": 56, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.18355749501375002, + 0.18355802698125004, + 0.017412858461250003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403734, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30592915835625, + 0.30593004496875, + 0.029021430768750002 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7039208809633866, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09177874750687501, + 0.09177874750687501 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.79, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.79, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_4_right_group_1", + "dining_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": [ + 4.89364886319685, + -6.710328709991006, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000050/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000050/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..784b861e28df5896144b1ee82f2e8892fd665369 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000050/ep_meta.json @@ -0,0 +1,658 @@ +{ + "layout_id": 53, + "style_id": 15, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.1739047401, + 0.17390480034375003, + 0.010560725831250001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.9286180409651053, + 1.259164 + ], + "offset": [ + 0.2741629795174474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.30684403006874994, + 0.3068440862625, + 0.018716427337499997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.667270009342277, + 1.259164 + ], + "offset": [ + -0.4048369953288615, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.08695237005, + 0.08695237005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_1_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_1_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7438830000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "cabinet": "hingecabinet_1_right_group_1", + "dining_counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.948084622717786, + -4.364057822897431, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.0001513629834557495 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000051/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000051/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc880593ab8dd70662741eee63076ceec4d4dcf6 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000051/ep_meta.json @@ -0,0 +1,754 @@ +{ + "layout_id": 29, + "style_id": 47, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.1739047401, + 0.17390480034375003, + 0.010560725831250001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.0629998891679575, + 1.8 + ], + "offset": [ + 1.2910000554160215, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30739311793125, + 0.30737810795625, + 0.04128722769375 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4316664140281643, + 1.8 + ], + "offset": [ + 1.1066667929859182, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.08695237005, + 0.08695237005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_10/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.26999999999999996 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.5399999999999999, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_1_left_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.26999999999999996 + ], + "size": [ + 0.94, + 0.34 + ], + "height": 0.5399999999999999, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_1_left_group", + "dining_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": [ + 0.19996291643827335, + -5.1410873903216725, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000053/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000053/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a00ee5a86b3908e1e8e10ed688d7279a091db293 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000053/ep_meta.json @@ -0,0 +1,668 @@ +{ + "layout_id": 42, + "style_id": 23, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18529306895250003, + 0.18409266555750003, + 0.015173496315000002 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.4445648567870424, + 1.242 + ], + "offset": [ + 0.8740001325046141, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30739311793125, + 0.30737810795625, + 0.04128722769375 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.6774351432127275, + 0.59421 + ], + "offset": [ + 0.31300013250472913, + 0.32389500000000004, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09204633277875002, + 0.09204633277875002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_13/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.699989, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_4_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.699989, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_4_right_group_1", + "dining_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": [ + 4.390927479268401, + -2.805032591505942, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000056/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000056/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26965e4abc09f5e1e6ec52a5121dff4cc16c44f3 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000056/ep_meta.json @@ -0,0 +1,836 @@ +{ + "layout_id": 25, + "style_id": 13, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.19247378304174845, + 0.1907289866012342, + 0.05655718756086836 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30739311793125, + 0.30737810795625, + 0.04128722769375 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.0953644933006171, + 0.0953644933006171 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_0/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.6399999999999999, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_4_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.6399999999999999, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_4_main_group", + "dining_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": [ + 3.5508249186570535, + -0.8252505237477555, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000059/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000059/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4acfff6a4b8f4a95c9c845d98760cc0af0c2e78 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000059/ep_meta.json @@ -0,0 +1,656 @@ +{ + "layout_id": 19, + "style_id": 52, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18443587075875004, + 0.18442686477375003, + 0.024772336616250005 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30623880465000003, + 0.30623851743749997, + 0.03357404235 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.370000166627808, + 1.0 + ], + "offset": [ + -0.014999916686095904, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09221343238687502, + 0.09221343238687502 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15311925871874998, + 0.15311925871874998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15311925871874998, + 0.15311925871874998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.77, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_2_left_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.77, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_2_left_group_1", + "dining_counter": "dining_dining_area_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": [ + 0.8204345933729618, + -2.0180744548167073, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000060/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000060/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..82c62609385ca6a44689d259d27650edb335ffc2 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000060/ep_meta.json @@ -0,0 +1,673 @@ +{ + "layout_id": 33, + "style_id": 50, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18443587075875004, + 0.18442686477375003, + 0.024772336616250005 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.2264729023388603, + 1.1661 + ], + "offset": [ + 1.2867635488305698, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30684403006874994, + 0.3068440862625, + 0.018716427337499997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.4626969878749714, + 1.1661 + ], + "offset": [ + 1.1686515060625142, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09221343238687502, + 0.09221343238687502 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.340555 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.340555 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_2_right_group_1", + "dining_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": [ + 5.864449765892669, + -0.46825046689367616, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000062/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000062/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a271594882b1a7fdbbd23d17a58b348679e1523c --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000062/ep_meta.json @@ -0,0 +1,666 @@ +{ + "layout_id": 21, + "style_id": 36, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18374328279000005, + 0.1837431104625, + 0.020144425410000003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30592915835625, + 0.30593004496875, + 0.029021430768750002 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 0.8 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09187155523125, + 0.09187155523125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_15/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_2_left_group", + "dining_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": [ + 0.7915771159473192, + -1.0506746009441477, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000063/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000063/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd9c251c59f2119737d33ae25a4c8f4c2e283694 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000063/ep_meta.json @@ -0,0 +1,684 @@ +{ + "layout_id": 16, + "style_id": 45, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18355749501375002, + 0.18355802698125004, + 0.017412858461250003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.3359999918874497, + 0.976 + ], + "offset": [ + 0.7470000040562752, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30684403006874994, + 0.3068440862625, + 0.018716427337499997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.8139999918874192, + 0.976 + ], + "offset": [ + 0.008000004056290422, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09177874750687501, + 0.09177874750687501 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick005/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.69, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_1_right_group_1", + "dining_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": [ + 2.275657630500607, + -1.0057886149206179, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000064/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000064/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1155d3ad83edbbc0cd47312f93ecd0bfcd5e6c37 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000064/ep_meta.json @@ -0,0 +1,674 @@ +{ + "layout_id": 33, + "style_id": 29, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.19247378304174845, + 0.1907289866012342, + 0.05655718756086836 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.223527097661139, + 1.1661 + ], + "offset": [ + 1.2867635488305698, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.28984123349999996, + 0.28984133390625, + 0.01760120971875 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.45907285297764644, + 0.5521713133239923 + ], + "offset": [ + 0.4454635735111767, + 0.30696434333800393, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.0953644933006171, + 0.0953644933006171 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.340555 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.94, + 0.340555 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_2_right_group_1", + "dining_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": [ + 5.8779950019088805, + -0.5446811583104876, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000066/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000066/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..627c70e660ee2b06c3042628eae370cc5f58f335 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000066/ep_meta.json @@ -0,0 +1,649 @@ +{ + "layout_id": 30, + "style_id": 50, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18443587075875004, + 0.18442686477375003, + 0.024772336616250005 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30592915835625, + 0.30593004496875, + 0.029021430768750002 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09221343238687502, + 0.09221343238687502 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_5_left_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_5_left_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_5_left_group", + "dining_counter": "dining_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": [ + 0.8204408688386786, + -4.037921044116746, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000069/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000069/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..095280f560e113b8758095f4cb60a4676488ce5a --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000069/ep_meta.json @@ -0,0 +1,680 @@ +{ + "layout_id": 51, + "style_id": 60, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.18355749501375002, + 0.18355802698125004, + 0.017412858461250003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.7529151738601576, + 1.124697 + ], + "offset": [ + -0.012379913069921145, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.30739311793125, + 0.30737810795625, + 0.04128722769375 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 1.3949152333535042, + 1.124697 + ], + "offset": [ + -0.6913798833232478, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09177874750687501, + 0.09177874750687501 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_15/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.153689053978125, + 0.153689053978125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.743887, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.743887, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "cabinet": "hingecabinet_3_main_group_1", + "dining_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": [ + 5.404387246117945, + -0.8291264210945037, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.57064844767067 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000071/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000071/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a6f6ca138325356a87c422c26767b71ef6e008f8 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000071/ep_meta.json @@ -0,0 +1,650 @@ +{ + "layout_id": 30, + "style_id": 14, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.17487703170000002, + 0.17487709194375003, + 0.01483183760625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_front_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2914617195, + 0.29146181990625, + 0.024719729343749997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.75, + 0.95 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.08743851585000001, + 0.08743851585000001 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_17/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_2_left_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_2_left_group", + "dining_counter": "dining_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": [ + 0.7682632413821205, + -1.6693187919358448, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000072/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000072/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..474632f0b4031e33366aba033fe5551a2f25319c --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000072/ep_meta.json @@ -0,0 +1,679 @@ +{ + "layout_id": 13, + "style_id": 55, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.19247378304174845, + 0.1907289866012342, + 0.05655718756086836 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.943999955938928, + 0.81 + ], + "offset": [ + 0.25300002203053595, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3088217815875, + 0.3068211092625, + 0.025289160525 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.0953644933006171, + 0.0953644933006171 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_1/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15341055463125, + 0.15341055463125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15341055463125, + 0.15341055463125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick004/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "top_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.405 + ], + "size": [ + 0.74, + 0.74 + ], + "height": 0.25, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "top_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.405 + ], + "size": [ + 0.74, + 0.74 + ], + "height": 0.25, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "top_right_group_1", + "dining_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": [ + 3.624178967953032, + -1.9983067377720696, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000073/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000073/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9af79b6c449c1b4735494552ecd894865ff2c8d8 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000073/ep_meta.json @@ -0,0 +1,638 @@ +{ + "layout_id": 38, + "style_id": 14, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.18410641804125, + 0.1841064517575, + 0.0112298564025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.4609999094659685, + 1.079 + ], + "offset": [ + 0.2390000452670158, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.320789638402914, + 0.31788164433539023, + 0.09426197926811392 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 2.16700009053417, + 1.079 + ], + "offset": [ + -0.38599995473291493, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.092053209020625, + 0.092053209020625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_11/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_3/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.266802, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.266802, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "cabinet": "hingecabinet_2_left_group_1", + "dining_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": [ + 0.7902772024609602, + -5.341443718394957, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000074/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000074/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76602c80d2f1104dfd5a409583127bddac228bf3 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000074/ep_meta.json @@ -0,0 +1,674 @@ +{ + "layout_id": 46, + "style_id": 14, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.19247378304174845, + 0.1907289866012342, + 0.05655718756086836 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 2.6109578661503194, + 1.039938 + ], + "offset": [ + -0.06952406692484026, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2914617195, + 0.29146181990625, + 0.024719729343749997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.5058541504808511, + 1.039938 + ], + "offset": [ + 0.6220759247595744, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.0953644933006171, + 0.0953644933006171 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_10/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7873410000000001, + 0.340006 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7873410000000001, + 0.340006 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_01_main_group_1", + "dining_counter": "dining_dining_area_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": [ + 5.761674155871994, + -0.9150559380045754, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000075/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000075/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..59cb93840a15a07051cd1f14f3eb0b133cee97f5 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000075/ep_meta.json @@ -0,0 +1,668 @@ +{ + "layout_id": 42, + "style_id": 45, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18529306895250003, + 0.18409266555750003, + 0.015173496315000002 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.49194993119556485, + 1.242 + ], + "offset": [ + 0.8740001325046141, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30887476605, + 0.30887195636250003, + 0.026770967859374994 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.6300500688042048, + 0.59421 + ], + "offset": [ + 0.31300013250472913, + 0.32389500000000004, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09204633277875002, + 0.09204633277875002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "peach", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "peach", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.592633, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.592633, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_2_right_group_1", + "dining_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": [ + 4.380339075067933, + -1.1960236940633673, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000076/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000076/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf83b979caf78e3157011d3ac2d457fa3de00187 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000076/ep_meta.json @@ -0,0 +1,668 @@ +{ + "layout_id": 42, + "style_id": 32, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18443587075875004, + 0.18442686477375003, + 0.024772336616250005 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 0.3292242278872455, + 1.242 + ], + "offset": [ + 0.8740001325046141, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.320789638402914, + 0.31788164433539023, + 0.09426197926811392 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.7927757721125237, + 0.59421 + ], + "offset": [ + 0.31300013250472913, + 0.32389500000000004, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09221343238687502, + 0.09221343238687502 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "croissant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_1/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.592633, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_2_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.592633, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_2_right_group_1", + "dining_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": [ + 4.398690259276854, + -1.0729674265824123, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000077/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000077/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c36f6e4ce3c20e94b01d78a29750e18fe0d9cf7d --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000077/ep_meta.json @@ -0,0 +1,659 @@ +{ + "layout_id": 53, + "style_id": 21, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.18355749501375002, + 0.18355802698125004, + 0.017412858461250003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.9286180409651053, + 1.259164 + ], + "offset": [ + 0.2741629795174474, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_dining_area_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.3088217815875, + 0.3068211092625, + 0.025289160525 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.667270009342277, + 1.259164 + ], + "offset": [ + -0.4048369953288615, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09177874750687501, + 0.09177874750687501 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15341055463125, + 0.15341055463125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15341055463125, + 0.15341055463125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_4_front_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7899499999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_4_front_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7899499999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_3_room", + "cabinet": "hingecabinet_4_front_group_1", + "dining_counter": "dining_dining_area_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 4.868693209100441, + -4.865818584719272, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 4.712234187123444 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000078/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000078/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..50602919db83b0b4a47be177846d5046197a7805 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000078/ep_meta.json @@ -0,0 +1,590 @@ +{ + "layout_id": 37, + "style_id": 20, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.19247378304174845, + 0.1907289866012342, + 0.05655718756086836 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.8414907317877869, + 1.045 + ], + "offset": [ + 0.6250000155604067, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30887476605, + 0.30887195636250003, + 0.026770967859374994 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 0.40850926821207467, + 0.42099999999999993 + ], + "offset": [ + 1.5560476018805502e-08, + 0.31200000000000006, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.0953644933006171, + 0.0953644933006171 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9648649999999999, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9648649999999999, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_1_left_group_1", + "dining_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": [ + 0.84486332434821, + -3.2644064074305787, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000079/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000079/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d23d482e9f5e0e96cd0710e2ba8cc4a2168cb45 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000079/ep_meta.json @@ -0,0 +1,677 @@ +{ + "layout_id": 13, + "style_id": 17, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18355749501375002, + 0.18355802698125004, + 0.017412858461250003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.943999955938928, + 0.81 + ], + "offset": [ + 0.25300002203053595, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_front_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3088217815875, + 0.3068211092625, + 0.025289160525 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.8140000440610768, + 0.81 + ], + "offset": [ + -0.31799997796946156, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09177874750687501, + 0.09177874750687501 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_17/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15341055463125, + 0.15341055463125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15341055463125, + 0.15341055463125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "top_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.405 + ], + "size": [ + 0.74, + 0.74 + ], + "height": 0.25, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "top_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.405 + ], + "size": [ + 0.74, + 0.74 + ], + "height": 0.25, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "top_right_group_1", + "dining_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": [ + 3.5919582785692685, + -1.9756456099995054, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000080/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000080/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f7fd24e5dffb2c731d73ec999809e593247937e --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000080/ep_meta.json @@ -0,0 +1,709 @@ +{ + "layout_id": 24, + "style_id": 35, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.17487703170000002, + 0.17487709194375003, + 0.01483183760625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.6314900312120002, + 1.95 + ], + "offset": [ + -1.0842549843939997, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.28984123349999996, + 0.28984133390625, + 0.01760120971875 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.6890199375759996, + 1.3184 + ], + "offset": [ + 0.07600000000000007, + 0.31579999999999997, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.08743851585000001, + 0.08743851585000001 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_17/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_5_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.74, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_5_main_group", + "dining_counter": "island_island_group_1" + }, + "cam_configs": { + "robot0_agentview_center": { + "pos": [ + -0.6, + 0.0, + 1.15 + ], + "quat": [ + 0.636945903301239, + 0.3325185477733612, + -0.3199238181114197, + -0.6175596117973328 + ], + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_left": { + "pos": [ + -0.5, + 0.35, + 1.05 + ], + "quat": [ + 0.55623853, + 0.29935253, + -0.37678665, + -0.6775092 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_agentview_right": { + "pos": [ + -0.5, + -0.35, + 1.05 + ], + "quat": [ + 0.6775091886520386, + 0.3767866790294647, + -0.2993525564670563, + -0.55623859167099 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_frontview": { + "pos": [ + -0.5, + 0, + 0.95 + ], + "quat": [ + 0.6088936924934387, + 0.3814677894115448, + -0.3673907518386841, + -0.5905545353889465 + ], + "camera_attribs": { + "fovy": "60" + }, + "parent_body": "mobilebase0_support" + }, + "robot0_eye_in_hand": { + "pos": [ + 0.05, + 0, + 0 + ], + "quat": [ + 0, + 0.707107, + 0.707107, + 0 + ], + "parent_body": "robot0_right_hand" + } + }, + "init_robot_base_pos": [ + 6.490144878683359, + -0.8330556667058984, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000083/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000083/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..beed026584cb014e91fdbf5b128cde325e946834 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000083/ep_meta.json @@ -0,0 +1,643 @@ +{ + "layout_id": 45, + "style_id": 17, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.19247378304174845, + 0.1907289866012342, + 0.05655718756086836 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 0.8560000460893571, + 1.04 + ], + "offset": [ + 0.5969999769553214, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.3088217815875, + 0.3068211092625, + 0.025289160525 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 1.9939999539108983, + 1.04 + ], + "offset": [ + -0.028000023044550737, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.0953644933006171, + 0.0953644933006171 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "croissant", + "pastry", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "croissant", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_10/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15341055463125, + 0.15341055463125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15341055463125, + 0.15341055463125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.5885 + ], + "size": [ + 0.7589999999999999, + 0.5900000000000001 + ], + "height": 0.3723333333333334, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_12/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.5885 + ], + "size": [ + 0.7589999999999999, + 0.5900000000000001 + ], + "height": 0.3723333333333334, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_1_main_group_1", + "dining_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": [ + 1.0908323267172186, + -0.8158711077615329, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000084/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000084/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..82a6c30ca79711f550a9bb559b8f70615efb3e13 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000084/ep_meta.json @@ -0,0 +1,675 @@ +{ + "layout_id": 46, + "style_id": 34, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18443587075875004, + 0.18442686477375003, + 0.024772336616250005 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml" + }, + "reset_region": { + "size": [ + 2.6109578661503194, + 1.039938 + ], + "offset": [ + -0.06952406692484026, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30592915835625, + 0.30593004496875, + 0.029021430768750002 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.5058541504808511, + 1.039938 + ], + "offset": [ + 0.6220759247595744, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09221343238687502, + 0.09221343238687502 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_20/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7873410000000001, + 0.340006 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_01_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7873410000000001, + 0.340006 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_01_main_group_1", + "dining_counter": "dining_dining_area_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": [ + 5.982632625426953, + -0.9280520787036056, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706378976484208 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000085/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000085/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ad4bbd1979eb9a9b29e4536c9ac85d88385301c --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000085/ep_meta.json @@ -0,0 +1,629 @@ +{ + "layout_id": 14, + "style_id": 60, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.17487703170000002, + 0.17487709194375003, + 0.01483183760625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30592915835625, + 0.30593004496875, + 0.029021430768750002 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.7, + 0.542 + ], + "offset": [ + 0.0, + 0.0, + 0.5225 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.08743851585000001, + 0.08743851585000001 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "kiwi", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "kiwi", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.02, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_1_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.02, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_1_main_group_1", + "dining_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": [ + 4.048545277782646, + -0.7847114923167752, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000086/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000086/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..11b77d16023095982be22850accbeea86380f0c2 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000086/ep_meta.json @@ -0,0 +1,752 @@ +{ + "layout_id": 12, + "style_id": 14, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.17487703170000002, + 0.17487709194375003, + 0.01483183760625 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 2.9250000965929495, + 1.475 + ], + "offset": [ + -0.4109999517035252, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.28984123349999996, + 0.28984133390625, + 0.01760120971875 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 1.3250000965929507, + 1.475 + ], + "offset": [ + -1.2109999517035246, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.08743851585000001, + 0.08743851585000001 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bread", + "bread_food", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "bread", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14492061674999998, + 0.14492061674999998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_1/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.52 + ], + "size": [ + 0.823, + 0.54 + ], + "height": 0.32666666666666666, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_1_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.52 + ], + "size": [ + 0.823, + 0.54 + ], + "height": 0.32666666666666666, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_1_right_group_1", + "dining_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": [ + 4.380756852718981, + -4.920364861867111, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.422854288892552e-08 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000087/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000087/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc484740c715b830ae09e5a4a9669498c13b810f --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000087/ep_meta.json @@ -0,0 +1,658 @@ +{ + "layout_id": 19, + "style_id": 30, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.19247378304174845, + 0.1907289866012342, + 0.05655718756086836 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.4, + 1.0 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_dining_area_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30887476605, + 0.30887195636250003, + 0.026770967859374994 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml" + }, + "reset_region": { + "size": [ + 1.370000166627808, + 1.0 + ], + "offset": [ + -0.014999916686095904, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.0953644933006171, + 0.0953644933006171 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "apple", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "apple", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_17/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15443597818125002, + 0.15443597818125002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_3/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_3_left_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.77, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_3_left_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.77, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_3_left_group_1", + "dining_counter": "dining_dining_area_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": [ + 0.7768165802962118, + -1.085218421794812, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1415926193612504 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000090/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000090/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61795017c310e3eda3999ef0d46e4e7bf3e837c7 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000090/ep_meta.json @@ -0,0 +1,671 @@ +{ + "layout_id": 31, + "style_id": 20, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_3_room", + "min_size": [ + 0.18355749501375002, + 0.18355802698125004, + 0.017412858461250003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 1.1213069951403725, + 1.3 + ], + "offset": [ + 1.4893280024298132, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30623880465000003, + 0.30623851743749997, + 0.03357404235 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.0657481855268556, + 1.3 + ], + "offset": [ + 0.8643280024299411, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09177874750687501, + 0.09177874750687501 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "orange", + "fruit", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "orange", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15311925871874998, + 0.15311925871874998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15311925871874998, + 0.15311925871874998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.79, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_3_right_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.79, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_3_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_3_right_group_1", + "dining_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": [ + 4.863656807594923, + -5.663997476299599, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 0.00030199704781619374 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000091/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000091/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a680c50c9e0570ba86544a79bf3cceb982a9505 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000091/ep_meta.json @@ -0,0 +1,597 @@ +{ + "layout_id": 55, + "style_id": 55, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18410641804125, + 0.1841064517575, + 0.0112298564025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.5305872589961047, + 1.16985 + ], + "offset": [ + 0.33041187050194765, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2914617195, + 0.29146181990625, + 0.024719729343749997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.756634755979873, + 1.16985 + ], + "offset": [ + -0.21738812201006352, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.092053209020625, + 0.092053209020625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_2/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_3_main_group_1", + "dining_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": [ + 2.5430574163782946, + -0.9414680680376123, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000092/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000092/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2e26461d547f508e2048bc567305a2f2e8c7b81 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000092/ep_meta.json @@ -0,0 +1,611 @@ +{ + "layout_id": 44, + "style_id": 46, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18374328279000005, + 0.1837431104625, + 0.020144425410000003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.456953, + 0.890935 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2914617195, + 0.29146181990625, + 0.024719729343749997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 1.3479529166560051, + 0.890935 + ], + "offset": [ + -0.0545000416719974, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09187155523125, + 0.09187155523125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_0/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_1_left_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.7673380000000001, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_1_left_group_1", + "dining_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": [ + 2.535217281432883, + -0.902377666066729, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000094/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000094/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..72d187f1df1ac35b4b19245a76296b2de8477eac --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000094/ep_meta.json @@ -0,0 +1,685 @@ +{ + "layout_id": 28, + "style_id": 55, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18410641804125, + 0.1841064517575, + 0.0112298564025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.12899995558925, + 0.406 + ], + "offset": [ + 0.8040000222053751, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.320789638402914, + 0.31788164433539023, + 0.09426197926811392 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 3.470999955589244, + 0.406 + ], + "offset": [ + 0.133000022205378, + 0.0, + 0.514 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.092053209020625, + 0.092053209020625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "banana", + "fruit", + "food", + "in_container", + "food_set1", + "group1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "banana", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/banana/banana_14/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "fish", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "fish", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_10/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "top_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "top_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_14/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.4249999999999998 + ], + "size": [ + 0.74, + 0.5900000000000001 + ], + "height": 0.2633333333333332, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "top_main_group", + "dining_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": [ + 0.7611628749466725, + -0.9748456953777432, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000095/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000095/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73d912924b5b239981bd435c141f1e9492a9869b --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000095/ep_meta.json @@ -0,0 +1,835 @@ +{ + "layout_id": 25, + "style_id": 20, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.1739047401, + 0.17390480034375003, + 0.010560725831250001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.2914617195, + 0.29146181990625, + 0.024719729343749997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_15/model.xml" + }, + "reset_region": { + "size": [ + 3.353, + 1.4 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.08695237005, + 0.08695237005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "mango", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "mango", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_1/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.14573085975, + 0.14573085975 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp008/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.7090000000000001, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_1_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "stackable", + "receptacle", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.21999999999999997 + ], + "size": [ + 0.7090000000000001, + 0.34 + ], + "height": 0.43999999999999995, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "cab_1_main_group", + "dining_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": [ + 1.3266661537906101, + -0.7987480897652719, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000099/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000099/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2a10d7c2ee92862e39a5b451f7e18aa06f50a57 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000099/ep_meta.json @@ -0,0 +1,656 @@ +{ + "layout_id": 57, + "style_id": 21, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18410641804125, + 0.1841064517575, + 0.0112298564025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_1_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30623880465000003, + 0.30623851743749997, + 0.03357404235 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml" + }, + "reset_region": { + "size": [ + 1.13541, + 1.828718 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.092053209020625, + 0.092053209020625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_15/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15311925871874998, + 0.15311925871874998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_3/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15311925871874998, + 0.15311925871874998 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_16/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.590003, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_2_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.590003, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_2_main_group_1", + "dining_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": [ + -0.8041870260493414, + -2.9762160866962417, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + -0.000175978787528841 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000100/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000100/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b76915bc9077750fb4094870f8a8162eff3cf2a4 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000100/ep_meta.json @@ -0,0 +1,650 @@ +{ + "layout_id": 54, + "style_id": 44, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18529306895250003, + 0.18409266555750003, + 0.015173496315000002 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 0.9672856114669979, + 1.17 + ], + "offset": [ + 1.161571194266501, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30684403006874994, + 0.3068440862625, + 0.018716427337499997 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 2.153285595255326, + 1.17 + ], + "offset": [ + 0.568571202372337, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09204633277875002, + 0.09204633277875002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "tangerine", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "tangerine", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_3/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15342201503437497, + 0.15342201503437497 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick003/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.980834, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_1_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_10/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.980834, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_1_main_group_1", + "dining_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": [ + 4.225392581329445, + -0.952637844322374, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000101/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000101/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..484b0eb6b93e37c2c149855ddc5557d0ccb132e0 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000101/ep_meta.json @@ -0,0 +1,635 @@ +{ + "layout_id": 11, + "style_id": 22, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.18529306895250003, + 0.18409266555750003, + 0.015173496315000002 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "dining_dining_group", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.3088217815875, + 0.3068211092625, + 0.025289160525 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_14/model.xml" + }, + "reset_region": { + "size": [ + 2.15, + 0.65 + ], + "offset": [ + 0.0, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09204633277875002, + 0.09204633277875002 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15341055463125, + 0.15341055463125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15341055463125, + 0.15341055463125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "steak", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "steak", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.065, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "cab_3_main_group", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.065, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_2_room", + "stool2": "stool_1_room", + "cabinet": "cab_3_main_group", + "dining_counter": "dining_dining_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": [ + 3.1627120151903494, + -0.7825713663087459, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5707963267948966 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000102/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000102/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a96cac02856cff149bf94d62c4f83ecd2bda4cf --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000102/ep_meta.json @@ -0,0 +1,651 @@ +{ + "layout_id": 54, + "style_id": 19, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.1739047401, + 0.17390480034375003, + 0.010560725831250001 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml" + }, + "reset_region": { + "size": [ + 0.9672856114669979, + 1.17 + ], + "offset": [ + 1.161571194266501, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30592915835625, + 0.30593004496875, + 0.029021430768750002 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 2.153285595255326, + 1.17 + ], + "offset": [ + 0.568571202372337, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.08695237005, + 0.08695237005 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_4/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_0/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "chicken_drumstick", + "meat", + "food", + "in_container", + "oven_ready" + ], + "groups": [ + "meat" + ], + "cat": "chicken_drumstick", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_15/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9623269999999999, + 0.34 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_3_main_group_1", + "dining_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": [ + 2.3108816886904058, + -0.9271418427491218, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ], + "refs": { + "bowl_positions": { + "bowl_small": -1.0, + "bowl_large": 1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000103/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000103/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f8da833f68c885d86b679e83126a3d439934c8d0 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000103/ep_meta.json @@ -0,0 +1,596 @@ +{ + "layout_id": 55, + "style_id": 21, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18410641804125, + 0.1841064517575, + 0.0112298564025 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml" + }, + "reset_region": { + "size": [ + 1.5305872589961047, + 1.16985 + ], + "offset": [ + 0.33041187050194765, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.320789638402914, + 0.31788164433539023, + 0.09426197926811392 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml" + }, + "reset_region": { + "size": [ + 1.756634755979873, + 1.16985 + ], + "offset": [ + -0.21738812201006352, + 0.0, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.092053209020625, + 0.092053209020625 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "cheese", + "dairy", + "food", + "in_container", + "food_set1" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "cheese", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_1/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.15894082216769512, + 0.15894082216769512 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_3_main_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_1/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 1.012356, + 0.309147 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_3_main_group_1", + "dining_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": [ + 2.326014238867555, + -0.9018685277472973, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 1.5706379572530664 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000105/ep_meta.json b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000105/ep_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a1722e760ced1266b63d4576b03f1a364e89e4ea --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/extras/episode_000105/ep_meta.json @@ -0,0 +1,589 @@ +{ + "layout_id": 37, + "style_id": 23, + "object_cfgs": [ + { + "name": "plate_small", + "obj_groups": "plate", + "object_scale": 0.75, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_1_room", + "min_size": [ + 0.18355749501375002, + 0.18355802698125004, + 0.017412858461250003 + ] + }, + "size": [ + 0.3, + 0.3 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.507844622898628, + 1.045 + ], + "offset": [ + 0.6250000155604067, + 2.0816681711721685e-17, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "plate_large", + "obj_groups": "plate", + "object_scale": 1.25, + "placement": { + "fixture": "island_island_group_1", + "sample_region_kwargs": { + "ref": "stool_2_room", + "min_size": [ + 0.30592915835625, + 0.30593004496875, + 0.029021430768750002 + ] + }, + "size": [ + 0.4, + 0.4 + ], + "pos": [ + "ref", + "ref" + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "plate", + "receptacle", + "container", + "container_set2" + ], + "groups": [ + "plate" + ], + "cat": "plate", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml" + }, + "reset_region": { + "size": [ + 0.7421553771012337, + 0.42099999999999993 + ], + "offset": [ + 1.5560476018805502e-08, + 0.31200000000000006, + 0.46 + ], + "name": "geom_0" + } + }, + { + "name": "appetizer", + "obj_groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "placement": { + "size": [ + 0.09177874750687501, + 0.09177874750687501 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_small", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "pear", + "fruit", + "food", + "in_container" + ], + "groups": [ + "cheese", + "fruit", + "bread", + "croissant" + ], + "cat": "pear", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_13/model.xml" + } + }, + { + "name": "cooked_food", + "obj_groups": "cooked_food", + "exclude_obj_groups": [ + "kebab_skewer", + "pizza" + ], + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "hot_dog", + "cooked_food", + "food", + "in_container" + ], + "groups": [ + "cooked_food" + ], + "cat": "hot_dog", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/hot_dog/hot_dog_2/model.xml" + } + }, + { + "name": "meat", + "obj_groups": "meat", + "graspable": true, + "placement": { + "size": [ + 0.152964579178125, + 0.152964579178125 + ], + "ensure_object_boundary_in_range": false, + "sample_args": { + "reference": "plate_large", + "on_top": true + } + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "shrimp", + "meat", + "food", + "in_container" + ], + "groups": [ + "meat" + ], + "cat": "shrimp", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp009/model.xml" + } + }, + { + "name": "bowl_small", + "obj_groups": "bowl", + "object_scale": 0.75, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 0.35, + 0.4 + ], + "pos": [ + 1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_0/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9949109999999999, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + }, + { + "name": "bowl_large", + "obj_groups": "bowl", + "object_scale": 1.1, + "placement": { + "fixture": "hingecabinet_2_left_group_1", + "size": [ + 0.6, + 0.4 + ], + "pos": [ + -1.0, + -1.0 + ] + }, + "type": "object", + "info": { + "groups_containing_sampled_obj": [ + "all", + "bowl", + "receptacle", + "stackable", + "group1", + "container_set2" + ], + "groups": [ + "bowl" + ], + "cat": "bowl", + "split": "train", + "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_11/model.xml" + }, + "reset_region": { + "offset": [ + 0.0, + 0.0, + -0.43 + ], + "size": [ + 0.9949109999999999, + 0.371617 + ], + "height": 0.2666666666666667, + "name": "level0" + } + } + ], + "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": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food.", + "fixture_refs": { + "stool1": "stool_1_room", + "stool2": "stool_2_room", + "cabinet": "hingecabinet_2_left_group_1", + "dining_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": [ + 0.8471334651767384, + -1.490027300866516, + 0.0 + ], + "init_robot_base_ori": [ + 0.0, + 0.0, + 3.1412906566438026 + ], + "refs": { + "bowl_positions": { + "bowl_small": 1.0, + "bowl_large": -1.0 + } + } +} \ No newline at end of file diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/meta/embodiment.json b/pretrain/composite/PortionOnSize/20250806/lerobot/meta/embodiment.json new file mode 100644 index 0000000000000000000000000000000000000000..3337fb229e7b593bb55b11c08eae68bae6cdabea --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/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/PortionOnSize/20250806/lerobot/meta/episodes.jsonl b/pretrain/composite/PortionOnSize/20250806/lerobot/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..696dc68b62ac062c48f514e9dfdd8c86bc8ef858 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/meta/episodes.jsonl @@ -0,0 +1,106 @@ +{"episode_index": 0, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1137} +{"episode_index": 1, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1199} +{"episode_index": 2, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1409} +{"episode_index": 3, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1088} +{"episode_index": 4, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1023} +{"episode_index": 5, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 866} +{"episode_index": 6, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1128} +{"episode_index": 7, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1038} +{"episode_index": 8, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1581} +{"episode_index": 9, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1381} +{"episode_index": 10, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1412} +{"episode_index": 11, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1120} +{"episode_index": 12, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1088} +{"episode_index": 13, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1410} +{"episode_index": 14, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1002} +{"episode_index": 15, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1444} +{"episode_index": 16, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 2006} +{"episode_index": 17, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1197} +{"episode_index": 18, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 966} +{"episode_index": 19, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1276} +{"episode_index": 20, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1095} +{"episode_index": 21, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1094} +{"episode_index": 22, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1204} +{"episode_index": 23, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1209} +{"episode_index": 24, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1284} +{"episode_index": 25, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 979} +{"episode_index": 26, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 984} +{"episode_index": 27, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 938} +{"episode_index": 28, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1417} +{"episode_index": 29, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1127} +{"episode_index": 30, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 850} +{"episode_index": 31, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1149} +{"episode_index": 32, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1140} +{"episode_index": 33, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1097} +{"episode_index": 34, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1356} +{"episode_index": 35, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1267} +{"episode_index": 36, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 965} +{"episode_index": 37, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1043} +{"episode_index": 38, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1590} +{"episode_index": 39, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1050} +{"episode_index": 40, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 891} +{"episode_index": 41, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1112} +{"episode_index": 42, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1478} +{"episode_index": 43, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1270} +{"episode_index": 44, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1323} +{"episode_index": 45, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1284} +{"episode_index": 46, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1111} +{"episode_index": 47, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1189} +{"episode_index": 48, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1042} +{"episode_index": 49, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1329} +{"episode_index": 50, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1046} +{"episode_index": 51, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1500} +{"episode_index": 52, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 950} +{"episode_index": 53, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 956} +{"episode_index": 54, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1337} +{"episode_index": 55, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1022} +{"episode_index": 56, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 976} +{"episode_index": 57, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1182} +{"episode_index": 58, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1462} +{"episode_index": 59, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 772} +{"episode_index": 60, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1375} +{"episode_index": 61, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1271} +{"episode_index": 62, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 965} +{"episode_index": 63, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1178} +{"episode_index": 64, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1304} +{"episode_index": 65, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1053} +{"episode_index": 66, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 867} +{"episode_index": 67, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1452} +{"episode_index": 68, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 922} +{"episode_index": 69, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1202} +{"episode_index": 70, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1382} +{"episode_index": 71, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1103} +{"episode_index": 72, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 915} +{"episode_index": 73, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1332} +{"episode_index": 74, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 2330} +{"episode_index": 75, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 917} +{"episode_index": 76, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1019} +{"episode_index": 77, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1286} +{"episode_index": 78, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1360} +{"episode_index": 79, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1159} +{"episode_index": 80, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1320} +{"episode_index": 81, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 743} +{"episode_index": 82, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1202} +{"episode_index": 83, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 882} +{"episode_index": 84, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 2061} +{"episode_index": 85, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 989} +{"episode_index": 86, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1047} +{"episode_index": 87, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 900} +{"episode_index": 88, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 916} +{"episode_index": 89, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1446} +{"episode_index": 90, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1406} +{"episode_index": 91, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1499} +{"episode_index": 92, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 970} +{"episode_index": 93, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1149} +{"episode_index": 94, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 919} +{"episode_index": 95, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1365} +{"episode_index": 96, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 787} +{"episode_index": 97, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1118} +{"episode_index": 98, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1249} +{"episode_index": 99, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1523} +{"episode_index": 100, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1421} +{"episode_index": 101, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1393} +{"episode_index": 102, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1327} +{"episode_index": 103, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1373} +{"episode_index": 104, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1448} +{"episode_index": 105, "tasks": ["Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."], "length": 1391} diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/meta/episodes_stats.jsonl b/pretrain/composite/PortionOnSize/20250806/lerobot/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ff07bd3db054d395a9f688201decfb654909caf --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/meta/episodes_stats.jsonl @@ -0,0 +1,106 @@ +{"episode_index": 0, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4389017704061793]], [[0.3660547798659227]], [[0.34504908926586464]]], "std": [[[0.22850304017000295]], [[0.23014763651696393]], [[0.24984119802167765]]], "count": [195]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39174744174011755]], [[0.36202251021978304]], [[0.3491120130444005]]], "std": [[[0.22850738313548832]], [[0.23023744653293257]], [[0.2376628361420029]]], "count": [195]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.41322496815984006]], [[0.3815623573084582]], [[0.3662923594417735]]], "std": [[[0.23184613924164738]], [[0.23705812823129346]], [[0.2469341271675886]]], "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": [2.4640091571167897, -4.658143644519897, 0.699980392555788, 0.0, 0.0, -1.0, 3.4703093660937157e-06, -0.029550522701929816, -0.4009464952007269, 0.2809910194661175, -0.9889408349990845, -0.11747163534164429, -0.5814854502677917, 0.0011978098191320896, 0.006328070196286992, -0.04006877271521486], "max": [3.5625058000864946, -0.8651564286672232, 0.7005559404022145, 0.0, 0.0, 1.0, 0.9999960660934448, 0.551466195949688, 0.04478567161581881, 0.8547031492295446, 0.9849460124969482, 0.3833387494087219, 0.5554330945014954, 0.25273066759109497, 0.04226000642512598, -0.0005020795915878863], "mean": [2.8496801561590073, -2.4276077865305874, 0.7001024192982326, 0.0, 0.0, 0.014627875459586043, 0.4831326337906544, 0.18561150886722919, -0.10444930322908516, 0.6881214689288383, -0.46265511446703705, 0.22508565322704868, -0.1395220121167266, 0.12245059626774081, 0.02609741548180807, -0.024313857827514072], "std": [0.3805419983346455, 1.483720836509624, 0.00011353152045565624, 0.0, 0.0, 0.7868746309338774, 0.38366287806983596, 0.1651262461921268, 0.09966877707830317, 0.13304148990892625, 0.7503553803642163, 0.10743155421711333, 0.349821801142811, 0.06225851887242657, 0.0127391082973466, 0.01344092592624609], "count": [1137]}, "action": {"min": [-1.0, -0.9571428571428572, 0.0, 0.0, -1.0, -1.0, -0.7642857142857143, -0.5571428571428572, -0.22, -0.5457142857142857, -0.22, -1.0], "max": [1.0, 1.0, 0.6514285714285715, 0.0, 1.0, 0.6785714285714286, 1.0, 1.0, 0.4028571428571428, 0.18571428571428572, 0.2285714285714286, 1.0], "mean": [0.21455584872471425, 0.07198140469908279, 0.12822465133810781, 0.0, -0.1011433597185576, -0.006728232189973611, -0.009592913682623445, 0.0008857896720693414, 0.006355069732378442, -0.005317250910918453, 0.00037441889684633505, 0.10642040457343888], "std": [0.4401005777762389, 0.3652112357581833, 0.19167599102636668, 0.0, 0.99487186149014, 0.37909315328961424, 0.20263022721112642, 0.2905588396385166, 0.06646499804577213, 0.08365598524184864, 0.04554225972765482, 0.9943212244996222], "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": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1137]}, "index": {"min": [0], "max": [1136], "mean": [568.0], "std": [328.22350108830824], "count": [1137]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1137]}}} +{"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": [[[0.5562122269435792]], [[0.5502252800365836]], [[0.5383014400028601]]], "std": [[[0.21342540481590466]], [[0.2178114106686019]], [[0.21644332319908197]]], "count": [203]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4849032285327924]], [[0.4623737448323214]], [[0.44854825260350634]]], "std": [[[0.22496719933330353]], [[0.22704872162638406]], [[0.23520197239224613]]], "count": [203]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49836453843390804]], [[0.476010071997549]], [[0.4630025407674519]]], "std": [[[0.23236990292484286]], [[0.23519507942691972]], [[0.2443893773516636]]], "count": [203]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1199]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1199]}, "observation.state": {"min": [2.9676187895102357, -5.3969184211581, 0.6999842339684258, 0.0, 0.0, -0.9999995231628418, 0.0009512424585409462, -0.059417279701897474, -0.35650442121436177, 0.28372792495283605, -0.9886017441749573, -0.1352100670337677, -0.6312620043754578, 0.0002294812584295869, 0.005487930618996295, -0.04009790045903826], "max": [3.878116820489522, -0.8264584274826408, 0.7002496433462476, 0.0, 0.0, 0.9999992847442627, 0.7071756720542908, 0.5667086847763446, 0.07302411319138846, 0.9156712141772588, 0.8789681792259216, 0.5164287686347961, 0.5823934674263, 0.41655969619750977, 0.04003013728006227, -0.0032755280354624847], "mean": [3.461593976837804, -2.634055530981664, 0.700017377377102, 0.0, 0.0, 0.33924188963863827, 0.3242931196177623, 0.12711493103876892, -0.09578594999089864, 0.7216428509528912, -0.5503662183843522, 0.2189898640787333, -0.20809387111783126, 0.2061657729610155, 0.021349041341059173, -0.01992163819158296], "std": [0.17499282111788786, 1.7904767137460795, 4.354519421330443e-05, 0.0, 0.0, 0.8317867985057239, 0.29644500269085194, 0.1751406335522521, 0.08157529376736222, 0.15175610638285053, 0.6400920875176929, 0.15965003035036182, 0.3354367430581042, 0.12493702926266338, 0.015140797484770378, 0.016295151820040772], "count": [1199]}, "action": {"min": [-1.0, -1.0, -0.6028571428571429, 0.0, -1.0, -1.0, -0.7000000000000001, -1.0, -0.3171428571428571, -0.62, -0.3342857142857143, -1.0], "max": [1.0, 1.0, 0.6428571428571429, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5514285714285714, 0.2742857142857143, 0.36857142857142855, 1.0], "mean": [0.03874657452639107, 0.09502561658524958, 0.024794471583462395, 0.0, -0.07089241034195162, -0.004658644108185393, -0.008953890146550701, -0.005838198498748948, 0.00108661980221614, -0.011440486119385211, -0.0009055165018467818, 0.16263552960800667], "std": [0.33432982876994305, 0.4761154347878573, 0.20015846615025532, 0.0, 0.9974839678691061, 0.41177819618890676, 0.1750893583314991, 0.31573184990374115, 0.0813646177470278, 0.10846963500959458, 0.05463554162049508, 0.9866862138031114], "count": [1199]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013344453647732735], "std": [0.11474483460187912], "count": [1199]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008340283569641367], "std": [0.028867503419310728], "count": [1199]}, "timestamp": {"min": [0.0], "max": [59.9], "mean": [29.950000000000003], "std": [17.30606829987678], "count": [1199]}, "frame_index": {"min": [0], "max": [1198], "mean": [599.0], "std": [346.12136599753563], "count": [1199]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1199]}, "index": {"min": [1137], "max": [2335], "mean": [1736.0], "std": [346.12136599753563], "count": [1199]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1199]}}} +{"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": [[[0.6113475238738969]], [[0.5703297143807629]], [[0.5403271644815046]]], "std": [[[0.21303216664370755]], [[0.22415807554306125]], [[0.2376373991985129]]], "count": [229]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5616137495677003]], [[0.5080101297350613]], [[0.4703057670054324]]], "std": [[[0.22928483567281122]], [[0.23360437262572467]], [[0.24453158051233434]]], "count": [229]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5446717688273623]], [[0.4945655491552346]], [[0.45935387391323035]]], "std": [[[0.23363230630783546]], [[0.23561865915226657]], [[0.24433373144372988]]], "count": [229]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1409]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1409]}, "observation.state": {"min": [-1.4735540506214468, -4.123422307153411, 0.6999797797563426, 0.0, 0.0, -0.9999839067459106, 0.002033279510214925, -0.029633633055318964, -0.31759312678357254, 0.28198880303295004, -0.988442063331604, -0.29303741455078125, -0.5267499685287476, 0.0013648837339133024, 0.006122846408409783, -0.04008691797706495], "max": [1.4762253341485105, -0.7607812778739954, 0.7004255527961065, 0.0, 0.0, 0.9999979734420776, 0.9999998807907104, 0.5546612467534489, 0.15961770254646157, 0.8709556830214494, 0.9691370129585266, 0.4376184940338135, 0.5250241756439209, 0.24791599810123444, 0.04004059577493503, -0.0017155889729531194], "mean": [0.20373410015493754, -2.0897413537995337, 0.7000798862921501, 0.0, 0.0, 0.34365079953875827, 0.798454744489652, 0.12532236719156584, -0.05026978866259307, 0.6674495535693482, -0.3319356722388393, 0.11956989952357125, -0.1533563362422609, 0.09223854421636961, 0.02018326458396131, -0.01906238407643549], "std": [1.141934596724216, 1.0565659050704628, 0.00010976531446288087, 0.0, 0.0, 0.4457866107128992, 0.21365499260245707, 0.1668473091226622, 0.09531480515789421, 0.12943360304146345, 0.8228071909552165, 0.18408744254987966, 0.35751451322685385, 0.06913135238682112, 0.014739881884233707, 0.015496654807703104], "count": [1409]}, "action": {"min": [-1.0, -1.0, -0.7285714285714285, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3914285714285714, -0.5114285714285715, -0.19142857142857142, -1.0], "max": [1.0, 1.0, 0.5285714285714286, 0.0, 1.0, 0.9142857142857143, 0.8571428571428572, 1.0, 0.34, 0.3457142857142857, 0.3514285714285714, 1.0], "mean": [0.17223968366622724, 0.16130994626381412, -0.09700496806245548, 0.0, 0.0631653655074521, 0.00121666835648382, -0.0025702119030720843, -0.002854101186251665, 0.0025448646456453414, 0.0008232789212207226, -0.002550947987427759, 0.2618878637331441], "std": [0.5312749527183144, 0.43809918739346726, 0.24653229738662577, 0.0, 0.9980030744443079, 0.3564409161898124, 0.20311558508199257, 0.2538947954586345, 0.05569072302729292, 0.07021704003570667, 0.045023217254887546, 0.9650983094116935], "count": [1409]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011355571448802948], "std": [0.10595574975013733], "count": [1409]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007097232079489], "std": [0.02663117535740769], "count": [1409]}, "timestamp": {"min": [0.0], "max": [70.4], "mean": [35.2], "std": [20.337158110217857], "count": [1409]}, "frame_index": {"min": [0], "max": [1408], "mean": [704.0], "std": [406.74316220435713], "count": [1409]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1409]}, "index": {"min": [2336], "max": [3744], "mean": [3040.0], "std": [406.74316220435713], "count": [1409]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1409]}}} +{"episode_index": 3, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[0.996078431372549]]], "mean": [[[0.6213078973451359]], [[0.5761299684985395]], [[0.539124049956354]]], "std": [[[0.20682142449112045]], [[0.22086363951414226]], [[0.23501866154774342]]], "count": [189]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5747879758095368]], [[0.529259063470585]], [[0.49646255361772895]]], "std": [[[0.23620853631911362]], [[0.24286735812823473]], [[0.25457073542050435]]], "count": [189]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5724289831673409]], [[0.5203603808421517]], [[0.48427246106414207]]], "std": [[[0.23904549829600402]], [[0.2473292801215379]], [[0.2598285006959259]]], "count": [189]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1088]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1088]}, "observation.state": {"min": [4.480760510135411, -4.7820196489656155, 0.6999271904273554, 0.0, 0.0, -0.9999921321868896, 0.003982481546700001, 0.04513046865117154, -0.34433089923482374, 0.2735839742536841, -0.9887549877166748, -0.2678408622741699, -0.5557848811149597, 0.0010262368014082313, 0.003686958652917445, -0.04009474537587539], "max": [6.3786726979459925, -0.7914703489963238, 0.7003391491001195, 0.0, 0.0, 0.9999570846557617, 0.7171356081962585, 0.6115824475075073, 0.03895012832857869, 0.8482370357151535, 0.9310454726219177, 0.32637980580329895, 0.5568126440048218, 0.238483265042305, 0.04006626021622715, -0.002623110838446568], "mean": [5.421108458029881, -2.637535507511907, 0.7000499242027663, 0.0, 0.0, 0.5819898522185052, 0.6302974868029945, 0.18548538139145765, -0.1171570251083273, 0.6652172920377618, -0.37464991409112425, 0.10191126921049812, -0.12744626495987177, 0.13046247064352534, 0.02121647030583711, -0.020236764478168974], "std": [0.5149596403828667, 1.6028043240091907, 7.362599346123977e-05, 0.0, 0.0, 0.49166491345501423, 0.14925985102063932, 0.13888136038722304, 0.07446480115428256, 0.12356416190981542, 0.8124286329176398, 0.16554909452958638, 0.3506062934203549, 0.07494643741860492, 0.014870147618057026, 0.01548685934245673], "count": [1088]}, "action": {"min": [-1.0, -1.0, -0.68, 0.0, -1.0, -1.0, -0.9928571428571428, -0.7142857142857143, -0.38857142857142857, -0.4714285714285714, -0.28285714285714286, -1.0], "max": [1.0, 1.0, 0.6714285714285715, 0.0, 1.0, 0.8428571428571429, 1.0, 1.0, 0.46857142857142864, 0.5485714285714286, 0.3314285714285714, 1.0], "mean": [0.03358718487394957, 0.14251575630252106, 0.0023529411764705937, 0.0, -0.025735294117647058, 0.003361344537815127, -0.010189075630252129, 0.01662289915966388, 0.004020483193277307, 0.002544642857142853, -0.004327731092436974, 0.20220588235294118], "std": [0.5003392791491987, 0.44706496209608526, 0.21456830312288933, 0.0, 0.9996687924691181, 0.37584445353584267, 0.19589189931999243, 0.3255424698279838, 0.07947997551087702, 0.10110998553299406, 0.04740851465927819, 0.9793430354793294], "count": [1088]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014705882407724857], "std": [0.12037283182144165], "count": [1088]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009191176470588235], "std": [0.030303017503372307], "count": [1088]}, "timestamp": {"min": [0.0], "max": [54.35], "mean": [27.175], "std": [15.703920688796156], "count": [1088]}, "frame_index": {"min": [0], "max": [1087], "mean": [543.5], "std": [314.07841377592314], "count": [1088]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1088]}, "index": {"min": [3745], "max": [4832], "mean": [4288.5], "std": [314.07841377592314], "count": [1088]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1088]}}} +{"episode_index": 4, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5887720856843172]], [[0.537899190865311]], [[0.5085811277568211]]], "std": [[[0.23048404421405166]], [[0.21998553490888914]], [[0.21931711327325173]]], "count": [180]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5025940812387238]], [[0.4480469391600499]], [[0.4237661098239209]]], "std": [[[0.22718342052843857]], [[0.21416188987693835]], [[0.2078523509782067]]], "count": [180]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5192104198314526]], [[0.45766936989910983]], [[0.428770318457244]]], "std": [[[0.2282680966327421]], [[0.21799163530052584]], [[0.2112713851035461]]], "count": [180]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1023]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1023]}, "observation.state": {"min": [1.908964146898123, -3.577263783080991, 0.6999942232490721, 0.0, 0.0, -0.0003629427228588611, 0.42908570170402527, -0.0022549217497598306, -0.19438430129990913, 0.28772058722761584, -0.9940022826194763, -0.1842523217201233, -0.588452935218811, 0.009382691234350204, 0.00994806162430552, -0.040013404631359155], "max": [4.351038723794307, -2.941728613235988, 0.7007604287121971, 0.0, 0.0, 0.9032638072967529, 1.0, 0.5830484542458549, 0.09732891542980182, 0.9009714641050476, 0.9288504123687744, 0.6292016506195068, 0.49995487928390503, 0.5589061379432678, 0.04003486905299039, -0.007983514515501599], "mean": [3.370804223829289, -3.1556622618859373, 0.7001720874679813, 0.0, 0.0, 0.442727284256583, 0.7985534025019332, 0.21075424992550282, -0.053082192172402815, 0.5907941875003516, -0.809459624897583, 0.32735370567845923, -0.3151992941939819, 0.1967079532246232, 0.02254602648940532, -0.02094155468479862], "std": [0.9577914291400679, 0.16086607736336286, 0.0001668479765997456, 0.0, 0.0, 0.3613515981110144, 0.1890239486377482, 0.17871795537465596, 0.0694303773182301, 0.16644283351587003, 0.20563115007822363, 0.15581234844673064, 0.1355410367123695, 0.12098358568435902, 0.01312140383422553, 0.013834096656931796], "count": [1023]}, "action": {"min": [-1.0, -1.0, -0.7085714285714285, 0.0, -1.0, -1.0, -0.9714285714285714, -1.0, -0.4542857142857143, -0.8571428571428572, -0.38857142857142857, -1.0], "max": [1.0, 1.0, 0.9457142857142856, 0.0, 1.0, 1.0, 0.5428571428571429, 1.0, 0.44, 0.6057142857142859, 0.5314285714285715, 1.0], "mean": [0.06462086300795976, 0.08101522133780198, 0.03151794442117025, 0.0, -0.32746823069403713, 0.0014453288646837181, -0.01574500768049156, -0.008483452031839124, 1.675743611227094e-05, -0.007258762742633708, 0.0011339198435972692, 0.24731182795698925], "std": [0.2879678050232969, 0.3024303124840374, 0.23444283066968732, 0.0, 0.9448621898912652, 0.4111991979276194, 0.17683745497106387, 0.37954288837759853, 0.0968043241928365, 0.17390259791998144, 0.10659101455183109, 0.9689359420274307], "count": [1023]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015640273690223694], "std": [0.12407921999692917], "count": [1023]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009775171065493646], "std": [0.03124998506968872], "count": [1023]}, "timestamp": {"min": [0.0], "max": [51.1], "mean": [25.549999999999997], "std": [14.765726079900936], "count": [1023]}, "frame_index": {"min": [0], "max": [1022], "mean": [511.0], "std": [295.31452159801876], "count": [1023]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1023]}, "index": {"min": [4833], "max": [5855], "mean": [5344.0], "std": [295.31452159801876], "count": [1023]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1023]}}} +{"episode_index": 5, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6637494865188853]], [[0.6229901203584076]], [[0.566521577768047]]], "std": [[[0.18609317928183045]], [[0.1859054308249797]], [[0.20457524724183462]]], "count": [159]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6411951262407847]], [[0.6072920080089205]], [[0.5616622798730095]]], "std": [[[0.2201511212464566]], [[0.21531831854273045]], [[0.22460369280537726]]], "count": [159]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6569742070803852]], [[0.619685927718117]], [[0.5706245372497957]]], "std": [[[0.20810182676164954]], [[0.20591398486357476]], [[0.2190946390789298]]], "count": [159]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [866]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [866]}, "observation.state": {"min": [0.7743509570094481, -4.780912641016014, 0.699929967209404, 0.0, 0.0, -1.0, 7.981246596955316e-08, -0.04007717258349275, -0.18157527278548935, 0.2821174429494804, -0.9881871938705444, -0.08711257576942444, -0.5291928648948669, 6.91425520926714e-05, 0.007114864304021457, -0.039941404725665035], "max": [3.366873293261556, -4.147138281529519, 0.7000868710623073, 0.0, 0.0, 1.0, 0.7357324361801147, 0.6128190843501826, 0.13383955415526305, 0.8329004606156367, 0.9600112438201904, 0.5894366502761841, 0.33165600895881653, 0.283029705286026, 0.04005795313222011, -0.006262621592151687], "mean": [1.9694787850079356, -4.472461521889819, 0.7000121407510767, 0.0, 0.0, 0.0463706708532558, 0.359170306846884, 0.20339688149895813, 0.00532206325305112, 0.6763103753776868, -0.8411643009538188, 0.25550697213920653, -0.38709136649243553, 0.1559106576980084, 0.022534526350773652, -0.02165163908662134], "std": [1.0030088428293842, 0.24492045858360878, 2.0014213065322216e-05, 0.0, 0.0, 0.8740923794276485, 0.32374213897081217, 0.16392459144953617, 0.07230320673738183, 0.14919767207820214, 0.1279318449664888, 0.15378915380296962, 0.08829784124448237, 0.07208867701874816, 0.014885448275725726, 0.015066865606273759], "count": [866]}, "action": {"min": [-1.0, -1.0, -0.56, 0.0, -1.0, -1.0, -0.9142857142857143, -0.7000000000000001, -0.26857142857142857, -0.4, -0.3628571428571429, -1.0], "max": [1.0, 1.0, 0.76, 0.0, 1.0, 0.807142857142857, 0.6, 1.0, 0.30857142857142855, 0.28285714285714286, 0.2, 1.0], "mean": [-0.03345430550973277, 0.0064170240844605726, -0.03776311448366877, 0.0, -0.302540415704388, 0.001517650940283715, -0.015927086770042894, 0.016718904651930048, 0.006364236225668105, -0.004038271197624545, -0.004556252062025737, 0.14087759815242495], "std": [0.42522151869448416, 0.2957066847842132, 0.2170977741289893, 0.0, 0.9531365573019454, 0.4221904063353063, 0.148371640852833, 0.35544337557308253, 0.06887580813974804, 0.07616063999532549, 0.07215341463239759, 0.9900270210144826], "count": [866]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01847575046122074], "std": [0.13466401398181915], "count": [866]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011547344110854503], "std": [0.03396175789804328], "count": [866]}, "timestamp": {"min": [0.0], "max": [43.25], "mean": [21.625], "std": [12.49962499437483], "count": [866]}, "frame_index": {"min": [0], "max": [865], "mean": [432.5], "std": [249.99249988749662], "count": [866]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [866]}, "index": {"min": [5856], "max": [6721], "mean": [6288.5], "std": [249.99249988749662], "count": [866]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [866]}}} +{"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": [[[0.5861427885463847]], [[0.4824672223197732]], [[0.4293180402081399]]], "std": [[[0.2021822780016393]], [[0.22461224897562593]], [[0.2124816389252604]]], "count": [194]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6297387281378906]], [[0.5159025834983639]], [[0.4669007020067007]]], "std": [[[0.20474449481669268]], [[0.24987191655491872]], [[0.24222325574817213]]], "count": [194]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6300160411297251]], [[0.5117110968551806]], [[0.4613489786783854]]], "std": [[[0.19343173727312393]], [[0.24734501138421386]], [[0.24121004988181693]]], "count": [194]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1128]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1128]}, "observation.state": {"min": [2.6161476948894316, -5.715769106660814, 0.6999726656415888, 0.0, 0.0, -0.999994158744812, 0.002942503895610571, -0.03460031038804834, -0.22705582269983315, 0.247858318246155, -0.9870477318763733, -0.7488055229187012, -0.5704805254936218, 9.640217467676848e-05, 0.004950188248702586, -0.039947883553785285], "max": [4.010864881965415, -0.809836373067273, 0.7003852474389425, 0.0, 0.0, 0.9999957084655762, 0.738771378993988, 0.6078368745375837, 0.1768828376633782, 0.8890802678587449, 0.9708617925643921, 0.6382943391799927, 0.4419929087162018, 0.4999312460422516, 0.040678088611850245, -0.000374905137002796], "mean": [3.476002264019066, -3.226571985272759, 0.7000442726206763, 0.0, 0.0, 0.13285330307821855, 0.4324093608642641, 0.17743696253817265, -0.038320758436202654, 0.5700581994599719, -0.4753994142755549, 0.08360267760800132, -0.1351926703111711, 0.2023553137246994, 0.021354158690524642, -0.019576194003474646], "std": [0.37785723445907643, 2.004489590983598, 8.98847633097567e-05, 0.0, 0.0, 0.8418039171309923, 0.29451367861127203, 0.1721281027415171, 0.09366898696782619, 0.15720804014759562, 0.6248734275049371, 0.45341586057135347, 0.31411656747874356, 0.11427730342183641, 0.014933803336294429, 0.015375196834673633], "count": [1128]}, "action": {"min": [-1.0, -1.0, -0.6628571428571428, 0.0, -1.0, -1.0, -1.0, -1.0, -0.48, -0.48571428571428577, -0.46857142857142864, -1.0], "max": [1.0, 1.0, 0.8142857142857143, 0.0, 1.0, 1.0, 0.9285714285714287, 1.0, 0.4371428571428572, 1.0, 0.5257142857142857, 1.0], "mean": [0.1327570921985816, 0.19794832826747719, 0.02152988855116515, 0.0, -0.07801418439716312, -0.012879939209726467, 0.0001646403242147883, -0.010366008105369792, -0.0007674772036474197, -0.008748733535967577, 0.0007269503546099259, 0.23049645390070922], "std": [0.37766001015991013, 0.47862496374538993, 0.22138285277538503, 0.0, 0.9969522491237219, 0.42847381046465444, 0.24632552585324433, 0.3688853116217338, 0.09467985872409161, 0.17676446775048968, 0.10550171602635049, 0.9730731651521466], "count": [1128]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014184396713972092], "std": [0.11825057864189148], "count": [1128]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008865248226950354], "std": [0.029761365836160493], "count": [1128]}, "timestamp": {"min": [0.0], "max": [56.35], "mean": [28.175], "std": [16.281271193204375], "count": [1128]}, "frame_index": {"min": [0], "max": [1127], "mean": [563.5], "std": [325.62542386408757], "count": [1128]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1128]}, "index": {"min": [6722], "max": [7849], "mean": [7285.5], "std": [325.62542386408757], "count": [1128]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1128]}}} +{"episode_index": 7, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5748561251705461]], [[0.5056320243034864]], [[0.46689041588127134]]], "std": [[[0.18903808898473162]], [[0.2200203887163237]], [[0.21145176147770994]]], "count": [182]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.552285747532186]], [[0.4686521438503286]], [[0.42960116076741695]]], "std": [[[0.21784032168331788]], [[0.24214715919864027]], [[0.23750082358974264]]], "count": [182]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5298207548306282]], [[0.43897534308570185]], [[0.39988329475795725]]], "std": [[[0.22486770620624852]], [[0.2534406008965015]], [[0.2457429668151287]]], "count": [182]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1038]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1038]}, "observation.state": {"min": [2.0739341679530225, -3.378973045744187, 0.6999656252829237, 0.0, 0.0, 0.6016269326210022, 0.2580297589302063, -0.041016657410415935, -0.1983152298957087, 0.39783818978042196, -0.9896868467330933, -0.497445285320282, -0.5363399386405945, 0.0009965033968910575, 0.006179843764600994, -0.040091494313027866], "max": [4.135566432402378, -0.7646754258516034, 0.7011125574474946, 0.0, 0.0, 0.9661369919776917, 0.7987772226333618, 0.561955168387902, 0.40637055780158793, 0.8881787079934974, 0.9685066342353821, 0.6016636490821838, 0.49092164635658264, 0.5044575929641724, 0.04004405619352136, -0.002552198236825569], "mean": [3.487386828487437, -1.9364442939055764, 0.7004775886832442, 0.0, 0.0, 0.7006545986169106, 0.6962253782388562, 0.14239417102318905, -0.002278157662431238, 0.700725011061807, -0.8021435786419062, 0.2649712601034168, -0.3061319180622496, 0.1905429892874276, 0.02120922765785525, -0.02012146028100386], "std": [0.7417322888693654, 1.0693057784535862, 0.00041428375543140655, 0.0, 0.0, 0.08802490936726813, 0.1288602654680808, 0.15810057181003095, 0.14708301157415574, 0.11268994278376034, 0.288724272533448, 0.1509115674217204, 0.1714777196078343, 0.14419401774669696, 0.015387256312176963, 0.01591375250266128], "count": [1038]}, "action": {"min": [-1.0, -1.0, -0.7228571428571429, 0.0, -1.0, -1.0, -1.0, -0.8928571428571429, -0.2914285714285714, -0.6142857142857143, -0.24571428571428575, -1.0], "max": [1.0, 1.0, 0.74, 0.0, 1.0, 0.8428571428571429, 0.7000000000000001, 1.0, 0.34, 0.3942857142857143, 0.6714285714285715, 1.0], "mean": [0.00253922378199838, 0.10322047894302235, 0.004263693916873111, 0.0, -0.23121387283236994, -0.017464905037159383, -0.014726121662537844, -0.014581612992017559, 0.005139003578309927, -0.013490228461326734, 0.0059069639416460245, 0.1676300578034682], "std": [0.43425456048638644, 0.3902961211678587, 0.1500206017426072, 0.0, 0.9729029473744292, 0.4047104756317345, 0.2556908086042783, 0.2963837743925626, 0.07202519439306243, 0.1192562950583512, 0.09767801939592616, 0.9858499701885717], "count": [1038]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01541425846517086], "std": [0.12319358438253403], "count": [1038]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009633911368015414], "std": [0.031023588031030093], "count": [1038]}, "timestamp": {"min": [0.0], "max": [51.85], "mean": [25.924999999999997], "std": [14.982232532792525], "count": [1038]}, "frame_index": {"min": [0], "max": [1037], "mean": [518.5], "std": [299.64465065585046], "count": [1038]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1038]}, "index": {"min": [7850], "max": [8887], "mean": [8368.5], "std": [299.64465065585046], "count": [1038]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1038]}}} +{"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": [[[0.5518477859796261]], [[0.5391334190219057]], [[0.5079483513327205]]], "std": [[[0.23255604130704974]], [[0.20530170165336029]], [[0.19598983801150033]]], "count": [250]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5018508588005515]], [[0.5047714594822305]], [[0.49353833797679225]]], "std": [[[0.2758712130802019]], [[0.24080702979356]], [[0.23089725098439573]]], "count": [250]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49865428251378674]], [[0.4964304989085478]], [[0.48344225523705575]]], "std": [[[0.257693425276693]], [[0.22317600624645656]], [[0.21199180833954218]]], "count": [250]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1581]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1581]}, "observation.state": {"min": [-1.4672369489510426, -3.9860731719059785, 0.6999948549658735, 0.0, 0.0, -0.9999998807907104, 0.0005644941120408475, -0.06104013588086454, -0.10472835889242749, 0.2804996846932182, -0.9889312386512756, -0.10768160223960876, -0.49797314405441284, 0.001815290073864162, 0.004768975905420742, -0.040093815465262306], "max": [3.3325037643683215, -0.7988167946623435, 0.7007603510957672, 0.0, 0.0, 0.9999992847442627, 0.9999998807907104, 0.6130485437818332, 0.19537172538743697, 0.8273591332386213, 0.9637119770050049, 0.6502723693847656, 0.42305871844291687, 0.3385561406612396, 0.04003380226737223, -0.0024460545236911248], "mean": [0.9648347555311603, -2.069021438497352, 0.700058665765527, 0.0, 0.0, 0.33811008011442, 0.822620507881184, 0.1514557946927677, 0.0106903489259522, 0.6503268621627588, -0.562475749279109, 0.31985438290387297, -0.20855833935933654, 0.1623530350315516, 0.02053604760708222, -0.01917676596233481], "std": [1.9398994541449546, 1.0776585484749823, 0.0001210362699005351, 0.0, 0.0, 0.38394410419784225, 0.2481209568087256, 0.16387717624278092, 0.05763342099415016, 0.12821129399925932, 0.6341929069842961, 0.16670895941904712, 0.2731243684285298, 0.08288346904269767, 0.015161307162946216, 0.016073901826449893], "count": [1581]}, "action": {"min": [-1.0, -1.0, -0.4942857142857143, 0.0, -1.0, -1.0, -0.6785714285714286, -0.9857142857142858, -0.36857142857142855, -0.42, -0.24285714285714288, -1.0], "max": [1.0, 1.0, 0.7714285714285716, 0.0, 1.0, 0.5571428571428572, 0.7928571428571428, 1.0, 0.4914285714285715, 0.18285714285714286, 0.5771428571428572, 1.0], "mean": [0.08084395048341919, 0.16857323574591124, -0.01535014005602239, 0.0, 0.008222643896268185, -0.0039351224360711975, -0.0024803469775006755, -0.0018613897171772017, 0.004389626818469325, -0.0005403451703261996, -0.004035420619860847, 0.23592662871600253], "std": [0.5589750813293616, 0.39034388178224233, 0.20701063344744428, 0.0, 0.9999661934922502, 0.30183571961551947, 0.132420858659356, 0.21068069601325115, 0.06537002706259, 0.05657915019584485, 0.06979729806704593, 0.9717708710713174], "count": [1581]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010120176710188389], "std": [0.10008876025676727], "count": [1581]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006325110689437065], "std": [0.025141817728465264], "count": [1581]}, "timestamp": {"min": [0.0], "max": [79.0], "mean": [39.5], "std": [22.819764824964054], "count": [1581]}, "frame_index": {"min": [0], "max": [1580], "mean": [790.0], "std": [456.3952964992811], "count": [1581]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1581]}, "index": {"min": [8888], "max": [10468], "mean": [9678.0], "std": [456.3952964992811], "count": [1581]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1581]}}} +{"episode_index": 9, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.567175608311762]], [[0.5634848453509153]], [[0.5299810758713486]]], "std": [[[0.21931500737784249]], [[0.19088645009100733]], [[0.17101619727394468]]], "count": [226]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5434310365008662]], [[0.551825356007698]], [[0.5317766580444315]]], "std": [[[0.2244099698581396]], [[0.18481788001971605]], [[0.17108937909029026]]], "count": [226]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5314315091605901]], [[0.539871083699269]], [[0.5178540819079723]]], "std": [[[0.2461299177519377]], [[0.20675109668795674]], [[0.189411803037836]]], "count": [226]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1381]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1381]}, "observation.state": {"min": [1.269875121731617, -4.478577027377497, 0.6999897794502611, 0.0, 0.0, -0.6071270108222961, 0.6173948645591736, -0.15025962415246452, -0.28895240876185957, 0.27194542466435023, -0.9924914836883545, -0.6229621767997742, -0.5609185695648193, 0.0012526570353657007, 0.0063511626903391, -0.03937563225726611], "max": [3.731264453908364, -0.8690878589078312, 0.7005712133291, 0.0, 0.0, 0.786653459072113, 0.9999984502792358, 0.6688980154003418, 0.0005412299309632829, 0.8583611058060784, 0.8887699842453003, 0.755379855632782, 0.3178860545158386, 0.4921416640281677, 0.0400550287791527, -0.004716334357786097], "mean": [2.56517769078137, -2.542239514781132, 0.7001760719355699, 0.0, 0.0, 0.6347978174972876, 0.7006912838281885, 0.13261851385937828, -0.10891507534218872, 0.6806149300884605, -0.6535276595791728, 0.5524734900286455, -0.2712233253956316, 0.3078261356639617, 0.021479168655324468, -0.019776661877075555], "std": [0.6987115736972597, 1.425518223811378, 0.00021205126499296772, 0.0, 0.0, 0.31239815338784904, 0.09203721082848113, 0.21074073140774852, 0.08457677327997255, 0.15726756127403715, 0.18871081215140725, 0.1843148373503633, 0.12649966990030692, 0.11734445349771037, 0.01521380619906106, 0.015746259083298395], "count": [1381]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -0.9928571428571428, -0.32571428571428573, -0.44571428571428573, -0.7942857142857143, -1.0], "max": [1.0, 1.0, 0.5485714285714286, 0.0, 1.0, 1.0, 0.8714285714285716, 1.0, 0.4285714285714286, 0.6142857142857143, 0.3, 1.0], "mean": [0.11455467052860256, -0.08851763732285085, 0.011031343746767352, 0.0, -0.1730629978276611, -0.010137581462708184, -0.0005482569566566686, -0.0005948070756180703, 0.004218475224992238, -0.009595531188579693, -0.011089272783697096, 0.1774076755973932], "std": [0.5192565636876431, 0.4577774411997898, 0.23065356232517978, 0.0, 0.9849107567606881, 0.3922699490690768, 0.20253330129187605, 0.26777921514650527, 0.06947239581125368, 0.0973393121863746, 0.12421528711053631, 0.9841374480422563], "count": [1381]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011585807427763939], "std": [0.10701204091310501], "count": [1381]}, "next.done": {"min": [false], "max": [true], "mean": [0.000724112961622013], "std": [0.026899602637229125], "count": [1381]}, "timestamp": {"min": [0.0], "max": [69.0], "mean": [34.5], "std": [19.93301281793598], "count": [1381]}, "frame_index": {"min": [0], "max": [1380], "mean": [690.0], "std": [398.66025635871955], "count": [1381]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1381]}, "index": {"min": [10469], "max": [11849], "mean": [11159.0], "std": [398.66025635871955], "count": [1381]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1381]}}} +{"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": [[[0.5593036031763674]], [[0.512365789519145]], [[0.46595978563703844]]], "std": [[[0.20697612627072254]], [[0.20880759319199896]], [[0.21756063502216505]]], "count": [230]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5091498682098519]], [[0.4516995033725956]], [[0.4128415052278979]]], "std": [[[0.23841495645942182]], [[0.23834061756206168]], [[0.24372844578083377]]], "count": [230]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5392401690210731]], [[0.4884348991114364]], [[0.4536396007749227]]], "std": [[[0.23618903311616088]], [[0.24303264587893972]], [[0.2526956860562001]]], "count": [230]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1412]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1412]}, "observation.state": {"min": [0.38934081890533134, -3.7180060051489803, 0.6999910432912798, 0.0, 0.0, -0.9999932050704956, 0.003704243106767535, -0.03935660174761657, -0.19494499272300847, 0.41575305601798684, -0.9844292402267456, -0.07053138315677643, -0.5626965165138245, 0.0005109412013553083, 0.0035301014107317627, -0.03960615127134329], "max": [5.499927068194769, -0.7498319750123481, 0.7004114039049586, 0.0, 0.0, 0.9999817609786987, 0.9999817609786987, 0.5394504882864659, 0.030522224166728673, 0.8729037118928016, 0.9312200546264648, 0.5746621489524841, 0.46402880549430847, 0.3834935426712036, 0.04006050705437322, -0.005198234232702182], "mean": [2.3864247677944253, -2.0838718420570017, 0.7000984652583262, 0.0, 0.0, 0.3303028639599222, 0.6035809920219871, 0.13331511173369628, -0.0752682258334766, 0.7046616676360014, -0.7802099974736276, 0.35163890156715516, -0.3538118241507845, 0.2671886001204958, 0.022374325189940827, -0.020331453657202958], "std": [1.2291272774499946, 1.1187930680634368, 0.00011505436888952849, 0.0, 0.0, 0.6907727602197977, 0.22231283979422437, 0.1686674724864784, 0.04316570306252596, 0.09802433974122604, 0.17316023026170752, 0.14579295936360276, 0.10955305572579271, 0.08836265535445313, 0.013682509819890597, 0.014231198681243066], "count": [1412]}, "action": {"min": [-1.0, -1.0, -0.64, 0.0, -1.0, -1.0, -0.8928571428571429, -0.8642857142857142, -0.23428571428571432, -0.5514285714285714, -0.22, -1.0], "max": [1.0, 1.0, 0.7857142857142858, 0.0, 1.0, 1.0, 1.0, 1.0, 0.39714285714285713, 0.46857142857142864, 0.31142857142857144, 1.0], "mean": [0.18289660056657212, 0.14293808174828, 0.07616552003237556, 0.0, 0.15439093484419264, -0.0022359368676649195, -0.00934338324564953, -0.007147915823553209, 0.0018170781060299532, -0.007533387292594088, -0.003836503439902872, 0.26628895184135976], "std": [0.5937014412038402, 0.42178500704202054, 0.2986347476436899, 0.0, 0.9880098376220342, 0.3454899649788953, 0.1490739306413275, 0.21567546432511864, 0.05005176786765909, 0.1008356888941492, 0.04829521866026689, 0.9638932483046212], "count": [1412]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01133144460618496], "std": [0.10584443062543869], "count": [1412]}, "next.done": {"min": [false], "max": [true], "mean": [0.000708215297450425], "std": [0.02660288947732712], "count": [1412]}, "timestamp": {"min": [0.0], "max": [70.55], "mean": [35.275], "std": [20.38045939128949], "count": [1412]}, "frame_index": {"min": [0], "max": [1411], "mean": [705.5], "std": [407.60918782578983], "count": [1412]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1412]}, "index": {"min": [11850], "max": [13261], "mean": [12555.5], "std": [407.60918782578983], "count": [1412]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1412]}}} +{"episode_index": 11, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4933981524460395]], [[0.4345360985837016]], [[0.39217981619284087]]], "std": [[[0.2400209927636309]], [[0.23082832233749548]], [[0.24025869503434352]]], "count": [193]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4186287258791146]], [[0.3713435665906887]], [[0.33944367704553285]]], "std": [[[0.222446632588132]], [[0.21148386219215856]], [[0.21770780544216395]]], "count": [193]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4360271400762479]], [[0.3799346309942067]], [[0.3419857351854784]]], "std": [[[0.236670897300352]], [[0.22554799044258322]], [[0.23314154822482674]]], "count": [193]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1120]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1120]}, "observation.state": {"min": [0.7448910893258709, -3.7583714326234157, 0.6999887831003049, 0.0, 0.0, -1.0, 8.033455856093497e-08, -0.004035505356880353, -0.24922154967608157, 0.2932720600600852, -0.9963849782943726, -0.046879157423973083, -0.5265296101570129, 0.013999054208397865, 0.005282711578423247, -0.03984784168917842], "max": [3.0571388505112815, -0.9360427459922355, 0.7001868570474855, 0.0, 0.0, 1.0, 0.9999978542327881, 0.5936403780105972, 0.1135905420026383, 0.8474966939022641, -0.6312795281410217, 0.6234996318817139, 0.20441515743732452, 0.4767731726169586, 0.040092894554291054, 0.00038881266951957345], "mean": [1.4812538685381154, -1.9147383843658958, 0.7000227009472871, 0.0, 0.0, 0.08752926121087512, 0.4710996750510418, 0.2203687828527244, -0.05243653629480605, 0.6548630692592227, -0.8771864748959031, 0.28256640609885963, -0.15682306364934837, 0.22671924168244004, 0.024280337789265753, -0.022863767316362565], "std": [0.768230284622175, 1.0171727189804067, 3.901190721675635e-05, 0.0, 0.0, 0.7644503249389681, 0.43129971272050727, 0.20503433724450656, 0.10443802831848074, 0.14526899144155994, 0.09375390924053618, 0.16017999748049688, 0.15189600633058883, 0.13109237273335714, 0.014098322972767823, 0.014413943472447075], "count": [1120]}, "action": {"min": [-1.0, -1.0, -0.982857142857143, 0.0, -1.0, -1.0, -0.7928571428571428, -1.0, -0.26285714285714284, -0.6257142857142857, -0.4628571428571429, -1.0], "max": [1.0, 1.0, 0.96, 0.0, 1.0, 1.0, 0.8571428571428572, 1.0, 0.47714285714285715, 0.4971428571428572, 0.40571428571428575, 1.0], "mean": [0.12466198979591836, -0.051511479591836704, 0.07316071428571425, 0.0, -0.24107142857142858, 0.003437499999999995, 0.004642857142857153, 0.005325255102040826, 0.009464285714285705, -0.0070255102040816305, 0.004204081632653067, 0.14107142857142857], "std": [0.3801467447666535, 0.3390781352857486, 0.3388611882894497, 0.0, 0.970507375719803, 0.4357152060801799, 0.17103334542659548, 0.3334128177456718, 0.0802054861420872, 0.10574248488740282, 0.08906245907223273, 0.9899994202224727], "count": [1120]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015178571455180645], "std": [0.12226276844739914], "count": [1120]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008928571428571428], "std": [0.02986737264942452], "count": [1120]}, "timestamp": {"min": [0.0], "max": [55.95], "mean": [27.975], "std": [16.16580109366684], "count": [1120]}, "frame_index": {"min": [0], "max": [1119], "mean": [559.5], "std": [323.3160218733368], "count": [1120]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1120]}, "index": {"min": [13262], "max": [14381], "mean": [13821.5], "std": [323.3160218733368], "count": [1120]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1120]}}} +{"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": [[[0.6023303699463727]], [[0.5456517570678445]], [[0.5050428887375263]]], "std": [[[0.19233632550546714]], [[0.22825297881204973]], [[0.254753131496178]]], "count": [189]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5956011496214516]], [[0.5327347908293091]], [[0.4895738709528227]]], "std": [[[0.2029784439117915]], [[0.24748535862645435]], [[0.2718193237237575]]], "count": [189]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.578917742769851]], [[0.5098990376948668]], [[0.4662890750375671]]], "std": [[[0.2060073115342435]], [[0.24851571978452677]], [[0.2725578278397759]]], "count": [189]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1088]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1088]}, "observation.state": {"min": [0.8026358162800363, -4.771633170132387, 0.6999910927909175, 0.0, 0.0, -1.0, 7.931824796969522e-08, 0.006507452976925343, -0.25150023365777674, 0.2510070531878523, -0.9875938296318054, -0.3508167862892151, -0.5231639742851257, 0.0017139255069196224, 0.009008446181945058, -0.04000934584607285], "max": [3.1583258771619867, -3.9648075392286155, 0.7004736527152139, 0.0, 0.0, 1.0, 0.9999955892562866, 0.5905152758532999, 0.029760857679021147, 0.8567736268122148, 0.8875161409378052, 0.4339723587036133, 0.5388482213020325, 0.31475675106048584, 0.04009272477351784, -0.00690451626027644], "mean": [1.9438229297110514, -4.224124537507088, 0.7000786255486278, 0.0, 0.0, 0.445448424834253, 0.44851649112550324, 0.19133526264381373, -0.06080532166311153, 0.6913105621834069, -0.5901384534971679, 0.24627238627084913, -0.24434228979653733, 0.1415730402297734, 0.02578452260473296, -0.0247877795974593], "std": [0.95909153562429, 0.18911782282549572, 0.00010280540984000753, 0.0, 0.0, 0.7075819012994006, 0.3158108816423168, 0.1636899525318105, 0.06350586612989331, 0.15468617766253503, 0.6226455101378495, 0.1515266877152855, 0.3096818964699793, 0.06920831989155153, 0.011284486224438155, 0.011729479401006722], "count": [1088]}, "action": {"min": [-1.0, -1.0, -0.5514285714285714, 0.0, -1.0, -1.0, -0.6642857142857144, -0.6714285714285714, -0.26571428571428574, -0.46857142857142864, -0.26571428571428574, -1.0], "max": [1.0, 1.0, 0.7714285714285716, 0.0, 1.0, 0.7285714285714285, 0.8571428571428572, 1.0, 0.4371428571428572, 0.32857142857142857, 0.3457142857142857, 1.0], "mean": [0.06379989495798322, -0.0681328781512605, 0.07640756302521001, 0.0, -0.2536764705882353, 0.008495273109243709, -0.01244091386554623, 0.01782431722689073, 0.004309348739495793, 0.0014049369747899147, -0.0018172268907563059, 0.20772058823529413], "std": [0.38888189817254454, 0.2532618815232829, 0.23211289304317223, 0.0, 0.9672891234113485, 0.3820379845791917, 0.1457995986171007, 0.3144903585122253, 0.08479858938650277, 0.06796496992194348, 0.05704862685186376, 0.9781882013310069], "count": [1088]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014705882407724857], "std": [0.12037283182144165], "count": [1088]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009191176470588235], "std": [0.030303017503372307], "count": [1088]}, "timestamp": {"min": [0.0], "max": [54.35], "mean": [27.175], "std": [15.703920688796156], "count": [1088]}, "frame_index": {"min": [0], "max": [1087], "mean": [543.5], "std": [314.07841377592314], "count": [1088]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1088]}, "index": {"min": [14382], "max": [15469], "mean": [14925.5], "std": [314.07841377592314], "count": [1088]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1088]}}} +{"episode_index": 13, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5914540650350664]], [[0.541821383763254]], [[0.5042757543903685]]], "std": [[[0.1852514297105801]], [[0.21304028644536205]], [[0.21197319097256284]]], "count": [230]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5901117640606685]], [[0.5704895443603307]], [[0.5369506286985327]]], "std": [[[0.18765109462258145]], [[0.19232815175762946]], [[0.1955755344683075]]], "count": [230]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5882147255821911]], [[0.5673855372280111]], [[0.5343848319675611]]], "std": [[[0.1916306924420497]], [[0.1952942435433744]], [[0.19618650736266252]]], "count": [230]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1410]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1410]}, "observation.state": {"min": [-1.3861569293085143, -4.502745227806636, 0.6999473931889175, 0.0, 0.0, -0.9999009370803833, 0.0075211250223219395, -0.14191991176036045, -0.16396393875249382, 0.25309717527355236, -0.9937766194343567, -0.018911190330982208, -0.58714759349823, 0.030061012133955956, 0.007981466137916858, -0.04004878212751986], "max": [3.4916649300183193, -0.7994637283079198, 0.7013146950475222, 0.0, 0.0, 0.9999717473983765, 1.0, 0.6988335459720652, 0.2760374959929517, 0.8657252048175257, -0.39067989587783813, 0.7982954382896423, -0.0532865934073925, 0.5793911814689636, 0.04017960171606531, -0.003837180203955475], "mean": [1.3205295078222479, -2.2382640586840656, 0.7000537953770328, 0.0, 0.0, 0.40781689860100706, 0.8196501088014916, 0.11036456753218754, -0.015069217363957346, 0.6974951373080025, -0.6666734636252654, 0.44983543018605693, -0.3358452082182287, 0.3961452570922197, 0.020943791865148095, -0.019561672001364848], "std": [1.9434969051410476, 1.2454662767323146, 0.00021367177216747446, 0.0, 0.0, 0.365809888822328, 0.16745804973981354, 0.22761499334708235, 0.07717881553863062, 0.14225424254841157, 0.12824287352721225, 0.20503295561176693, 0.09507532990883256, 0.12628319103678906, 0.014284359235109442, 0.01495027315809883], "count": [1410]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.9214285714285714, -1.0, -0.31142857142857144, -0.44857142857142857, -0.6628571428571428, -1.0], "max": [1.0, 1.0, 0.7285714285714285, 0.0, 1.0, 1.0, 0.6500000000000001, 1.0, 0.42, 0.3657142857142857, 0.44571428571428573, 1.0], "mean": [0.05416413373860177, 0.19351570415400202, -0.08902127659574478, 0.0, 0.12482269503546099, -0.0028824721377912798, -0.01065856129685917, 0.00347011144883485, 0.010488348530901722, -0.008204660587639315, -0.0029706180344478217, 0.26099290780141843], "std": [0.5913328872709112, 0.5662196737984216, 0.2873363182284788, 0.0, 0.9921790638811582, 0.43327165001276685, 0.16233260572055988, 0.32797224209908066, 0.07029270349354354, 0.09164771625583051, 0.08613546557821142, 0.9653407181287813], "count": [1410]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011347517371177673], "std": [0.10591860860586166], "count": [1410]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007092198581560284], "std": [0.026621736707976542], "count": [1410]}, "timestamp": {"min": [0.0], "max": [70.45], "mean": [35.225], "std": [20.351591870580215], "count": [1410]}, "frame_index": {"min": [0], "max": [1409], "mean": [704.5], "std": [407.0318374116043], "count": [1410]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1410]}, "index": {"min": [15470], "max": [16879], "mean": [16174.5], "std": [407.0318374116043], "count": [1410]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1410]}}} +{"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": [[[0.38851460593207393]], [[0.33048187309646687]], [[0.29329257317118823]]], "std": [[[0.178919957171334]], [[0.18318002350712898]], [[0.19905679452883257]]], "count": [178]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39526987758652443]], [[0.3456845535846449]], [[0.31768583645245974]]], "std": [[[0.2280015968848344]], [[0.2378588693219448]], [[0.2539540510417537]]], "count": [178]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.39448743888685217]], [[0.3530708149945481]], [[0.3311263362382787]]], "std": [[[0.2167002411324687]], [[0.22406482482051918]], [[0.2381990834563818]]], "count": [178]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1002]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1002]}, "observation.state": {"min": [0.6605309949678793, -3.8495873306903863, 0.699826952737063, 0.0, 0.0, -1.0, 0.00018306178390048444, 0.0021152619442310616, -0.09563885226649571, 0.3820957474352461, -0.9920856356620789, -0.02507348358631134, -0.4885764718055725, 0.02585127018392086, 0.0065908928861956005, -0.040082199730781524], "max": [2.6719325102621903, -0.7381452587305783, 0.7002972665490995, 0.0, 0.0, 0.9995126724243164, 0.9999942779541016, 0.5575416055529065, 0.1931746773953169, 0.9010189933435436, -0.3402951955795288, 0.8055999875068665, 0.03694843500852585, 0.3962786793708801, 0.04005602393898372, -0.004483900978625539], "mean": [1.7510556965917903, -2.0713000351272703, 0.7001032700010534, 0.0, 0.0, 0.3713428633867999, 0.7320065949375157, 0.2201965792073785, 0.0165823241302664, 0.6667045287459149, -0.6021614384032533, 0.632629503092604, -0.3349383545505253, 0.2347775356780864, 0.02150159032164333, -0.01924139717435765], "std": [0.5366716749477138, 1.1572538080373043, 9.765581932079204e-05, 0.0, 0.0, 0.5496189275515033, 0.15553087781029518, 0.17537659335654512, 0.06454400529124484, 0.11242370221282419, 0.1464608245763628, 0.1774901271253741, 0.10448185930133559, 0.07750702844134201, 0.01414751957926185, 0.014750905722696533], "count": [1002]}, "action": {"min": [-1.0, -1.0, -0.9142857142857144, 0.0, -1.0, -1.0, -0.6142857142857143, -1.0, -0.2571428571428571, -0.6628571428571428, -0.37714285714285717, -1.0], "max": [1.0, 1.0, 0.9885714285714285, 0.0, 1.0, 1.0, 0.7428571428571429, 1.0, 0.37714285714285717, 0.32571428571428573, 0.3914285714285714, 1.0], "mean": [0.3206372968349015, -0.08268463073852289, 0.10471628172226978, 0.0, 0.03792415169660679, 0.0066509837467921265, 0.006130595950955239, -0.018883661248930695, 0.009994297120045629, -0.007995437696036506, -0.01134587966923297, 0.25349301397205587], "std": [0.4952569807117412, 0.33589538941809705, 0.3760995556427911, 0.0, 0.999280620605689, 0.46612805098821314, 0.15661768340099513, 0.3400542303472041, 0.05741782262244612, 0.11633426611504134, 0.06397062856358851, 0.967337217245027], "count": [1002]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015968063846230507], "std": [0.12535184621810913], "count": [1002]}, "next.done": {"min": [false], "max": [true], "mean": [0.000998003992015968], "std": [0.03157543317276721], "count": [1002]}, "timestamp": {"min": [0.0], "max": [50.05], "mean": [25.025], "std": [14.462617040724913], "count": [1002]}, "frame_index": {"min": [0], "max": [1001], "mean": [500.5], "std": [289.25234081449827], "count": [1002]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1002]}, "index": {"min": [16880], "max": [17881], "mean": [17380.5], "std": [289.25234081449827], "count": [1002]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1002]}}} +{"episode_index": 15, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5481768276137244]], [[0.4527576086607854]], [[0.40245713147162915]]], "std": [[[0.19651651351401062]], [[0.20111063641033264]], [[0.20465007217192213]]], "count": [234]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5934329933510447]], [[0.5394012154537129]], [[0.4934986516621038]]], "std": [[[0.19889437334146523]], [[0.19712395910272756]], [[0.20122225704428065]]], "count": [234]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.548438150550685]], [[0.5020276953951486]], [[0.46055826117130544]]], "std": [[[0.22123176859916674]], [[0.21109570571359693]], [[0.21089872670947224]]], "count": [234]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1444]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1444]}, "observation.state": {"min": [0.5185006469157785, -5.010571778540797, 0.6999948626389314, 0.0, 0.0, 0.0833488255739212, 0.29550763964653015, -0.045101809364351375, -0.22358316753576002, 0.5241336407122046, -0.9867772459983826, -0.26845866441726685, -0.5134903788566589, 0.0010777376592159271, 0.008402241431374797, -0.04005531167774092], "max": [3.0909544656869663, -0.7753452111240369, 0.7003632443260306, 0.0, 0.0, 0.9553403854370117, 0.9965204000473022, 0.5370928696580328, 0.2436351559313219, 0.8064513607758678, 0.9051313996315002, 0.5652238726615906, 0.4512825310230255, 0.37922054529190063, 0.04005319814278279, -0.006375363337386316], "mean": [1.7679446118051403, -2.584456731099113, 0.7000714644478409, 0.0, 0.0, 0.5427539133185577, 0.7666532879597262, 0.11426920872501492, -0.03778318438543885, 0.7029686464902599, -0.8572532289823998, 0.24907584205641312, -0.32177752458652964, 0.1267088885747033, 0.022611554597085404, -0.02154787668066906], "std": [0.8959968648857671, 1.435824970646227, 9.70871259595443e-05, 0.0, 0.0, 0.2889098567512371, 0.18491085343822064, 0.1575007244036729, 0.10315010795144826, 0.05651113440882411, 0.19585857449570143, 0.1589725116972143, 0.12031166231442904, 0.07331079216604663, 0.013796451076104176, 0.01440431792842769], "count": [1444]}, "action": {"min": [-1.0, -1.0, -0.5142857142857142, 0.0, -1.0, -1.0, -0.95, -0.5928571428571429, -0.3171428571428571, -0.5571428571428572, -0.30285714285714294, -1.0], "max": [1.0, 1.0, 0.7114285714285714, 0.0, 1.0, 0.7214285714285715, 0.8785714285714286, 1.0, 0.46857142857142864, 0.3657142857142857, 0.44285714285714284, 1.0], "mean": [0.09702216066481995, 0.11740205777601896, -0.0200811238622873, 0.0, 0.08310249307479224, 0.0003660466956865852, -0.0051642263553620844, 0.0027156707558369624, 0.006567075583696089, -0.0024436090225563936, -0.0008013454689354975, 0.20637119113573407], "std": [0.5301603350966365, 0.4681979224273391, 0.19105897608176775, 0.0, 0.9965410055009041, 0.3265517605836856, 0.1820010191197335, 0.1621850733558753, 0.08455235257459409, 0.08447008702367002, 0.06518130973772161, 0.9784737765874068], "count": [1444]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011080332100391388], "std": [0.10467837005853653], "count": [1444]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006925207756232687], "std": [0.026306675780086674], "count": [1444]}, "timestamp": {"min": [0.0], "max": [72.15], "mean": [36.075], "std": [20.84233971990669], "count": [1444]}, "frame_index": {"min": [0], "max": [1443], "mean": [721.5], "std": [416.84679439813374], "count": [1444]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1444]}, "index": {"min": [17882], "max": [19325], "mean": [18603.5], "std": [416.84679439813374], "count": [1444]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1444]}}} +{"episode_index": 16, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5124695622731025]], [[0.5164779365895279]], [[0.49282709812522285]]], "std": [[[0.2771255847561766]], [[0.23620355285342357]], [[0.21835299285194454]]], "count": [299]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4851104676289608]], [[0.4920096144800351]], [[0.4777787478667915]]], "std": [[[0.2976260942645022]], [[0.24769491223781298]], [[0.23148689557634142]]], "count": [299]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4832921803322016]], [[0.49322207551743913]], [[0.4816959278787877]]], "std": [[[0.3101021198564626]], [[0.2603880882477901]], [[0.2453577012388861]]], "count": [299]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2006]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2006]}, "observation.state": {"min": [0.8278652738143633, -7.457591218641352, 0.6999928970340276, 0.0, 0.0, -0.999997615814209, 0.0006052597891539335, 0.06519518273898095, -0.4178028866357657, 0.3117590911957825, -0.9886467456817627, -0.1719709038734436, -0.5226105451583862, 0.0005917730741202831, 0.005405534575701328, -0.040077020699767596], "max": [5.880035341888943, -0.8675280563545038, 0.7005361367136469, 0.0, 0.0, 0.9999998807907104, 0.9999998807907104, 0.5505812498081073, -0.007834342479624112, 0.8290816472714885, 0.9040340185165405, 0.4232853651046753, 0.5390663146972656, 0.35493767261505127, 0.04006348997642279, -0.003040572159726737], "mean": [3.4365922349434186, -3.9588199725863173, 0.7001565867546774, 0.0, 0.0, 0.005285757152900585, 0.5217457791342464, 0.18401384236280005, -0.11187485284007198, 0.6662437971226737, -0.4082968445385204, 0.21531154574865358, -0.09318143493335244, 0.20475319431431255, 0.021977457324086985, -0.02087417293241903], "std": [1.6936760023795978, 2.3622504757510163, 0.0001535266553096246, 0.0, 0.0, 0.7804742659779085, 0.3444028460232824, 0.09990312442700247, 0.08167149221704205, 0.10918702405917395, 0.760983356667062, 0.07096287034085581, 0.3716220763002477, 0.11871650655899377, 0.014320526178639421, 0.015296132350579122], "count": [2006]}, "action": {"min": [-1.0, -1.0, -0.5028571428571429, 0.0, -1.0, -1.0, -0.7714285714285714, -0.7357142857142858, -0.36, -0.5485714285714286, -0.37142857142857144, -1.0], "max": [1.0, 1.0, 0.7085714285714285, 0.0, 1.0, 0.6, 1.0, 1.0, 0.4942857142857143, 0.26285714285714284, 0.36, 1.0], "mean": [0.5097350804728672, -0.2217525993448227, 0.1355177325167354, 0.0, 0.38883349950149554, -0.0034930921521150906, -0.005074063523714573, 0.0004415325452214799, 0.003318615581825951, -0.005318330722119349, 0.0005654465175900853, 0.22333000997008973], "std": [0.49985673066415304, 0.39355187344530085, 0.23769648616501068, 0.0, 0.9213080427660596, 0.23778847997820302, 0.15848171764444213, 0.2097695256374765, 0.0665029392601696, 0.053950549435182654, 0.04596952102549789, 0.9747428925859091], "count": [2006]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007976071909070015], "std": [0.08895198255777359], "count": [2006]}, "next.done": {"min": [false], "max": [true], "mean": [0.0004985044865403788], "std": [0.022321648232540486], "count": [2006]}, "timestamp": {"min": [0.0], "max": [100.25], "mean": [50.125], "std": [28.954112402213262], "count": [2006]}, "frame_index": {"min": [0], "max": [2005], "mean": [1002.5], "std": [579.0822480442653], "count": [2006]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [2006]}, "index": {"min": [19326], "max": [21331], "mean": [20328.5], "std": [579.0822480442653], "count": [2006]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2006]}}} +{"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": [[[0.5346037995949997]], [[0.46436770997461485]], [[0.41685651117599515]]], "std": [[[0.16756054106789411]], [[0.17972069243052594]], [[0.18285908671512394]]], "count": [203]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5219910540489093]], [[0.4892429021295345]], [[0.4569942863830608]]], "std": [[[0.21273902594189914]], [[0.2188387916717854]], [[0.22548738839461152]]], "count": [203]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5100194037323308]], [[0.47837422924618395]], [[0.44707417222344215]]], "std": [[[0.21732324682410611]], [[0.22137081324050062]], [[0.22652801768627956]]], "count": [203]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1197]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1197]}, "observation.state": {"min": [1.1094318346198628, -3.5039859036995824, 0.6999952395167287, 0.0, 0.0, -0.9999881982803345, 0.0017793021397665143, 0.02368959835435258, -0.3300526355194401, 0.2770282066916938, -0.9030933380126953, -0.03870636224746704, -0.5753629803657532, 0.00010799906885949895, 0.011740152600478294, -0.04006702181514157], "max": [3.9559093678677435, -1.1573736232685978, 0.7001287334469001, 0.0, 0.0, 0.9999984502792358, 1.0, 0.5170103774894161, 0.220977786715307, 0.8600652341721339, 0.9914146661758423, 0.6834112405776978, 0.5770843625068665, 0.2849469482898712, 0.04003371729086736, -0.007600360540734866], "mean": [2.7241385513432337, -2.3621500425423387, 0.7000158215170923, 0.0, 0.0, 0.23613366801801408, 0.7284031762309107, 0.16926296719596506, -0.027009238236105716, 0.6768494422838829, -0.801231020325507, 0.3018156268891436, -0.32891198106377745, 0.1680928147361647, 0.022615309091820503, -0.021290614441828414], "std": [1.0079628532490787, 1.0210026553495495, 2.665800357686313e-05, 0.0, 0.0, 0.591646082636973, 0.2522392209729934, 0.14997987936067964, 0.12143070223467829, 0.1370163782286687, 0.273301793193371, 0.17467637831031116, 0.13756914199522785, 0.07979295699142622, 0.01271903393615596, 0.013464947417601462], "count": [1197]}, "action": {"min": [-1.0, -1.0, -0.7342857142857143, 0.0, -1.0, -1.0, -0.75, -0.55, -0.5142857142857142, -0.5314285714285715, -0.3342857142857143, -1.0], "max": [1.0, 1.0, 0.39714285714285713, 0.0, 1.0, 0.7642857142857143, 0.7928571428571428, 1.0, 0.43428571428571433, 0.2285714285714286, 0.3, 1.0], "mean": [0.18644826351593272, 0.038381668456856435, -0.1661701873731947, 0.0, -0.04928989139515455, 0.005674901539563205, -0.008312447786132007, 0.005281059792337993, 0.0067549826948323155, -0.0018307673946771734, -0.005836018617973503, 0.27151211361737676], "std": [0.4174827750484059, 0.3519878636015565, 0.21568319460320107, 0.0, 0.998784514600756, 0.3620040004002325, 0.17611206614389796, 0.24985637501328914, 0.0701577457190067, 0.07503335117355471, 0.06260518822325087, 0.9624350223048996], "count": [1197]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013366750441491604], "std": [0.11483936011791229], "count": [1197]}, "next.done": {"min": [false], "max": [true], "mean": [0.000835421888053467], "std": [0.02889158975069437], "count": [1197]}, "timestamp": {"min": [0.0], "max": [59.8], "mean": [29.900000000000002], "std": [17.27720077636035], "count": [1197]}, "frame_index": {"min": [0], "max": [1196], "mean": [598.0], "std": [345.544015527207], "count": [1197]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1197]}, "index": {"min": [21332], "max": [22528], "mean": [21930.0], "std": [345.544015527207], "count": [1197]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1197]}}} +{"episode_index": 18, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5633899846531483]], [[0.46680553115901796]], [[0.39849639688505006]]], "std": [[[0.21824888670745382]], [[0.256938188644035]], [[0.2698128018221401]]], "count": [173]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4790499634771381]], [[0.39484329958641917]], [[0.33526609183627837]]], "std": [[[0.2031097995617404]], [[0.2319928676626089]], [[0.25416222619042217]]], "count": [173]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.503906184973312]], [[0.4185702724601627]], [[0.3542809157904943]]], "std": [[[0.2186581223151718]], [[0.2509143806543541]], [[0.2767301193068935]]], "count": [173]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [966]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [966]}, "observation.state": {"min": [0.8521587105477375, -4.410656730899666, 0.6999930342376516, 0.0, 0.0, -1.0, 9.56941585172899e-06, -0.023140125819373303, -0.2829487933552741, 0.27606471280028233, -0.9893098473548889, -0.27392885088920593, -0.5941115021705627, 0.0009862234583124518, 0.0060275201094959156, -0.039720320990299214], "max": [4.250426319227924, -2.549366634571968, 0.7003569247542445, 0.0, 0.0, 1.0, 0.6799553036689758, 0.4679526941675687, 0.09846497721486802, 0.7603369977033719, 0.9784982800483704, 0.32357057929039, 0.5239740610122681, 0.25619077682495117, 0.04008694926732199, -0.00609704620519807], "mean": [2.721466396899045, -3.6948627510577614, 0.700095987722431, 0.0, 0.0, 0.7579952285896917, 0.1176431847444173, 0.13435052656604665, -0.06757694465784436, 0.5885665519805423, -0.8623953617137411, 0.11086187064339162, -0.30546565827437316, 0.15315032701560452, 0.02092468379024624, -0.02013924586080724], "std": [1.3879660597202221, 0.6585803476181161, 0.00010051999001165571, 0.0, 0.0, 0.6171495557088826, 0.17529903828877655, 0.14854758198662713, 0.09776819388825081, 0.10900792294342924, 0.28293154607448195, 0.159611457399867, 0.1329284321095248, 0.06343143617295997, 0.015169687826365545, 0.015215945416472063], "count": [966]}, "action": {"min": [-1.0, -1.0, -0.6, 0.0, -1.0, -1.0, -1.0, -0.8714285714285716, -0.18285714285714286, -0.47714285714285715, -0.38857142857142857, -1.0], "max": [1.0, 1.0, 0.5028571428571429, 0.0, 1.0, 0.8500000000000001, 1.0, 1.0, 0.4314285714285714, 0.4542857142857143, 0.36857142857142855, 1.0], "mean": [0.014174800354924575, -0.07505175983436854, -0.0017036379769299144, 0.0, -0.041407867494824016, -0.0027432712215321106, -0.02306270334220644, 0.019994084590357893, -0.0016770186335403742, -0.0016356107660455519, 0.0017716651878142598, 0.19668737060041408], "std": [0.5138017152525671, 0.4236137040138583, 0.15606758967605053, 0.0, 0.9991423264528169, 0.4028378146900655, 0.21208527615488887, 0.36947397679419014, 0.054842811186481266, 0.10875490138821384, 0.07617373949528951, 0.9804662555367729], "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": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [966]}, "index": {"min": [22529], "max": [23494], "mean": [23011.5], "std": [278.8600306007777], "count": [966]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [966]}}} +{"episode_index": 19, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.03529411764705882]], [[0.023529411764705882]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5389449788096816]], [[0.504060195913019]], [[0.4726024701781204]]], "std": [[[0.25361896208110385]], [[0.26617011179888467]], [[0.2654238389759891]]], "count": [213]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5253916186543665]], [[0.4840813837031199]], [[0.4580830240166232]]], "std": [[[0.26528453709699285]], [[0.26866144017250204]], [[0.2732275371195526]]], "count": [213]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5204688054558586]], [[0.4779021542561512]], [[0.45147285731822256]]], "std": [[[0.26524242885887217]], [[0.26539581887855296]], [[0.269204692967785]]], "count": [213]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1276]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1276]}, "observation.state": {"min": [-1.0863257298371318, -3.7767931032709696, 0.6999934891944389, 0.0, 0.0, -0.9338544607162476, 0.35765326023101807, -0.018840221209043273, -0.21663517543272848, 0.2464734064882893, -0.9829831719398499, -0.5023978352546692, -0.5358322858810425, 6.549876707140356e-05, 0.005931839430481974, -0.04000607819559135], "max": [2.302101683104267, -0.9217890916316731, 0.7001697022824425, 0.0, 0.0, 0.024614643305540085, 1.0, 0.5387793094258422, 0.17384450049282318, 0.8943231916607491, 0.9817320704460144, 0.6069158315658569, 0.5239371061325073, 0.4662701189517975, 0.040083158532846885, -0.005253809747029614], "mean": [0.3923705700354233, -2.2152258752956224, 0.7000333517250779, 0.0, 0.0, -0.12639705501466905, 0.9553336551337033, 0.1411497044571358, -0.02746254076366715, 0.7022359689670921, -0.7124023004011675, 0.25578137301492465, -0.3314646200092982, 0.1825703101353739, 0.020728673516170495, -0.01960322680258469], "std": [1.3414006181072344, 1.1244657176645054, 4.070959604174375e-05, 0.0, 0.0, 0.23357550186699175, 0.12962986981663976, 0.15557403955997876, 0.09189589975025958, 0.16500073465907708, 0.4158464928949119, 0.23186108120918938, 0.19834935299084933, 0.13352083459927322, 0.015165266033251431, 0.015572395089123094], "count": [1276]}, "action": {"min": [-1.0, -1.0, -0.6857142857142857, 0.0, -1.0, -1.0, -1.0, -0.6857142857142858, -0.27714285714285714, -0.44285714285714284, -0.44571428571428573, -1.0], "max": [1.0, 1.0, 0.5285714285714286, 0.0, 1.0, 1.0, 1.0, 1.0, 0.39714285714285713, 0.47714285714285715, 0.7028571428571428, 1.0], "mean": [0.08673869234214067, -0.07310792655620252, -0.00020376175548588758, 0.0, -0.06739811912225706, 0.0028437080161218173, -0.01327250335871027, 0.017650022391401704, 0.004462606359158089, 0.00569413345275414, -0.0002642185400806088, 0.21473354231974923], "std": [0.47583842222095474, 0.39354484586363503, 0.176199336894257, 0.0, 0.9977261615988469, 0.36552926469489294, 0.19573221897891796, 0.32337606807768127, 0.07331621781260685, 0.08827156006493246, 0.08984312658960349, 0.9766726707565843], "count": [1276]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012539184652268887], "std": [0.11127422749996185], "count": [1276]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007836990595611285], "std": [0.027983653716860696], "count": [1276]}, "timestamp": {"min": [0.0], "max": [63.75], "mean": [31.875], "std": [18.417467931287405], "count": [1276]}, "frame_index": {"min": [0], "max": [1275], "mean": [637.5], "std": [368.3493586257481], "count": [1276]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1276]}, "index": {"min": [23495], "max": [24770], "mean": [24132.5], "std": [368.3493586257481], "count": [1276]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1276]}}} +{"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": [[[0.5024892662528622]], [[0.45983284366635224]], [[0.4290007477279049]]], "std": [[[0.22543542509699008]], [[0.2282514950436698]], [[0.24398999130400406]]], "count": [190]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44053018292406393]], [[0.3903574175288434]], [[0.35581295615748354]]], "std": [[[0.22358078732289996]], [[0.21550833390408178]], [[0.22402590257301644]]], "count": [190]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4307346755776735]], [[0.3742137969561283]], [[0.3354017284853909]]], "std": [[[0.23187944043670058]], [[0.2228524545625804]], [[0.2314798549989401]]], "count": [190]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1095]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1095]}, "observation.state": {"min": [2.600350383196525, -3.575260658553135, 0.6999956703835091, 0.0, 0.0, -0.9999970197677612, 0.0009512078831903636, 0.011539257218849519, -0.3365332594657098, 0.28411323898752905, -0.989109218120575, -0.6207289099693298, -0.5504327416419983, 5.321948992786929e-05, 0.004300374790422408, -0.040084885206637944], "max": [4.580114480547113, -0.29496947189776646, 0.7010144466769458, 0.0, 0.0, 0.9999995231628418, 1.0, 0.5840785199319574, 0.09402666831668305, 0.8400002322168272, 0.9458304643630981, 0.6297388076782227, 0.5374646186828613, 0.31327950954437256, 0.040050083490574755, -0.0018658462359975607], "mean": [3.791200736494866, -1.9275621535852727, 0.7003601509735776, 0.0, 0.0, 0.24286307211526215, 0.7490029515157939, 0.18798556100680486, -0.08235046335686007, 0.6687820309284692, -0.4715401489985044, 0.21424365484551208, -0.23843286109569412, 0.1279700044437764, 0.025298735042041123, -0.024264627621697447], "std": [0.6714423910245979, 1.3846162514671234, 0.0003039891487109478, 0.0, 0.0, 0.5651664166038024, 0.24616872498410067, 0.16787882520253514, 0.086685324597213, 0.14341306692661698, 0.7068238917222466, 0.24705730652123714, 0.29755682219117763, 0.09667264311158556, 0.013853605404130238, 0.014567200833522665], "count": [1095]}, "action": {"min": [-1.0, -1.0, -0.7, 0.0, -1.0, -1.0, -0.807142857142857, -1.0, -0.30285714285714294, -0.5057142857142857, -0.38285714285714284, -1.0], "max": [1.0, 1.0, 0.12571428571428572, 0.0, 1.0, 0.8142857142857143, 0.9857142857142858, 1.0, 0.42, 0.4, 0.4285714285714286, 1.0], "mean": [0.20354207436399216, 0.07871493803000654, -0.18136203522504915, 0.0, -0.0410958904109589, 0.009791258969341172, -0.013274624918460506, 0.003966079582517939, 0.007058056099151992, -0.0006053489889106312, -0.007556425309849962, 0.17990867579908676], "std": [0.4534108370705294, 0.362345121975171, 0.23292554041978358, 0.0, 0.9991552070581187, 0.41409061834718985, 0.1847043465063467, 0.3123699548482809, 0.06331275224676315, 0.08974164746025036, 0.07460930111786006, 0.9836833171159405], "count": [1095]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014611871913075447], "std": [0.1199931725859642], "count": [1095]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009132420091324201], "std": [0.030206092070394937], "count": [1095]}, "timestamp": {"min": [0.0], "max": [54.7], "mean": [27.35], "std": [15.804957028308133], "count": [1095]}, "frame_index": {"min": [0], "max": [1094], "mean": [547.0], "std": [316.0991405661627], "count": [1095]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1095]}, "index": {"min": [24771], "max": [25865], "mean": [25318.0], "std": [316.0991405661627], "count": [1095]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1095]}}} +{"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": [[[0.5470796066614866]], [[0.45653426604374275]], [[0.40554486978410814]]], "std": [[[0.19038961707829472]], [[0.21896906741502972]], [[0.24620628770574057]]], "count": [190]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.551065134652751]], [[0.44944514287391557]], [[0.3901268961210615]]], "std": [[[0.1928666087288018]], [[0.2160061150544636]], [[0.23001227480437045]]], "count": [190]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5600121207379951]], [[0.4543837940385344]], [[0.39173655758947284]]], "std": [[[0.1844948005542617]], [[0.2119331302482005]], [[0.2272491641422267]]], "count": [190]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1094]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1094]}, "observation.state": {"min": [-1.0643404283932207, -3.7581321879768343, 0.6999958402890879, 0.0, 0.0, -0.8835092782974243, 0.46841365098953247, -0.1214341053237098, -0.253686127419098, 0.25658241600349496, -0.9908170700073242, -0.1373344361782074, -0.5675505995750427, 0.030415203422307968, 0.0052521437758251185, -0.04049396940326992], "max": [2.2928904065683846, -0.9117199642177469, 0.7007013658886038, 0.0, 0.0, 0.05221492797136307, 1.0, 0.5400872895763995, 0.22051382156521004, 0.892498973533449, -0.6022984981536865, 0.6169949769973755, -0.03814441338181496, 0.5279864072799683, 0.04008824507755738, -0.0112440031331671], "mean": [0.7205031528694231, -1.9670638327511423, 0.7001906949381653, 0.0, 0.0, -0.08414655251774343, 0.9603064593329508, 0.14742293906048834, -0.030534772854396423, 0.6642347156907203, -0.8079113552731614, 0.33642669727641006, -0.25544551997641324, 0.26178437017816947, 0.025652557071655775, -0.024717881769107736], "std": [1.362697133230386, 1.0661029275226552, 0.00016607159220882723, 0.0, 0.0, 0.23495751259894196, 0.1246028330751809, 0.1914193320720842, 0.09674524198500568, 0.15498324784847925, 0.09336320223273205, 0.22367648664918077, 0.13723940588614814, 0.15076583287321366, 0.012375352823380117, 0.012398714714303902], "count": [1094]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.942857142857143, -0.75, -0.4657142857142857, -0.5314285714285715, -0.32857142857142857, -1.0], "max": [1.0, 1.0, 0.7171428571428572, 0.0, 1.0, 1.0, 1.0, 0.9642857142857144, 0.4114285714285714, 0.9685714285714285, 0.5285714285714286, 1.0], "mean": [0.11254896839905978, -0.10750195873596238, -0.000639853747714801, 0.0, -0.13893967093235832, -0.002363541394620001, -0.0027683468268477167, -0.002435361713241038, 0.014667014886393312, -0.0057221206581352865, 0.0009610864455471444, 0.13528336380255943], "std": [0.5161682469510344, 0.4677180038137974, 0.2172713419776767, 0.0, 0.9903008471374805, 0.4207289441490214, 0.20806721725011723, 0.30047452687996834, 0.08144547736967415, 0.12079957817529219, 0.09783967326439579, 0.9908069496517704], "count": [1094]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014625228941440582], "std": [0.1200471967458725], "count": [1094]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009140767824497258], "std": [0.030219881635862044], "count": [1094]}, "timestamp": {"min": [0.0], "max": [54.65], "mean": [27.325], "std": [15.790523265553933], "count": [1094]}, "frame_index": {"min": [0], "max": [1093], "mean": [546.5], "std": [315.81046531107864], "count": [1094]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1094]}, "index": {"min": [25866], "max": [26959], "mean": [26412.5], "std": [315.81046531107864], "count": [1094]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1094]}}} +{"episode_index": 22, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5345168046610302]], [[0.519212311682725]], [[0.5126685380477348]]], "std": [[[0.2143233907497572]], [[0.225569975991259]], [[0.24175358080106088]]], "count": [204]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4762563336587603]], [[0.44775142471683066]], [[0.4319756938695266]]], "std": [[[0.21768366725350066]], [[0.22314712989432478]], [[0.23551201265105381]]], "count": [204]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47517560484408417]], [[0.44723815624643315]], [[0.4316980551866695]]], "std": [[[0.22656167800456783]], [[0.23152140383479947]], [[0.24312592842898764]]], "count": [204]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1204]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1204]}, "observation.state": {"min": [0.8979314491880714, -6.959188274938204, 0.6999881738050111, 0.0, 0.0, -0.06517946720123291, 0.6343027353286743, 0.005861505018930568, -0.23107107066766952, 0.27627721560202145, -0.9856961965560913, -0.28004494309425354, -0.5423387289047241, 0.001235036295838654, 0.010501462364183098, -0.0401230449610327], "max": [4.910469308879402, -2.940326980115178, 0.7008116178003686, 0.0, 0.0, 0.7730846405029297, 1.0, 0.5383789946334581, 0.06461761257625298, 0.8559870299017251, 0.9695397019386292, 0.38256198167800903, 0.476938396692276, 0.2614344358444214, 0.040022672291852676, -0.007355750738626924], "mean": [2.724543218749313, -5.47180901707601, 0.7003837627997321, 0.0, 0.0, 0.08669182492608539, 0.9665929697379717, 0.15879446041812623, -0.07778402019707027, 0.6684864819136846, -0.8219182920515339, 0.131643762570679, -0.36050994923195967, 0.1608182530836829, 0.024907776152352037, -0.023173145424835055], "std": [1.6113511374748337, 1.4107140636251605, 0.00030039463844797255, 0.0, 0.0, 0.222661690911617, 0.09275959758321958, 0.15394011094735424, 0.05836845555695297, 0.12496747396408935, 0.2850022030001626, 0.20808694309346518, 0.14293181624126727, 0.07958875686236154, 0.012000308168490542, 0.013396505745379726], "count": [1204]}, "action": {"min": [-1.0, -1.0, -0.5771428571428572, 0.0, -1.0, -1.0, -0.9142857142857143, -1.0, -0.23428571428571432, -0.5057142857142857, -0.38, -1.0], "max": [1.0, 1.0, 0.7085714285714285, 0.0, 1.0, 0.8571428571428572, 1.0, 1.0, 0.4514285714285714, 0.45999999999999996, 0.44857142857142857, 1.0], "mean": [0.08271831988609396, 0.20191029900332222, -0.006511627906976728, 0.0, 0.11794019933554817, 0.0014594209776933854, -0.010109159943046994, 0.010631229235880403, 0.00569767441860465, -0.0015780730897009929, 0.001585192216421454, 0.19269102990033224], "std": [0.5400181171051691, 0.5400807607250412, 0.16871725194194478, 0.0, 0.9930206993717188, 0.37865591610024263, 0.1806000526740394, 0.31992587868512934, 0.0514278436444787, 0.0903200816929238, 0.08066505136863475, 0.9812594799521415], "count": [1204]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013289036229252815], "std": [0.11450955271720886], "count": [1204]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008305647840531562], "std": [0.028807550159509344], "count": [1204]}, "timestamp": {"min": [0.0], "max": [60.15], "mean": [30.075000000000003], "std": [17.37823710852168], "count": [1204]}, "frame_index": {"min": [0], "max": [1203], "mean": [601.5], "std": [347.56474217043365], "count": [1204]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1204]}, "index": {"min": [26960], "max": [28163], "mean": [27561.5], "std": [347.56474217043365], "count": [1204]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1204]}}} +{"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": [[[0.5822671273813927]], [[0.5585279808974848]], [[0.5178875545609345]]], "std": [[[0.2085659002514678]], [[0.20086468878146055]], [[0.19413522311490883]]], "count": [205]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5620239243217772]], [[0.5391019860390327]], [[0.5134820731777371]]], "std": [[[0.2440548476381808]], [[0.23806431101944156]], [[0.2339369358598842]]], "count": [205]}, "observation.images.robot0_agentview_right": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5801768834439264]], [[0.5546034688051097]], [[0.5268057582276908]]], "std": [[[0.22452178471674333]], [[0.21957839499466936]], [[0.2164780248296448]]], "count": [205]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1209]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1209]}, "observation.state": {"min": [0.6461047687993938, -4.444649459009849, 0.6999956160186592, 0.0, 0.0, -0.0044838376343250275, 0.7577229738235474, 0.013286631815898176, -0.16917167102815744, 0.2756328936938345, -0.9883225560188293, -0.18911421298980713, -0.5650005340576172, 0.0002840474189724773, 0.006002637910197378, -0.04008826274216824], "max": [5.0174451711758215, -1.805773040776614, 0.700392670092667, 0.0, 0.0, 0.6525763273239136, 1.0, 0.5335463508856151, 0.13384614565706698, 0.835502252836054, 0.9674719572067261, 0.4352988600730896, 0.4319556653499603, 0.25844186544418335, 0.04005702054965289, -0.003163447283888423], "mean": [2.9909716926535483, -3.53339134241366, 0.700042940496648, 0.0, 0.0, 0.10204230700392439, 0.9762259636958638, 0.17437883355365089, -0.012719238379204396, 0.6764218266714186, -0.5768760308635639, 0.22779540713904217, -0.2589030282940127, 0.14189212882447494, 0.026249795224587216, -0.024916699821028485], "std": [1.756477294961464, 0.947443609624228, 7.525633234923076e-05, 0.0, 0.0, 0.18053909586564876, 0.0630546662507796, 0.13973322973542618, 0.0855973388103142, 0.14057016320434604, 0.6592925165671356, 0.14998138754285328, 0.2578453680906938, 0.06718532213158186, 0.0122258204993414, 0.013186743267309056], "count": [1209]}, "action": {"min": [-1.0, -1.0, -0.3942857142857143, 0.0, -1.0, -1.0, -0.6428571428571428, -0.6642857142857144, -0.23714285714285716, -0.39714285714285713, -0.33714285714285713, -1.0], "max": [1.0, 1.0, 0.6028571428571429, 0.0, 1.0, 0.5857142857142857, 0.8, 1.0, 0.24, 0.3942857142857143, 0.38, 1.0], "mean": [0.033811887037693486, 0.1436251920122887, -0.0026728110599078436, 0.0, -0.12158808933002481, 0.0011875221552640814, -0.005163653550750333, 0.009370199692780332, 0.0034904880066170393, -0.0030485643388869174, 0.002819331206427978, 0.1348221670802316], "std": [0.47838626909142096, 0.44226098041455525, 0.1355290493223553, 0.0, 0.9925806448511236, 0.3334718224275313, 0.14477680078960697, 0.27133927031356336, 0.05151663080933241, 0.0805947395848939, 0.06663143453425743, 0.9908698114605183], "count": [1209]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013234077952802181], "std": [0.11427570879459381], "count": [1209]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008271298593879239], "std": [0.028747968894926], "count": [1209]}, "timestamp": {"min": [0.0], "max": [60.4], "mean": [30.200000000000003], "std": [17.45040591695983], "count": [1209]}, "frame_index": {"min": [0], "max": [1208], "mean": [604.0], "std": [349.00811833919664], "count": [1209]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1209]}, "index": {"min": [28164], "max": [29372], "mean": [28768.0], "std": [349.00811833919664], "count": [1209]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1209]}}} +{"episode_index": 24, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5174086224187397]], [[0.49835575041544616]], [[0.4855408195787807]]], "std": [[[0.23825014289938307]], [[0.24360312180591032]], [[0.25056624917815606]]], "count": [214]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5428496195978574]], [[0.5285638513856915]], [[0.5217513299892734]]], "std": [[[0.2733031763256573]], [[0.2729296871809258]], [[0.27201793331079643]]], "count": [214]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.011764705882352941]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.54975011405085]], [[0.5364029568194556]], [[0.5310195718729958]]], "std": [[[0.2779805467820189]], [[0.2768101298479062]], [[0.2746214111787669]]], "count": [214]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1284]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1284]}, "observation.state": {"min": [3.6141002082705085, -4.581107903419026, 0.6999927617753019, 0.0, 0.0, -0.9999762773513794, 0.00014110431948211044, -0.015016163991901976, -0.20346173470730555, 0.2542676799949133, -0.9893215298652649, -0.24561959505081177, -0.5505127310752869, 0.0028577218763530254, 0.004513168362372719, -0.04004643135244613], "max": [6.674508307572034, -0.777730287822147, 0.700166814526784, 0.0, 0.0, 1.0, 0.7978609800338745, 0.5348200543762722, 0.1018710649237402, 0.8671612681264431, 0.8171094059944153, 0.8992745280265808, 0.558363139629364, 0.7229040861129761, 0.040101144380928315, -0.007259434220000665], "mean": [5.252637285509577, -2.787669793635372, 0.7000403600904151, 0.0, 0.0, 0.5855304543567224, 0.6765037307482443, 0.16574099406599588, -0.015635961536652854, 0.6799097175710028, -0.2592778745313346, 0.5528611763383369, -0.09952448919412572, 0.3422022150376829, 0.022345226712919757, -0.022152657458662666], "std": [1.194728191424126, 1.5393694682130075, 4.55552508595559e-05, 0.0, 0.0, 0.41104032051762945, 0.17476453314606027, 0.15964080757099253, 0.08511270769163456, 0.14805722603842597, 0.5118431142518337, 0.3359803935442405, 0.31856355937014375, 0.15415278707663113, 0.015397852071787134, 0.015235135573703564], "count": [1284]}, "action": {"min": [-1.0, -1.0, -0.5885714285714285, 0.0, -1.0, -1.0, -0.9857142857142858, -1.0, -0.9714285714285715, -0.5, -0.31142857142857144, -1.0], "max": [1.0, 1.0, 0.6828571428571428, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6685714285714286, 0.8057142857142856, 0.4971428571428572, 1.0], "mean": [0.11544281263907438, 0.09926568758344469, -0.0044259012016021225, 0.0, -0.05763239875389408, 0.0025367156208277917, -0.019225634178905215, 0.03966955941255008, -0.023491321762349787, 0.03661771250556299, 0.0019069870939029834, 0.11059190031152648], "std": [0.5004560473968243, 0.41710453325819974, 0.18967056892913142, 0.0, 0.9983378719721552, 0.35555276063502744, 0.18867246524932652, 0.3561262395581275, 0.1639306303827499, 0.14570260568765048, 0.0757064761244799, 0.9938659022149092], "count": [1284]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012461058795452118], "std": [0.11093142628669739], "count": [1284]}, "next.done": {"min": [false], "max": [true], "mean": [0.000778816199376947], "std": [0.027896409172231025], "count": [1284]}, "timestamp": {"min": [0.0], "max": [64.15], "mean": [32.075], "std": [18.532938020364355], "count": [1284]}, "frame_index": {"min": [0], "max": [1283], "mean": [641.5], "std": [370.6587604072871], "count": [1284]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1284]}, "index": {"min": [29373], "max": [30656], "mean": [30014.5], "std": [370.6587604072871], "count": [1284]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1284]}}} +{"episode_index": 25, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5862548653738839]], [[0.4921718579033176]], [[0.42459350209810487]]], "std": [[[0.21065147478817908]], [[0.24949785864328208]], [[0.27016200015549213]]], "count": [175]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.50456468461408]], [[0.4336764832397803]], [[0.3800203850583202]]], "std": [[[0.2419262665081593]], [[0.2619065773784174]], [[0.2755153291882695]]], "count": [175]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.550418714849221]], [[0.47557934399345675]], [[0.41676410476299897]]], "std": [[[0.23452727786684072]], [[0.26733586461690917]], [[0.2877218459812618]]], "count": [175]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [979]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [979]}, "observation.state": {"min": [4.642553388069431, -4.640319583278599, 0.699992584285078, 0.0, 0.0, -1.0, 0.0001221771235577762, -0.030178913875283153, -0.2716544483139556, 0.27404914717833506, -0.990360677242279, -0.39677661657333374, -0.58906090259552, 0.0007995531195774674, 0.007669132558984288, -0.040119230980136616], "max": [7.090534222333661, -0.7525461038394259, 0.7001825235875337, 0.0, 0.0, 0.9999819993972778, 0.7203839421272278, 0.5342662036604306, 0.031033408821206088, 0.8292953932369612, 0.949988842010498, 0.38587701320648193, 0.48612070083618164, 0.2422451674938202, 0.040035684289958344, -0.005237632862619715], "mean": [6.191490791104531, -2.7020620474630106, 0.7000369352930531, 0.0, 0.0, 0.6499131467417872, 0.6248242175807645, 0.15506631441077387, -0.08847724960085623, 0.6789933647343913, -0.36244702266112533, 0.17120714759619657, -0.18286497612408648, 0.12591454749584458, 0.022225857264320487, -0.021183908947830458], "std": [0.8701561888559792, 1.6111234197934414, 4.6032245074920246e-05, 0.0, 0.0, 0.38889105974055693, 0.18966112658835, 0.159483992177542, 0.06389726163056023, 0.13961200445836006, 0.7798929518721507, 0.20324872456304774, 0.3698877116865949, 0.06054928258924945, 0.014257057559484958, 0.014985232249471913], "count": [979]}, "action": {"min": [-1.0, -1.0, -0.44285714285714284, 0.0, -1.0, -1.0, -0.8785714285714286, -0.9142857142857143, -0.32, -0.6228571428571429, -0.44857142857142857, -1.0], "max": [1.0, 1.0, 0.64, 0.0, 1.0, 0.9071428571428573, 1.0, 1.0, 0.64, 0.33714285714285713, 0.23714285714285716, 1.0], "mean": [0.026127243542973903, 0.16106084926309633, -0.0008959579746096601, 0.0, -0.06230847803881512, 0.0020793812928644306, -0.004603823143148968, 0.00791624106230848, 0.0068407996497884095, -0.002795855829563692, -0.0032482124616956083, 0.1767109295199183], "std": [0.4998852491637683, 0.4436287040740964, 0.16608925030808314, 0.0, 0.9980569390392904, 0.4348088129695469, 0.215110322796675, 0.3274500849570639, 0.0865845122604285, 0.09094816464465022, 0.07713413696710729, 0.9842627938656506], "count": [979]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01634320802986622], "std": [0.1267915815114975], "count": [979]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010214504596527069], "std": [0.03194381158551969], "count": [979]}, "timestamp": {"min": [0.0], "max": [48.9], "mean": [24.450000000000003], "std": [14.130640466730446], "count": [979]}, "frame_index": {"min": [0], "max": [978], "mean": [489.0], "std": [282.61280933460887], "count": [979]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [979]}, "index": {"min": [30657], "max": [31635], "mean": [31146.0], "std": [282.61280933460887], "count": [979]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [979]}}} +{"episode_index": 26, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48832521582851895]], [[0.4441207429260767]], [[0.417962983972886]]], "std": [[[0.2579722859243314]], [[0.2685189348128349]], [[0.28330875789800286]]], "count": [175]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5023273354752057]], [[0.45329135277157734]], [[0.4246708403087798]]], "std": [[[0.2732352246587116]], [[0.26998490689632426]], [[0.2755348720215116]]], "count": [175]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5039219416770614]], [[0.4570207379338454]], [[0.4295316192883403]]], "std": [[[0.2799341496567386]], [[0.27944772951726937]], [[0.2849798718845225]]], "count": [175]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [984]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [984]}, "observation.state": {"min": [1.3717729838555945, -3.9713875059596977, 0.699988798017169, 0.0, 0.0, -0.9996070265769958, 0.005151704419404268, -0.06210768408511935, -0.32980098476178954, 0.27116797513406876, -0.9918339252471924, -0.028165534138679504, -0.5021265745162964, 0.021333418786525726, 0.005459215713713391, -0.04003637213631553], "max": [3.0063990640981126, -0.7882601758638507, 0.7004713536422291, 0.0, 0.0, 0.9999867677688599, 0.9999548196792603, 0.6309207301833826, 0.10011637311059074, 0.8938283630162198, -0.4927290678024292, 0.5959202647209167, -0.12247364968061447, 0.5493361353874207, 0.0400821952633147, -0.003904703521748105], "mean": [1.9485024166789928, -2.279258167846157, 0.7001074045694827, 0.0, 0.0, 0.6025666417667597, 0.6905320583415838, 0.14696120302501717, -0.05094483340399331, 0.6908294310469091, -0.787659089285426, 0.32481494194608396, -0.34197115601320577, 0.2855530556715359, 0.02834666276183484, -0.023962014444122964], "std": [0.5346234626079313, 1.2966672590839332, 0.00014789559339373236, 0.0, 0.0, 0.3839159725999488, 0.11263855930984673, 0.18144181568692824, 0.09947496733742041, 0.1514900015828997, 0.10651608529729184, 0.19948568411077353, 0.07065638860049527, 0.13953871090087178, 0.012227210446876156, 0.013227202875995459], "count": [984]}, "action": {"min": [-1.0, -1.0, -0.54, 0.0, -1.0, -1.0, -0.8, -1.0, -0.3342857142857143, -0.41428571428571437, -0.33714285714285713, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.38285714285714284, 0.6428571428571429, 0.2542857142857143, 1.0], "mean": [0.12587833914053426, -0.0859030197444832, 0.10968931475029034, 0.0, -0.06707317073170732, -0.012812137049941932, -0.004885307781649247, 0.010532810685249716, 0.006088850174216019, -0.006713124274099889, -0.0051016260162601605, 0.1443089430894309], "std": [0.5566919242322647, 0.4105408734175946, 0.26285563368812087, 0.0, 0.9977480592654624, 0.4633714710408676, 0.2483762502579874, 0.37150180786773, 0.09763276107246324, 0.11555830885871671, 0.06782071612788025, 0.9895326821001961], "count": [984]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016260161995887756], "std": [0.12647438049316406], "count": [984]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010162601626016261], "std": [0.03186263294022537], "count": [984]}, "timestamp": {"min": [0.0], "max": [49.15], "mean": [24.574999999999996], "std": [14.202809287836919], "count": [984]}, "frame_index": {"min": [0], "max": [983], "mean": [491.5], "std": [284.0561857567384], "count": [984]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [984]}, "index": {"min": [31636], "max": [32619], "mean": [32127.5], "std": [284.0561857567384], "count": [984]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [984]}}} +{"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": [[[0.4996873777030806]], [[0.446911567628681]], [[0.4170594543464113]]], "std": [[[0.24759000329199632]], [[0.246844695284087]], [[0.25557956913799235]]], "count": [169]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4363868388516649]], [[0.39899908008922874]], [[0.3651402173483229]]], "std": [[[0.2627873135685747]], [[0.24891966894504874]], [[0.2527274995637483]]], "count": [169]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4506296747590262]], [[0.41536248190827046]], [[0.3813280890969669]]], "std": [[[0.2720608231257469]], [[0.26133777309427464]], [[0.2666750653742546]]], "count": [169]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [938]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [938]}, "observation.state": {"min": [4.518023269499278, -4.8621567553355405, 0.699997004468363, 0.0, 0.0, -0.9999524354934692, 0.007951716892421246, -0.04099959166554079, -0.24735859636532265, 0.2584359267713071, -0.9862453937530518, -0.03376629948616028, -0.5019605755805969, 0.014385132119059563, 0.0073162405253449705, -0.04003855157068045], "max": [7.305667144604789, -3.3104034950388384, 0.7006247068683112, 0.0, 0.0, 0.999968409538269, 1.0, 0.518378353743234, 0.2659950317851698, 0.8543171619291697, -0.6270161271095276, 0.5375075936317444, 0.10426371544599533, 0.520486056804657, 0.04006977656094618, -0.0041906992864259385], "mean": [6.1579696326372115, -4.100629592603315, 0.7002736917716488, 0.0, 0.0, 0.3215237489283115, 0.7711151497376991, 0.17354504324064474, -0.07861028677148156, 0.6504671617250738, -0.8158677615590696, 0.3576023327007985, -0.24545019833772663, 0.2710607434525641, 0.0233539405765671, -0.022124731448609453], "std": [1.0381859508465479, 0.44755715578649785, 0.00015933926462537246, 0.0, 0.0, 0.48193835059143414, 0.2640820792988304, 0.15666819068665258, 0.1093189512383744, 0.13945732138088393, 0.0784320650150086, 0.11927116869336624, 0.20530329995441948, 0.10116321945159534, 0.0136601830737867, 0.014117524998583554], "count": [938]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -0.9857142857142858, -0.16, -0.4542857142857143, -0.30857142857142855, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.6214285714285714, 1.0, 0.3457142857142857, 0.9571428571428573, 0.47714285714285715, 1.0], "mean": [0.12959183673469382, 0.1592369783734389, -0.08737739872068225, 0.0, -0.1044776119402985, 0.002261650929028334, -0.007576911361559544, -0.0018199817240328576, 0.014885775205604641, 0.0001370697532744419, 0.0010569600974718175, 0.16844349680170576], "std": [0.44550225903012763, 0.3973224190374369, 0.3525161680625759, 0.0, 0.9945272387437367, 0.4014128696534976, 0.21438513485172442, 0.34144945492258927, 0.05552018531813932, 0.1259366833919416, 0.06481248502421255, 0.9857113108741407], "count": [938]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017057569697499275], "std": [0.12948593497276306], "count": [938]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010660980810234541], "std": [0.032633748113036175], "count": [938]}, "timestamp": {"min": [0.0], "max": [46.85], "mean": [23.425], "std": [13.538856118594364], "count": [938]}, "frame_index": {"min": [0], "max": [937], "mean": [468.5], "std": [270.77712237188723], "count": [938]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [938]}, "index": {"min": [32620], "max": [33557], "mean": [33088.5], "std": [270.77712237188723], "count": [938]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [938]}}} +{"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": [[[0.4623950754671349]], [[0.45038561626671725]], [[0.43061225364275296]]], "std": [[[0.22268546524147678]], [[0.21582659900134385]], [[0.21120938470541836]]], "count": [230]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4371170977944507]], [[0.42053219716363954]], [[0.3977839544870258]]], "std": [[[0.24803370438740868]], [[0.23558649011531524]], [[0.224621596724053]]], "count": [230]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4653940542599937]], [[0.44686816645603555]], [[0.42118503138029156]]], "std": [[[0.24028426925195145]], [[0.22985066538244428]], [[0.22120062067340907]]], "count": [230]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1417]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1417]}, "observation.state": {"min": [1.5696528903967168, -5.053846093814593, 0.6999954503980875, 0.0, 0.0, -0.9999938011169434, 0.002156049245968461, 0.04864073714488604, -0.4565509426433727, 0.29871606035941445, -0.9863568544387817, -0.714335560798645, -0.6449388861656189, 0.00015306123532354832, 0.0043501127110852755, -0.04001481638507907], "max": [4.960977012465164, -0.9804064168925803, 0.7019726376707243, 0.0, 0.0, 0.9999977350234985, 1.0, 0.676168576174514, 0.44594633032775177, 0.9290309164720116, 0.9705773591995239, 0.6962013244628906, 0.5455018877983093, 0.5849485993385315, 0.04007155703223808, -0.0028951095904440247], "mean": [3.5140819160855234, -2.6810313401595525, 0.700958343656858, 0.0, 0.0, 0.02873296116674449, 0.8076117825073281, 0.23890967809411592, -0.03665851419286883, 0.5300932613967504, 0.09075945967002579, -0.13850134726805677, 0.039600499284545045, 0.1626974645644757, 0.022198460663813455, -0.021036587312606422], "std": [1.1665804078707231, 1.5514905232601142, 0.0006873493682004126, 0.0, 0.0, 0.5505158658043913, 0.20945145633129245, 0.14233501980368954, 0.16612272828449637, 0.16078155141472483, 0.7607508076789004, 0.432416996689526, 0.40026663762906894, 0.13638839820366713, 0.014168240251516969, 0.014776135758177131], "count": [1417]}, "action": {"min": [-1.0, -1.0, -0.7114285714285714, 0.0, -1.0, -1.0, -1.0, -1.0, -0.9457142857142856, -1.0, -0.3485714285714286, -1.0], "max": [1.0, 1.0, 0.8542857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.3657142857142857, 0.9171428571428571, 0.8085714285714286, 1.0], "mean": [0.2816765803004336, -0.019976812178647003, 0.06019356789998985, 0.0, -0.017642907551164433, 0.0009779211614074272, 0.016392781530396198, -0.037614678899082585, 0.008281076721443695, -0.005690089726786973, 0.005976408912188728, 0.24064925899788286], "std": [0.4489283560488985, 0.4811600216236568, 0.25783059889051907, 0.0, 0.9998443517933852, 0.32623168303477, 0.2785085852288453, 0.3653352500531024, 0.11155749987421036, 0.18444266578487273, 0.13069296398050667, 0.9706121440327041], "count": [1417]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011291461065411568], "std": [0.10565966367721558], "count": [1417]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007057163020465773], "std": [0.026555945973502863], "count": [1417]}, "timestamp": {"min": [0.0], "max": [70.8], "mean": [35.4], "std": [20.452628192973147], "count": [1417]}, "frame_index": {"min": [0], "max": [1416], "mean": [708.0], "std": [409.0525638594629], "count": [1417]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1417]}, "index": {"min": [33558], "max": [34974], "mean": [34266.0], "std": [409.0525638594629], "count": [1417]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1417]}}} +{"episode_index": 29, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6536492478228203]], [[0.5456980004897617]], [[0.43418929803870243]]], "std": [[[0.1838416985513996]], [[0.1459338959662933]], [[0.18059054263810553]]], "count": [194]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6496949028723019]], [[0.5351028516409685]], [[0.43356094344929297]]], "std": [[[0.20483216514957833]], [[0.18484775547700416]], [[0.21541923771953958]]], "count": [194]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6739362067011889]], [[0.5491523303141227]], [[0.4367981891620513]]], "std": [[[0.1895802593333484]], [[0.18071768677504962]], [[0.22380683066679588]]], "count": [194]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1127]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1127]}, "observation.state": {"min": [-0.9015357690813686, -3.693441330095756, 0.6999442126952041, 0.0, 0.0, -0.7463365793228149, 0.6655687689781189, -0.007001295078388647, -0.38983276514113196, 0.2573830066934656, -0.9886244535446167, -0.12830287218093872, -0.5394212603569031, 0.0005814195610582829, 0.004407432375058577, -0.04010566145354303], "max": [2.293498631518498, -0.8953228684475193, 0.7002052469695396, 0.0, 0.0, 0.07081335783004761, 1.0, 0.6116706209348601, 0.13464676572313972, 0.9092999560515158, 0.9503597617149353, 0.3583791255950928, 0.5261786580085754, 0.3246246576309204, 0.04080277581099358, -0.005710202682754883], "mean": [0.49065622428501715, -2.1957815806789367, 0.7000421935330268, 0.0, 0.0, -0.07557616048813894, 0.9724937660988179, 0.17201665308087355, -0.05838475242601068, 0.704698629285308, -0.5092536699697838, 0.2034184196112742, -0.20257656470589017, 0.1316099461538266, 0.024899949971608337, -0.024329733724916532], "std": [1.305984265551463, 1.1109003829723212, 5.286877954224278e-05, 0.0, 0.0, 0.2056520641367846, 0.07906555269042996, 0.1557705571661672, 0.09528764856295414, 0.1560638038819976, 0.6977820994512701, 0.0790323829655901, 0.3791931017871548, 0.06316502772319392, 0.013468786103608316, 0.013231344037209785], "count": [1127]}, "action": {"min": [-1.0, -1.0, -0.5914285714285714, 0.0, -1.0, -1.0, -0.9214285714285714, -0.6214285714285714, -0.4028571428571428, -0.6228571428571429, -0.31142857142857144, -1.0], "max": [1.0, 1.0, 0.5085714285714286, 0.0, 1.0, 0.8928571428571429, 1.0, 1.0, 0.5114285714285715, 0.2, 0.20285714285714287, 1.0], "mean": [0.1008556217518064, -0.06085688933958673, 0.0011940676891874697, 0.0, -0.1126885536823425, 0.008321713778679183, -0.010977310178729896, 0.001888705792876146, 0.005496260616047663, -0.003901635188236791, -0.00028393966282164943, 0.21561668145519078], "std": [0.5112143869534364, 0.4397390063579732, 0.15584253622556227, 0.0, 0.9936303587697849, 0.3802590775439771, 0.21409192042131686, 0.29443076835683035, 0.08804970822093398, 0.07546262844292577, 0.05431171826258996, 0.9764780830506409], "count": [1127]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01419698353856802], "std": [0.11830227822065353], "count": [1127]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008873114463176575], "std": [0.029774554987688585], "count": [1127]}, "timestamp": {"min": [0.0], "max": [56.3], "mean": [28.15], "std": [16.266837430797665], "count": [1127]}, "frame_index": {"min": [0], "max": [1126], "mean": [563.0], "std": [325.3367486159533], "count": [1127]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1127]}, "index": {"min": [34975], "max": [36101], "mean": [35538.0], "std": [325.3367486159533], "count": [1127]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1127]}}} +{"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": [[[0.5560306804909962]], [[0.510092047601659]], [[0.48384912080408643]]], "std": [[[0.23544786743917806]], [[0.2352625973339293]], [[0.22703320221083334]]], "count": [157]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5453684374591422]], [[0.5293528482859481]], [[0.5128343460427935]]], "std": [[[0.2723642624286816]], [[0.259979759693273]], [[0.2449869352735707]]], "count": [157]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5526113205937481]], [[0.5370814636314319]], [[0.520303015805994]]], "std": [[[0.27678324295287204]], [[0.2628526783742992]], [[0.24729777259454633]]], "count": [157]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [850]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [850]}, "observation.state": {"min": [1.2747605486291609, -3.7200342018390398, 0.699873146172481, 0.0, 0.0, -0.910682201385498, 0.413107693195343, 0.02410162639736324, 0.0011491924261639586, 0.2651991273896477, -0.9944600462913513, -0.02211732417345047, -0.4706245958805084, 0.031921595335006714, 0.0069861699885037055, -0.03927283936700748], "max": [4.37935764296508, -1.2342181783158994, 0.7004098481178681, 0.0, 0.0, 0.0003753260534722358, 1.0, 0.6196616599450167, 0.22485127255056314, 0.852810586757628, -0.5094835758209229, 0.6690633296966553, -0.037003044039011, 0.4472290277481079, 0.04007826584352126, -0.006019267826795172], "mean": [2.9082631359404294, -2.1427290540022357, 0.700027690959185, 0.0, 0.0, -0.2874426897931335, 0.8882861171399846, 0.23305350642533795, 0.07087953265971735, 0.5991530960162326, -0.7592659089845769, 0.4882909349045333, -0.2933631457300747, 0.2554226767753853, 0.020551029745649946, -0.018858716693365345], "std": [1.2304906758183605, 0.943733049186753, 8.333004513621539e-05, 0.0, 0.0, 0.3088814043660155, 0.1814297598499288, 0.1565005422296947, 0.052830362852804125, 0.1414380608634448, 0.07600290456254855, 0.11208054537525987, 0.09809101908482593, 0.07631660601005123, 0.014352151259167395, 0.014776838093105517], "count": [850]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.6571428571428571, -1.0, -0.32285714285714284, -0.45999999999999996, -0.2914285714285714, -1.0], "max": [1.0, 1.0, 0.8285714285714287, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4828571428571429, 0.2885714285714286, 0.4371428571428572, 1.0], "mean": [0.3156554621848739, -0.1133613445378151, -0.0008100840336134368, 0.0, -0.02823529411764706, 0.005445378151260497, 0.01519327731092438, 0.012386554621848712, 0.012198319327731088, -0.006379831932773108, -0.010910924369747893, 0.25882352941176473], "std": [0.5152159969863116, 0.49489190039804104, 0.3134557516295462, 0.0, 0.9996013046040414, 0.5218959569431417, 0.15653401489117452, 0.4098992578621381, 0.07560771346701757, 0.10600042481724475, 0.07768203104891797, 0.9659246247108783], "count": [850]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01882352866232395], "std": [0.13590146601200104], "count": [850]}, "next.done": {"min": [false], "max": [true], "mean": [0.001176470588235294], "std": [0.034279534786666975], "count": [850]}, "timestamp": {"min": [0.0], "max": [42.45], "mean": [21.225], "std": [12.268684729831474], "count": [850]}, "frame_index": {"min": [0], "max": [849], "mean": [424.5], "std": [245.3736945966295], "count": [850]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [850]}, "index": {"min": [36102], "max": [36951], "mean": [36526.5], "std": [245.3736945966295], "count": [850]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [850]}}} +{"episode_index": 31, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4070689603346692]], [[0.3805794419062438]], [[0.36143588695144535]]], "std": [[[0.2137959632526327]], [[0.21774483308106468]], [[0.21951200440370927]]], "count": [197]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3944729346048183]], [[0.35318511814054027]], [[0.3272377743915122]]], "std": [[[0.2058185200688613]], [[0.20324158203604253]], [[0.20486083486578674]]], "count": [197]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3940762619788556]], [[0.3560441784209916]], [[0.3317776804244659]]], "std": [[[0.21628419128274853]], [[0.21452707876967375]], [[0.21579937852533085]]], "count": [197]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1149]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1149]}, "observation.state": {"min": [0.572566138463027, -3.8105053488368137, 0.6999931477063167, 0.0, 0.0, -0.27856603264808655, 0.5085525512695312, -0.18551811141927077, -0.4052292199133929, 0.41174721153171345, -0.9878542423248291, -0.14257296919822693, -0.6202102899551392, 0.0016023514326661825, 0.005927498929289276, -0.04002673388611109], "max": [3.2218473386218625, -0.7874056392239182, 0.7005656132496645, 0.0, 0.0, 0.8610309958457947, 0.9999932050704956, 0.5459860973704407, 0.12424899973934245, 0.891007405718724, 0.9278210997581482, 0.6484763622283936, 0.38416385650634766, 0.5403637886047363, 0.040108375304794185, -0.004953731453378453], "mean": [1.6318450641698505, -2.289129550410012, 0.7001310486598183, 0.0, 0.0, 0.6635950337438881, 0.6873293337975511, 0.0551569431039835, -0.07520724922500197, 0.7260044453045421, -0.4766824178533828, 0.35658249841294565, -0.23383878749852807, 0.30929103043915995, 0.021826952219509477, -0.02012038042071829], "std": [0.9395019729054837, 1.1530814724158538, 0.0001813197906864862, 0.0, 0.0, 0.2653352117375925, 0.129681306061268, 0.2123827991212177, 0.1208871347203404, 0.12258039681134915, 0.589494527545595, 0.2309175978788641, 0.2695649711146487, 0.1476118568373379, 0.014767006888557645, 0.015383198124118121], "count": [1149]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -0.7428571428571429, -0.46857142857142864, -0.5, -0.37714285714285717, -1.0], "max": [1.0, 1.0, 0.64, 0.0, 1.0, 1.0, 1.0, 0.8785714285714286, 0.48571428571428577, 0.35714285714285715, 0.29428571428571426, 1.0], "mean": [0.11250155414646278, -0.10737287081934604, 0.007803058560238729, 0.0, -0.11575282854656223, -0.006427949769986314, -0.0037921173691408557, -0.0008889717767002527, 0.009337311948278007, -0.007895064030834275, -0.000982220564465999, 0.1784160139251523], "std": [0.5039021685287051, 0.4966869423596223, 0.21556857326159234, 0.0, 0.9932780490293104, 0.4556515274917616, 0.2598883774934536, 0.24488979781102946, 0.09060157802558083, 0.08822924077580516, 0.0716076932495609, 0.98395514429015], "count": [1149]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013925151899456978], "std": [0.11718038469552994], "count": [1149]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008703220191470844], "std": [0.029488380062832754], "count": [1149]}, "timestamp": {"min": [0.0], "max": [57.4], "mean": [28.700000000000003], "std": [16.58438020146266], "count": [1149]}, "frame_index": {"min": [0], "max": [1148], "mean": [574.0], "std": [331.68760402925324], "count": [1149]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1149]}, "index": {"min": [36952], "max": [38100], "mean": [37526.0], "std": [331.68760402925324], "count": [1149]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1149]}}} +{"episode_index": 32, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5968154131769895]], [[0.5452081815392172]], [[0.4925997358171784]]], "std": [[[0.17451853433338554]], [[0.1653506563337113]], [[0.17346310052341798]]], "count": [196]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6011052779266003]], [[0.5473219210169419]], [[0.4978340457276661]]], "std": [[[0.18411947368261875]], [[0.17754602516957252]], [[0.18458867139270518]]], "count": [196]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6036265473596665]], [[0.5538790226173477]], [[0.5069672314726672]]], "std": [[[0.18673712518841817]], [[0.1823945722250277]], [[0.18890644564787537]]], "count": [196]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1140]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1140]}, "observation.state": {"min": [1.7260907993437413, -4.1391103896573735, 0.6999953513418187, 0.0, 0.0, -0.9999638795852661, 0.006436766590923071, -0.05390523503304667, -0.4779345432037845, 0.23731588295343797, -0.9881097078323364, -0.06703898310661316, -0.531533420085907, 0.0027429270558059216, 0.006445094222903472, -0.040060232591329084], "max": [3.3582389022651076, -0.7579041601494394, 0.7015273900209058, 0.0, 0.0, 0.9999792575836182, 0.9999978542327881, 0.5342200689162231, 0.12039119901946016, 0.8608610216237946, 0.9273009300231934, 0.5442502498626709, 0.42242446541786194, 0.24982348084449768, 0.04006896316773849, -0.003974688406727627], "mean": [2.6025685086344175, -2.443310872587684, 0.7005177836460318, 0.0, 0.0, 0.4625715731383759, 0.6893542594100724, 0.12577545716290617, -0.08998075300329404, 0.6757062262876123, -0.48862666106014924, 0.23806621576087517, -0.2462002399393864, 0.1449985742336139, 0.021825667633703645, -0.021064049735786513], "std": [0.47990841920466276, 1.3881355871685077, 0.0004079818325353773, 0.0, 0.0, 0.5306421041760201, 0.17098888897411402, 0.15748086753725382, 0.12944881688233784, 0.14380119384971676, 0.7016926148503219, 0.13352506589171959, 0.3320772477822072, 0.049523239196240264, 0.01523298149750263, 0.015727360034769815], "count": [1140]}, "action": {"min": [-1.0, -0.9642857142857144, -0.45999999999999996, 0.0, -1.0, -1.0, -1.0, -0.9142857142857143, -0.3628571428571429, -0.46857142857142864, -0.38, -1.0], "max": [1.0, 1.0, 0.8257142857142857, 0.0, 1.0, 0.8857142857142857, 1.0, 1.0, 0.3628571428571429, 0.44285714285714284, 0.3342857142857143, 1.0], "mean": [0.28643483709273176, -0.041234335839599054, 0.18744862155388484, 0.0, 0.012280701754385965, 0.002888471177944863, -0.007669172932330828, 0.0031140350877192965, 0.002506265664160398, -0.0023082706766917316, 0.003002506265664161, 0.14385964912280702], "std": [0.47688305207875625, 0.33632031878903434, 0.29154919052651723, 0.0, 0.9999245893388274, 0.378722399678415, 0.280518850968313, 0.3119284121281889, 0.07174121088459182, 0.0800881598444981, 0.07831162556768467, 0.9895981009249464], "count": [1140]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014035088010132313], "std": [0.11763548105955124], "count": [1140]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008771929824561404], "std": [0.029604450931028432], "count": [1140]}, "timestamp": {"min": [0.0], "max": [56.95], "mean": [28.475], "std": [16.45447634130806], "count": [1140]}, "frame_index": {"min": [0], "max": [1139], "mean": [569.5], "std": [329.0895268261612], "count": [1140]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1140]}, "index": {"min": [38101], "max": [39240], "mean": [38670.5], "std": [329.0895268261612], "count": [1140]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1140]}}} +{"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": [[[0.464798319750649]], [[0.4213414573078923]], [[0.3802948886174536]]], "std": [[[0.22700984836512525]], [[0.22130791369948308]], [[0.21911604228648227]]], "count": [190]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5303607379295262]], [[0.4766179380623549]], [[0.4424556137730586]]], "std": [[[0.2685885241772549]], [[0.2695741888483913]], [[0.2758340373354554]]], "count": [190]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5340038968018334]], [[0.48111902290084413]], [[0.4485190291744267]]], "std": [[[0.27095982337895214]], [[0.275017908900818]], [[0.2822689801996067]]], "count": [190]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1097]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1097]}, "observation.state": {"min": [1.4287969903547044, -4.099999106536768, 0.6999591253136421, 0.0, 0.0, -0.9999850988388062, 0.005454319529235363, -0.08232813917266402, -0.04907367564836118, 0.25587245649336476, -0.9934778809547424, -0.03891308605670929, -0.4339718520641327, 0.011579679325222969, 0.007069393683093845, -0.04010394322360887], "max": [4.570074866464774, -0.7616099270680191, 0.7019304084826967, 0.0, 0.0, 0.9998388290405273, 0.9999994039535522, 0.5722903447538734, 0.2324765059997702, 0.8820478773034506, -0.5091375708580017, 0.8288259506225586, 0.009897441603243351, 0.5653327107429504, 0.04005708344250524, -0.005270064036100515], "mean": [3.4740573429807613, -2.358464794601877, 0.7006412695357129, 0.0, 0.0, 0.5492975904295134, 0.7035360185178158, 0.1291937632258663, 0.03573975252884576, 0.6672763787394257, -0.7523182933723915, 0.3796977759861033, -0.25918921276177986, 0.41570956069286724, 0.02571227974426892, -0.022693044327765238], "std": [1.0484590446981708, 1.3019349505869933, 0.0007709619086922783, 0.0, 0.0, 0.43157070483001203, 0.13059844962367503, 0.1856437898469331, 0.06866965463229484, 0.14650442623695506, 0.0772999611030183, 0.1540109023096713, 0.08873470184064297, 0.11083685388236339, 0.013003763940630703, 0.013861363423892905], "count": [1097]}, "action": {"min": [-1.0, -1.0, -0.26, 0.0, -1.0, -1.0, -1.0, -1.0, -0.38857142857142857, -0.7171428571428572, -0.6085714285714285, -1.0], "max": [1.0, 1.0, 0.9428571428571428, 0.0, 1.0, 1.0, 1.0, 1.0, 0.3914285714285714, 0.5457142857142857, 0.2142857142857143, 1.0], "mean": [0.14957676780830848, -0.0908777184529236, 0.09818726396666257, 0.0, -0.04102096627164995, -0.004675087902070601, 0.0065633546034639875, -0.03678864435473374, 0.00851152493814299, -0.007558275817163692, -0.01654642531579632, 0.18869644484958978], "std": [0.5572129385080398, 0.49996659403674565, 0.21668900035968586, 0.0, 0.9991582859217686, 0.39692779486045743, 0.24162374372758968, 0.36875585956745344, 0.06588965868239494, 0.13058121730657182, 0.082547895715618, 0.9820354635659151], "count": [1097]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014585232362151146], "std": [0.11988537758588791], "count": [1097]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009115770282588879], "std": [0.030178569475381677], "count": [1097]}, "timestamp": {"min": [0.0], "max": [54.8], "mean": [27.4], "std": [15.833824553783588], "count": [1097]}, "frame_index": {"min": [0], "max": [1096], "mean": [548.0], "std": [316.6764910756717], "count": [1097]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1097]}, "index": {"min": [39241], "max": [40337], "mean": [39789.0], "std": [316.6764910756717], "count": [1097]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1097]}}} +{"episode_index": 34, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5471628049385744]], [[0.5123063669998812]], [[0.49169348258304685]]], "std": [[[0.20117907300647814]], [[0.21883180863557722]], [[0.23123580852716033]]], "count": [223]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5188650206526697]], [[0.4737472755554892]], [[0.44362491898472534]]], "std": [[[0.2083137164929808]], [[0.21302267496367527]], [[0.21366329653066757]]], "count": [223]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5223239137620522]], [[0.4807693850403986]], [[0.4529880272454326]]], "std": [[[0.21482977556693475]], [[0.2222397259128026]], [[0.22547127339452422]]], "count": [223]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1356]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1356]}, "observation.state": {"min": [0.41097377715494254, -4.9546256983913946, 0.699991588421428, 0.0, 0.0, -0.1100468710064888, 0.5453029274940491, -0.00145094134230761, -0.3111581172742728, 0.5095432311297721, -0.9885820746421814, -0.9345121383666992, -0.40050268173217773, 4.044379966217093e-05, 0.0023123060353286463, -0.04008159704755267], "max": [3.7860771662782047, -2.6560652885378175, 0.700530031800387, 0.0, 0.0, 0.8382390737533569, 1.0, 0.5944830465280304, 0.1874608273849141, 0.7351711942847571, 0.9204028844833374, 0.9346188306808472, 0.4368433654308319, 0.5504406094551086, 0.04002126497669516, -0.003364873109573652], "mean": [2.0851809471345346, -3.4797630745389525, 0.7001368700629007, 0.0, 0.0, 0.14226909272494903, 0.9517632827909999, 0.1573418123258281, -0.13124800311209722, 0.6488834601542441, 0.05491772291846683, 0.5188645927845377, 0.02474176522754208, 0.2182512831349974, 0.0194921426491544, -0.019199149120884405], "std": [1.3385468403375784, 0.6852409530968465, 0.0001423902704430942, 0.0, 0.0, 0.24801954340823268, 0.11132147508264585, 0.16668139344152572, 0.08630527936348345, 0.044350744299803097, 0.702910610948881, 0.2932633552004779, 0.2989275125973576, 0.10036643832994711, 0.016039328140107237, 0.016436626002872073], "count": [1356]}, "action": {"min": [-1.0, -1.0, -0.5228571428571429, 0.0, -1.0, -1.0, -1.0, -0.75, -0.4542857142857143, -0.6914285714285714, -0.17142857142857143, -1.0], "max": [1.0, 1.0, 0.74, 0.0, 1.0, 0.8357142857142857, 0.5571428571428572, 0.9285714285714287, 0.2257142857142857, 0.32571428571428573, 0.6, 1.0], "mean": [0.030999789296249466, 0.07086493889591232, 0.003091024020227543, 0.0, 0.09734513274336283, -0.0034555415086388592, -0.010414032869785091, 0.008686262115465653, -0.013520859671302161, -0.006991150442477875, 0.013341761483354394, 0.20206489675516223], "std": [0.4863782564835163, 0.450009387790322, 0.19910693864397488, 0.0, 0.9952506845670506, 0.36895003551282834, 0.1899341678309126, 0.1707033677291674, 0.07596484019285267, 0.0905620672907468, 0.09747779410280828, 0.9793721343285736], "count": [1356]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011799409985542297], "std": [0.107982337474823], "count": [1356]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007374631268436578], "std": [0.027146257108120887], "count": [1356]}, "timestamp": {"min": [0.0], "max": [67.75], "mean": [33.875], "std": [19.572168803345903], "count": [1356]}, "frame_index": {"min": [0], "max": [1355], "mean": [677.5], "std": [391.44337606691806], "count": [1356]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1356]}, "index": {"min": [40338], "max": [41693], "mean": [41015.5], "std": [391.44337606691806], "count": [1356]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1356]}}} +{"episode_index": 35, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4984043941293167]], [[0.45876649637112915]], [[0.42971849430943704]]], "std": [[[0.2367598792914378]], [[0.24964128337609076]], [[0.2583430488864536]]], "count": [212]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5475107634019023]], [[0.5297896540081153]], [[0.5111477647584498]]], "std": [[[0.2671724281904265]], [[0.25554212549854044]], [[0.24199807727853384]]], "count": [212]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5345885361118579]], [[0.5233092262530564]], [[0.5121254661636269]]], "std": [[[0.27820221461766215]], [[0.2649038992215392]], [[0.24911309119616623]]], "count": [212]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1267]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1267]}, "observation.state": {"min": [0.9104179504030862, -3.6686548157593863, 0.6999729732428933, 0.0, 0.0, -0.9999995231628418, 0.0010036352323368192, -0.05265563946649365, -0.332682501121897, 0.2629496650650438, -0.987311840057373, -0.059013038873672485, -0.5287994146347046, 0.011355302296578884, 0.0059101548511185575, -0.03980791248345445], "max": [4.910127375663639, -1.655643926347079, 0.7001712263951231, 0.0, 0.0, 0.99981290102005, 1.0, 0.5440244808844978, 0.0695643617729993, 0.8532931184790197, -0.7690786123275757, 0.44698482751846313, 0.07227684557437897, 0.31169840693473816, 0.040088963198233234, -0.005165899287429192], "mean": [3.168465783971028, -2.7461533410907224, 0.7000131362168666, 0.0, 0.0, -0.16553808914385926, 0.8682985921040649, 0.17422309967815566, -0.08198483968972972, 0.6108801912138789, -0.9040230601532024, 0.22400054162707778, -0.26657565208442285, 0.1896153881105035, 0.02441183162437642, -0.02248624547252823], "std": [1.5502832223855556, 0.5389953933064381, 3.350001256498054e-05, 0.0, 0.0, 0.39466238703860734, 0.2507913916254165, 0.1692212040720603, 0.08369524511358188, 0.14649646437314698, 0.042925786456248886, 0.08594314462023715, 0.09014056965234765, 0.0905280189889282, 0.013897699569753065, 0.014147620712903753], "count": [1267]}, "action": {"min": [-1.0, -1.0, -0.96, 0.0, -1.0, -1.0, -1.0, -0.942857142857143, -0.24285714285714288, -0.8171428571428573, -0.29428571428571426, -1.0], "max": [1.0, 1.0, 0.9428571428571428, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4571428571428572, 0.7885714285714286, 0.2542857142857143, 1.0], "mean": [0.23377494644266544, -0.14389446386289315, 0.08800541210959516, 0.0, -0.007103393843725336, -0.010570526553162707, 0.0015898071935956737, 0.005242981170368687, 0.0020137557785545154, -0.003986920735144888, 0.0016371631525538414, 0.19968429360694553], "std": [0.4173836933672367, 0.501461600921772, 0.3143280578641678, 0.0, 0.9999747705796901, 0.3894142455025058, 0.18390569628010237, 0.2843068675729913, 0.06468939543501777, 0.10873897065237444, 0.04774157927619092, 0.979860287432188], "count": [1267]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012628255411982536], "std": [0.11166370660066605], "count": [1267]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007892659826361484], "std": [0.028082789068125013], "count": [1267]}, "timestamp": {"min": [0.0], "max": [63.3], "mean": [31.650000000000002], "std": [18.287564080543916], "count": [1267]}, "frame_index": {"min": [0], "max": [1266], "mean": [633.0], "std": [365.7512816108783], "count": [1267]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1267]}, "index": {"min": [41694], "max": [42960], "mean": [42327.0], "std": [365.7512816108783], "count": [1267]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1267]}}} +{"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": [[[0.5113117863528517]], [[0.5028017301969108]], [[0.48891322189861985]]], "std": [[[0.2564812314536523]], [[0.24300776814717212]], [[0.21959716118994885]]], "count": [173]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45291099128952295]], [[0.4521795541537831]], [[0.4537914626765627]]], "std": [[[0.2836480015941027]], [[0.2676992303522757]], [[0.24618185219689223]]], "count": [173]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4662495460583755]], [[0.46409928262281025]], [[0.4640187422272355]]], "std": [[[0.2855719114839371]], [[0.2688511627829202]], [[0.2467661378475011]]], "count": [173]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [965]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [965]}, "observation.state": {"min": [0.7367868051331303, -3.641467180744196, 0.6999678871210911, 0.0, 0.0, -0.0014101165579631925, 0.5860610604286194, -0.11445346712432802, -0.13865729435937224, 0.41475713204967624, -0.9863874912261963, -0.07135224342346191, -0.5107153058052063, 0.0195792056620121, 0.007236001433797965, -0.039369952710074756], "max": [2.82882963273256, -0.79677245668138, 0.7005530765643355, 0.0, 0.0, 0.81026691198349, 1.0, 0.6326095996859609, 0.019357891563648533, 0.8996446810251368, -0.5217386484146118, 0.6986221075057983, -0.14686061441898346, 0.5122776627540588, 0.04009979702755733, -0.0056619308850413665], "mean": [1.415923340364686, -2.1958300890202427, 0.7001155141831913, 0.0, 0.0, 0.5937377108163273, 0.768224965414235, 0.1131242890301974, -0.03590848563760942, 0.6714968398988372, -0.7023102646664634, 0.542277951530842, -0.32897611053496445, 0.24523494923439051, 0.02085157121432056, -0.018913260378085443], "std": [0.735356383119074, 1.110710924756467, 0.0001782255720388752, 0.0, 0.0, 0.211082929859622, 0.11291558075316026, 0.20839167330985858, 0.039181124064319235, 0.12531490121757985, 0.09698924807797316, 0.12592423657033336, 0.08895725193027301, 0.10560415218373112, 0.013673649879139278, 0.014160302839460136], "count": [965]}, "action": {"min": [-0.8785714285714286, -1.0, -0.7542857142857143, 0.0, -1.0, -1.0, -0.4, -1.0, -0.3514285714285714, -0.7771428571428571, -0.23142857142857146, -1.0], "max": [1.0, 1.0, 0.8057142857142856, 0.0, 1.0, 1.0, 0.6571428571428571, 1.0, 0.3, 0.8714285714285714, 0.23428571428571432, 1.0], "mean": [0.08639526276831974, -0.15622501850481108, 0.0065551443375277485, 0.0, -0.03626943005181347, 0.0013249444855662545, -0.008830495928941518, 0.010673575129533675, 0.009332346410066623, -0.0011398963730569964, -0.009797187268689854, 0.30362694300518134], "std": [0.40308693260399664, 0.41648933237261393, 0.22017829334409136, 0.0, 0.9993420477712979, 0.48912611718425597, 0.10299165955413844, 0.32825164004266316, 0.0657065328957692, 0.12734204239591432, 0.056548080593037765, 0.9527909946474821], "count": [965]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016580311581492424], "std": [0.12769262492656708], "count": [965]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010362694300518134], "std": [0.03217445532903632], "count": [965]}, "timestamp": {"min": [0.0], "max": [48.2], "mean": [24.1], "std": [13.928567765567285], "count": [965]}, "frame_index": {"min": [0], "max": [964], "mean": [482.0], "std": [278.57135531134566], "count": [965]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [965]}, "index": {"min": [42961], "max": [43925], "mean": [43443.0], "std": [278.57135531134566], "count": [965]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [965]}}} +{"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": [[[0.5793245608817084]], [[0.5699484429174996]], [[0.5124863983746141]]], "std": [[[0.17817576828665074]], [[0.15544672431695994]], [[0.15541119860473115]]], "count": [183]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5721046106871283]], [[0.5760897665944472]], [[0.5124749286961838]]], "std": [[[0.20983132056049525]], [[0.1841119654076665]], [[0.1895423750012506]]], "count": [183]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5766108056018044]], [[0.5761231014816168]], [[0.5169692818226698]]], "std": [[[0.209961602148538]], [[0.1865030190080219]], [[0.1929646254839987]]], "count": [183]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1043]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1043]}, "observation.state": {"min": [0.77480745696229, -3.5946747747520855, 0.6999712726831236, 0.0, 0.0, -1.0, 7.616912967023381e-08, -0.04396754231523481, -0.19486651214978545, 0.2672565637350347, -0.9893216490745544, -0.05150710046291351, -0.7794181704521179, 0.00018013188673648983, 0.008185279123505824, -0.040140322346030745], "max": [4.296158470908729, -1.2230777686317975, 0.7001712238170121, 0.0, 0.0, 1.0, 0.999988317489624, 0.5914182692852153, 0.0019125167527906939, 0.8567904989932449, 0.9887151718139648, 0.5227800607681274, 0.22331282496452332, 0.3373352885246277, 0.04010748176451362, -0.005922078279256985], "mean": [2.3251751361197264, -2.3123025247230737, 0.7000226414962065, 0.0, 0.0, -0.7560927617660084, 0.2714639931379834, 0.1766006995062808, -0.12488031577750042, 0.6287233819422898, -0.7893932690327828, 0.36326621484265004, -0.4143044994009993, 0.1565601691014022, 0.028544482872718734, -0.023406355259553025], "std": [1.321728752826253, 0.7015229034243281, 4.040572824433985e-05, 0.0, 0.0, 0.470598010143944, 0.3649226855397029, 0.1758234295817037, 0.03225654370821421, 0.1345770083509073, 0.1498904949623502, 0.11511449268175815, 0.08713444815452659, 0.07365935288527954, 0.012987960245226417, 0.013671188662209779], "count": [1043]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.24285714285714288, -0.7485714285714286, -0.2257142857142857, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.6785714285714286, 1.0, 0.24, 0.40571428571428575, 0.39714285714285713, 1.0], "mean": [0.35629365840295846, 0.16183399534310372, -0.10180249280920416, 0.0, 0.012464046021093002, -0.0022188741268319603, -0.002855773181755916, 0.03426927818107106, 0.006059443911792898, -0.01013285851253253, -0.002731132721544989, 0.1601150527325024], "std": [0.5208710339597792, 0.49204062231465506, 0.35796721609906945, 0.0, 0.9999223207613662, 0.4676142291289026, 0.1505285591599943, 0.37663700875352496, 0.04628198206771631, 0.09569154005173289, 0.06260398843123435, 0.9870983587710319], "count": [1043]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015340364538133144], "std": [0.12290255725383759], "count": [1043]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009587727708533077], "std": [0.030949208804542612], "count": [1043]}, "timestamp": {"min": [0.0], "max": [52.1], "mean": [26.05], "std": [15.054401349771435], "count": [1043]}, "frame_index": {"min": [0], "max": [1042], "mean": [521.0], "std": [301.0880269954287], "count": [1043]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1043]}, "index": {"min": [43926], "max": [44968], "mean": [44447.0], "std": [301.0880269954287], "count": [1043]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1043]}}} +{"episode_index": 38, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5779004346336315]], [[0.5380036036918503]], [[0.48855660981418997]]], "std": [[[0.2077440311695954]], [[0.22523124814753565]], [[0.22848898779467433]]], "count": [251]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5706530088000479]], [[0.5542805972895336]], [[0.5196686158151554]]], "std": [[[0.20758607224067752]], [[0.20827624622505175]], [[0.21076466209223918]]], "count": [251]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5785342871868073]], [[0.5644387690315638]], [[0.5308662738178719]]], "std": [[[0.19966008342377664]], [[0.1998837242715365]], [[0.20480632904890922]]], "count": [251]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1590]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1590]}, "observation.state": {"min": [0.7711054000729471, -4.713713176321936, 0.6999908384379133, 0.0, 0.0, -1.0, 0.0, -0.014962391344417902, -0.32601438651336023, 0.2489584851549982, -0.9903131723403931, -0.4384912848472595, -0.48700734972953796, 0.0010361513122916222, 0.0071352576481726725, -0.0399517423418046], "max": [6.7926106101988575, -1.528401590442099, 0.7006942243934967, 0.0, 0.0, 1.0, 0.9999908208847046, 0.5754242336830779, -0.01498880485747689, 0.8314201556303062, 0.962669849395752, 0.6692550182342529, 0.4711737632751465, 0.46568822860717773, 0.04008035028042676, -0.005557223131938094], "mean": [3.7557348984148056, -2.63191785473966, 0.7001846408115255, 0.0, 0.0, -0.41932411746285947, 0.3697428006860524, 0.13738677883311715, -0.09317987543457147, 0.5636655109256917, -0.4396309919702182, 0.29132177176528007, -0.16419080946617906, 0.1913840069030646, 0.02037719341177768, -0.018652172925931233], "std": [2.3402692133462546, 0.92240659860364, 0.00018826651351319554, 0.0, 0.0, 0.7365980147685592, 0.38063227498254276, 0.15269927012752055, 0.07160532203843159, 0.12660483759304683, 0.7284201024102974, 0.2522581519274692, 0.228683017614736, 0.10836886439193145, 0.014289618738078552, 0.015083681252333973], "count": [1590]}, "action": {"min": [-1.0, -1.0, -0.48571428571428577, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4828571428571429, -0.42, -0.4742857142857143, -1.0], "max": [1.0, 1.0, 0.7628571428571429, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4028571428571428, 0.4942857142857143, 0.38857142857142857, 1.0], "mean": [0.4364061096136569, 0.02416442048517521, 0.13796046720575023, 0.0, 0.2188679245283019, -0.0075606469002695315, -0.002439353099730459, -0.008562443845462708, 0.003768194070080869, -0.000875112309074572, -0.0021329739442947, 0.2893081761006289], "std": [0.5116266953335159, 0.4153544376388652, 0.2725297452554811, 0.0, 0.9757544935139489, 0.3392816503457995, 0.18250910629168898, 0.26874155862689875, 0.06995024852314446, 0.07882990522434381, 0.07808354138431815, 0.9572360102092415], "count": [1590]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01006289292126894], "std": [0.0998079776763916], "count": [1590]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006289308176100629], "std": [0.025070605569804713], "count": [1590]}, "timestamp": {"min": [0.0], "max": [79.45], "mean": [39.725], "std": [22.949668661369962], "count": [1590]}, "frame_index": {"min": [0], "max": [1589], "mean": [794.5], "std": [458.9933732273993], "count": [1590]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1590]}, "index": {"min": [44969], "max": [46558], "mean": [45763.5], "std": [458.9933732273993], "count": [1590]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1590]}}} +{"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": [[[0.5188542387979415]], [[0.4966904408486603]], [[0.4627868642587491]]], "std": [[[0.19281643945350302]], [[0.18922321856465432]], [[0.1914851679086204]]], "count": [184]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5621763777346663]], [[0.5441303214148793]], [[0.517146509728265]]], "std": [[[0.2497720771212048]], [[0.23221375757793217]], [[0.2198771031654855]]], "count": [184]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5790416164674621]], [[0.5582646996773722]], [[0.5289445826667857]]], "std": [[[0.23510272066525958]], [[0.21610417864490739]], [[0.20521491034505196]]], "count": [184]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1050]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1050]}, "observation.state": {"min": [0.6832494400971972, -4.428282735766303, 0.6999927001596864, 0.0, 0.0, -0.019872911274433136, 0.5899409651756287, -0.09051963309792888, -0.21029694464187854, 0.26076133942016877, -0.9931184649467468, -0.516161322593689, -0.6679670810699463, 0.0024183483328670263, 0.004329404073100118, -0.040084732612934784], "max": [5.0213724209086275, -1.8512214806338634, 0.7009577229923646, 0.0, 0.0, 0.8074463605880737, 1.0, 0.5163751480288079, 0.13613071323290704, 0.8649201618902834, 0.699303150177002, 0.7395353317260742, 0.7123020887374878, 0.397282212972641, 0.04003707201033458, -0.00905457541377064], "mean": [2.7395818796439584, -3.4811010176237884, 0.7000970813510714, 0.0, 0.0, 0.08117799887777004, 0.9662219443775358, 0.10829922803422015, 0.0006116419292017631, 0.6905971245745398, -0.7497469568820226, 0.35250170841103506, -0.37698608229557673, 0.24008050833695702, 0.024572865790739057, -0.023125224490897777], "std": [1.741215785406037, 0.9664888180319189, 0.0001888247072546859, 0.0, 0.0, 0.22247308873673924, 0.10164179059030361, 0.19015719454661315, 0.06508203500245988, 0.15349866180294802, 0.178917512721945, 0.20298588102787857, 0.15382499948488862, 0.13033807781533907, 0.012127766299933278, 0.013044621445219931], "count": [1050]}, "action": {"min": [-1.0, -1.0, -0.6971428571428572, 0.0, -1.0, -1.0, -0.7928571428571428, -0.9, -0.3942857142857143, -0.5714285714285714, -0.5314285714285715, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.8428571428571429, 1.0, 0.6142857142857143, 0.6457142857142857, 0.6171428571428571, 1.0], "mean": [0.039040816326530635, 0.1421360544217687, -0.004892517006802722, 0.0, -0.024761904761904763, 0.007265306122448959, -0.0045034013605442244, 0.014714285714285714, 0.012427210884353742, -0.007450340136054422, 0.004424489795918364, 0.2038095238095238], "std": [0.5414534871995016, 0.47019873075816865, 0.1991812812762942, 0.0, 0.9996933770274566, 0.4451353345397435, 0.17418707825048846, 0.3589985273824666, 0.07949953883220753, 0.10119520299027072, 0.10119964672102354, 0.9790105607216699], "count": [1050]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015238095074892044], "std": [0.12249855697154999], "count": [1050]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009523809523809524], "std": [0.030845970934669804], "count": [1050]}, "timestamp": {"min": [0.0], "max": [52.45], "mean": [26.225], "std": [15.155437693008627], "count": [1050]}, "frame_index": {"min": [0], "max": [1049], "mean": [524.5], "std": [303.10875386017256], "count": [1050]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1050]}, "index": {"min": [46559], "max": [47608], "mean": [47083.5], "std": [303.10875386017256], "count": [1050]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1050]}}} +{"episode_index": 40, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6543760044772917]], [[0.5456230909718541]], [[0.4388059588785308]]], "std": [[[0.17178710685541432]], [[0.1500649648520418]], [[0.19052435745878246]]], "count": [163]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6562932881181254]], [[0.5351435106640672]], [[0.4223715026040492]]], "std": [[[0.19971708957401502]], [[0.18487297574082565]], [[0.21633093585935206]]], "count": [163]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6734773887102891]], [[0.5514623852365789]], [[0.4395788832661851]]], "std": [[[0.19234285464840375]], [[0.18735822956429032]], [[0.22632623120995005]]], "count": [163]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [891]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [891]}, "observation.state": {"min": [0.7436580690235027, -3.377810740141877, 0.6999901134938297, 0.0, 0.0, -1.0, 7.544686297933367e-08, 0.014381308423595307, -0.326349234986715, 0.38052801753641863, -0.9867308139801025, -0.12389606237411499, -0.5963761210441589, 0.0008926824666559696, 0.008547083579277788, -0.04005175937731603], "max": [2.748671540141159, -1.0870089277958481, 0.7004977013336104, 0.0, 0.0, 1.0, 0.9999997615814209, 0.540588384777072, 0.033526634945268974, 0.865385907930876, 0.9146093130111694, 0.5688004493713379, 0.4152757525444031, 0.27056005597114563, 0.04009309538474604, -0.00722059539981642], "mean": [1.6066333705909077, -2.2422525523180004, 0.7001453868877571, 0.0, 0.0, 0.2648980198481604, 0.4652304250999801, 0.13586641325484203, -0.07964264332951679, 0.6892918701844164, -0.5817597746581474, 0.09710715771323503, -0.26014095422729233, 0.15814324527326656, 0.023418939799740326, -0.02275746619048338], "std": [0.71597246273709, 0.9083988739513791, 0.00018266643639373699, 0.0, 0.0, 0.77219836902882, 0.34219785671574104, 0.1390847951514953, 0.08771534729586604, 0.11611176673979597, 0.6535988770517466, 0.18221407257651173, 0.30503486435750293, 0.07748186876624555, 0.013488283555103576, 0.013698600746512659], "count": [891]}, "action": {"min": [-1.0, -0.9928571428571428, -0.05714285714285715, 0.0, -1.0, -1.0, -1.0, -0.8571428571428572, -0.4314285714285714, -0.5685714285714286, -0.30285714285714294, -1.0], "max": [1.0, 1.0, 0.9257142857142858, 0.0, 1.0, 0.9571428571428572, 1.0, 0.9214285714285714, 0.4228571428571429, 0.6, 0.5771428571428572, 1.0], "mean": [0.22720057720057724, 0.05295013628346964, 0.21052108385441748, 0.0, -0.03479236812570146, -0.010934744268077586, -0.009451659451659456, -0.0076960076960076815, 0.004851691518358181, -0.0063588263588263624, 0.0019464486131152768, 0.1919191919191919], "std": [0.4540045912899783, 0.27018313046756054, 0.30219801631870175, 0.0, 0.99939456228269, 0.4024288290914856, 0.25544942687671, 0.30129092832587934, 0.0987341854459479, 0.12216848789998956, 0.09985084627709913, 0.9814107314336173], "count": [891]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017957352101802826], "std": [0.13279640674591064], "count": [891]}, "next.done": {"min": [false], "max": [true], "mean": [0.001122334455667789], "std": [0.03348245542127115], "count": [891]}, "timestamp": {"min": [0.0], "max": [44.5], "mean": [22.25], "std": [12.860469146445112], "count": [891]}, "frame_index": {"min": [0], "max": [890], "mean": [445.0], "std": [257.20938292890224], "count": [891]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [891]}, "index": {"min": [47609], "max": [48499], "mean": [48054.0], "std": [257.20938292890224], "count": [891]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [891]}}} +{"episode_index": 41, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4934472230524799]], [[0.4139115629632489]], [[0.3745124446021186]]], "std": [[[0.19325601427242706]], [[0.24883236069069856]], [[0.2792059654903491]]], "count": [192]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4736781890096228]], [[0.38654207715801164]], [[0.34628500533259776]]], "std": [[[0.19962773647559867]], [[0.24766855315825234]], [[0.2727985320991812]]], "count": [192]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4829409191031861]], [[0.4062201291127922]], [[0.37008460362752277]]], "std": [[[0.2039592121573474]], [[0.2501211814083738]], [[0.2746600279602825]]], "count": [192]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1112]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1112]}, "observation.state": {"min": [0.27827802204900226, -5.683883234388701, 0.6999904692710388, 0.0, 0.0, -1.0, 1.0999007827194873e-05, -0.03802577419571862, -0.3413117571674662, 0.25931924397388617, -0.9905356764793396, -0.15665185451507568, -0.509274423122406, 0.0008877193322405219, 0.006184644903459212, -0.040031771096422974], "max": [3.9923519067673374, -3.030079681481154, 0.7002475316624737, 0.0, 0.0, 1.0, 0.9999179840087891, 0.5815226791623838, 0.030364725265275838, 0.8490604262908885, 0.961005449295044, 0.4731147885322571, 0.28017184138298035, 0.4422835111618042, 0.04011171602662206, -0.004827648031355768], "mean": [2.1399750281192165, -4.685889915941981, 0.7000650969304365, 0.0, 0.0, -0.39710067924641396, 0.4501450002740589, 0.15701007716123996, -0.09090916134844579, 0.6598418283964262, -0.8236448637765946, 0.3137710949794637, -0.32721657746491567, 0.25731208568196845, 0.025522614544360892, -0.02288038611766151], "std": [1.4669808755282203, 0.9322436321174085, 7.076605509197371e-05, 0.0, 0.0, 0.7209975348383114, 0.34618361031051365, 0.17762347519389965, 0.10232429931531938, 0.1389532526425838, 0.11956099183273848, 0.11285681153410118, 0.11883131125553856, 0.09340377924397553, 0.013432150047616404, 0.014074876708237366], "count": [1112]}, "action": {"min": [-1.0, -1.0, -0.09428571428571429, 0.0, -1.0, -1.0, -1.0, -1.0, -0.24285714285714288, -0.4257142857142857, -0.4228571428571429, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.35428571428571426, 0.72, 0.18857142857142858, 1.0], "mean": [0.13248329907502554, -0.2853417266187052, 0.17874614594039054, 0.0, 0.017985611510791366, 0.0040531860226104876, -0.006808838643371028, 7.708119218911327e-05, 0.00582990750256937, -0.0065647482014388496, -0.0016700924974306234, 0.2356115107913669], "std": [0.4172992754645335, 0.5227630686112771, 0.2529098289930246, 0.0, 0.9998382458070814, 0.39403593944328463, 0.23523940457348794, 0.29470905937439795, 0.058203994951491166, 0.10360866800206917, 0.05799075799807002, 0.9718473213332431], "count": [1112]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014388489536941051], "std": [0.11908593773841858], "count": [1112]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008992805755395684], "std": [0.029974520346221147], "count": [1112]}, "timestamp": {"min": [0.0], "max": [55.55], "mean": [27.775], "std": [16.050330993471754], "count": [1112]}, "frame_index": {"min": [0], "max": [1111], "mean": [555.5], "std": [321.0066198694351], "count": [1112]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1112]}, "index": {"min": [48500], "max": [49611], "mean": [49055.5], "std": [321.0066198694351], "count": [1112]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1112]}}} +{"episode_index": 42, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5419072702897796]], [[0.4656764843963206]], [[0.41118049967287007]]], "std": [[[0.19921019863972245]], [[0.21574363131863855]], [[0.23048020619116846]]], "count": [238]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6011072520546591]], [[0.5454821674763656]], [[0.4988054791870218]]], "std": [[[0.19046961521367933]], [[0.18782344724166622]], [[0.19510395363026486]]], "count": [238]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6026829094603146]], [[0.5506671643410351]], [[0.5068645495523002]]], "std": [[[0.20150497146416627]], [[0.19826481114655164]], [[0.20507193685783523]]], "count": [238]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1478]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1478]}, "observation.state": {"min": [0.9058005343637497, -4.459690774912456, 0.6999953767097239, 0.0, 0.0, 0.10603024065494537, 0.6568365693092346, 0.14188003298781482, -0.34878326748158095, 0.25948033628749556, -0.9891029596328735, -0.13849931955337524, -0.5764041543006897, 0.000972720212303102, 0.00748396202742543, -0.0400510379982698], "max": [4.280465735305602, -0.7633919589629745, 0.7009678470811258, 0.0, 0.0, 0.754033088684082, 0.9943629503250122, 0.5767632508218903, 0.009244856652418143, 0.8429489006167249, 0.9257227778434753, 0.39854174852371216, 0.457126259803772, 0.3848881423473358, 0.04008243528669067, -0.00017927243563735278], "mean": [2.29643674096852, -2.7134353793895047, 0.7002661631310323, 0.0, 0.0, 0.6294408234766355, 0.7513144649010711, 0.2475050416216587, -0.0979092739133886, 0.6561998919210189, -0.5101150140791365, 0.19057088369485975, -0.23543223221788634, 0.17838804423281324, 0.028853755068596925, -0.023463735493105674], "std": [1.108647999208015, 1.5374071504123106, 0.0002916962798820483, 0.0, 0.0, 0.17249172730319878, 0.0978643670460871, 0.10104322013508875, 0.07197997058785735, 0.14338712819919258, 0.6920009543827464, 0.1444843744987, 0.33211588710518325, 0.07856691392066939, 0.013320786304556772, 0.01349047268516403], "count": [1478]}, "action": {"min": [-1.0, -1.0, -0.47714285714285715, 0.0, -1.0, -1.0, -0.5357142857142857, -1.0, -0.2542857142857143, -0.7314285714285714, -0.23714285714285716, -1.0], "max": [1.0, 1.0, 0.4657142857142857, 0.0, 1.0, 0.6142857142857143, 1.0, 0.9642857142857144, 0.21714285714285717, 0.31142857142857144, 0.18285714285714286, 1.0], "mean": [0.06545524840518076, -0.08538082350666922, -0.0012159288613957037, 0.0, 0.08119079837618404, -0.0034602745022230745, -0.005079257684129142, -0.0032621302919002533, 0.004473226367678329, -0.005938526966943747, -0.0003286294219988383, 0.19891745602165087], "std": [0.4813525995003097, 0.43308180504901345, 0.14061812582307934, 0.0, 0.9966985774340349, 0.258463190374085, 0.13231908902262557, 0.24078690340376044, 0.04669787672021029, 0.08807957869487426, 0.03626392798258278, 0.9800162476662695], "count": [1478]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010825439356267452], "std": [0.10348066687583923], "count": [1478]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006765899864682003], "std": [0.026002542422971085], "count": [1478]}, "timestamp": {"min": [0.0], "max": [73.85], "mean": [36.925], "std": [21.333087563688476], "count": [1478]}, "frame_index": {"min": [0], "max": [1477], "mean": [738.5], "std": [426.66175127376954], "count": [1478]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [1478]}, "index": {"min": [49612], "max": [51089], "mean": [50350.5], "std": [426.66175127376954], "count": [1478]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1478]}}} +{"episode_index": 43, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6275906508117969]], [[0.5696412177161733]], [[0.5337183171539363]]], "std": [[[0.19714411058267575]], [[0.2331885564976368]], [[0.2565687588195432]]], "count": [212]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6116772134084416]], [[0.5416179469281817]], [[0.4981119461426504]]], "std": [[[0.1991340103358507]], [[0.2527496139326861]], [[0.2795715053045451]]], "count": [212]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.577630512492991]], [[0.5131500834056814]], [[0.4723758602953822]]], "std": [[[0.2238222756042782]], [[0.2618971827827583]], [[0.2830768109085315]]], "count": [212]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1270]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1270]}, "observation.state": {"min": [1.5746339266001652, -4.226351627630174, 0.6999820597576136, 0.0, 0.0, -0.9998708963394165, 0.013624243438243866, -0.0908905602774901, -0.3885597951863131, 0.28258268195851666, -0.9947730302810669, -0.10630488395690918, -0.5608509182929993, 0.003414469538256526, 0.00288710406913459, -0.04007400878486555], "max": [3.62292454736966, -0.8838382428344018, 0.7004129108652369, 0.0, 0.0, 0.9999072551727295, 0.9999788999557495, 0.5866945505085721, 0.09448438266859016, 0.8837341047478252, 0.905686616897583, 0.980654239654541, 0.5461313724517822, 0.6739400625228882, 0.04011432483190234, -0.00449704960055146], "mean": [2.599775219115964, -2.426165708031069, 0.7001584014649598, 0.0, 0.0, 0.60864874959454, 0.6988530254475479, 0.14531168293994934, -0.11808692629052958, 0.6926036594998372, -0.122473623867946, 0.553076790719051, -0.031511192795211876, 0.27605770367186694, 0.023719266276452537, -0.024075215157216005], "std": [0.5729714452397107, 1.399646832349379, 0.00012692583171257938, 0.0, 0.0, 0.35944805754296627, 0.10930803923295862, 0.20717714358692904, 0.10427988623476105, 0.1423831265675525, 0.6072024369500698, 0.35503858475220545, 0.2936648158219345, 0.14463488830578633, 0.015019914497820492, 0.015178689823064726], "count": [1270]}, "action": {"min": [-1.0, -1.0, -0.26, 0.0, -1.0, -1.0, -0.9357142857142857, -1.0, -0.3342857142857143, -0.5514285714285714, -0.3171428571428571, -1.0], "max": [1.0, 1.0, 0.9085714285714286, 0.0, 1.0, 1.0, 1.0, 1.0, 0.24285714285714288, 0.6285714285714286, 0.4828571428571429, 1.0], "mean": [0.12047806524184491, -0.04582114735658046, 0.08209673790776167, 0.0, -0.15275590551181104, -0.002429696287964007, -0.018082114735658034, 0.017159730033745796, -0.013385826771653538, -0.0004656917885264324, 0.00782002249718786, 0.03464566929133858], "std": [0.5097048875907093, 0.36573545946706515, 0.2185218489110729, 0.0, 0.9882639492217037, 0.41024566369252224, 0.21886467313234478, 0.33788039388250607, 0.0770766710092695, 0.12437623277894379, 0.09027877123813784, 0.9993996585947689], "count": [1270]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012598425149917603], "std": [0.11153343319892883], "count": [1270]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007874015748031496], "std": [0.028049626977254924], "count": [1270]}, "timestamp": {"min": [0.0], "max": [63.45], "mean": [31.725], "std": [18.330865364188348], "count": [1270]}, "frame_index": {"min": [0], "max": [1269], "mean": [634.5], "std": [366.61730728376693], "count": [1270]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1270]}, "index": {"min": [51090], "max": [52359], "mean": [51724.5], "std": [366.61730728376693], "count": [1270]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1270]}}} +{"episode_index": 44, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5555397951076746]], [[0.4994271627353228]], [[0.474387653551316]]], "std": [[[0.23044240562984408]], [[0.25435490843841585]], [[0.2699446342452801]]], "count": [219]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5609298461509675]], [[0.5402515702030313]], [[0.530291781654737]]], "std": [[[0.26173210850569906]], [[0.27209730793373016]], [[0.2773765433729033]]], "count": [219]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5278080223944868]], [[0.5140412551862122]], [[0.507321430117156]]], "std": [[[0.2633593287086668]], [[0.26899349817066764]], [[0.2716491359258869]]], "count": [219]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1323]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1323]}, "observation.state": {"min": [0.3162494411368719, -4.8591837488407075, 0.699994115800082, 0.0, 0.0, -0.999981164932251, 0.004880101885646582, -0.02846018550515228, -0.19571515610150492, 0.5339664632707563, -0.9878864884376526, -0.07288810610771179, -0.5393261313438416, 0.0024630846455693245, 0.004721360892366539, -0.04009834087810478], "max": [3.0311783147974136, -0.7582424326588529, 0.7005393060315778, 0.0, 0.0, 0.9999880790710449, 0.999996542930603, 0.6109002381658053, 0.1803057274094244, 0.8224790814144266, 0.9738038182258606, 0.7387530207633972, 0.4443688690662384, 0.31778448820114136, 0.04059934448237879, -0.00289722375266811], "mean": [1.7206993888252389, -2.744882012356777, 0.7001869650907826, 0.0, 0.0, 0.3261609709670645, 0.7948734087064209, 0.12196795542566022, -0.01246478995213277, 0.7362655434397675, -0.845556064392704, 0.22338949352255033, -0.3387783956252889, 0.1503900939310765, 0.019291398433918833, -0.018324889219518185], "std": [0.94765214719835, 1.393989890454442, 0.0001387662108419351, 0.0, 0.0, 0.4698565173919201, 0.2025589815656209, 0.18153130225545577, 0.06451886559364688, 0.05845681033856334, 0.18683184585794607, 0.19812382660751637, 0.13854288741782456, 0.06626295178200413, 0.014979378477356774, 0.01566240298008478], "count": [1323]}, "action": {"min": [-1.0, -1.0, -0.6914285714285714, 0.0, -1.0, -1.0, -0.8928571428571429, -0.6785714285714286, -0.5828571428571429, -0.7285714285714285, -0.35428571428571426, -1.0], "max": [1.0, 1.0, 0.6542857142857142, 0.0, 1.0, 1.0, 0.8, 1.0, 0.35428571428571426, 0.42, 0.7028571428571428, 1.0], "mean": [0.21057121261202902, 0.07854983263146527, -0.10528020732102371, 0.0, 0.15041572184429328, -0.00024295432458696462, -0.001133786848072548, -0.0001457725947521939, 0.0006435590109059485, -0.002518086599719257, -0.006096533851635901, 0.31065759637188206], "std": [0.5874871516438016, 0.4023179320859119, 0.24494976099381038, 0.0, 0.9886228353735673, 0.4068765370630771, 0.18441153743673885, 0.1956387019775528, 0.08348018443314235, 0.09705072483504476, 0.10853122198166804, 0.9505218870791191], "count": [1323]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012093726545572281], "std": [0.10930447280406952], "count": [1323]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007558578987150416], "std": [0.027482477645801726], "count": [1323]}, "timestamp": {"min": [0.0], "max": [66.1], "mean": [33.05], "std": [19.095854698511577], "count": [1323]}, "frame_index": {"min": [0], "max": [1322], "mean": [661.0], "std": [381.9170939702315], "count": [1323]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1323]}, "index": {"min": [52360], "max": [53682], "mean": [53021.0], "std": [381.9170939702315], "count": [1323]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1323]}}} +{"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": [[[0.6337952272521067]], [[0.5881292261001674]], [[0.5430908530278806]]], "std": [[[0.20037403726997854]], [[0.22573717635091936]], [[0.24508275027985232]]], "count": [214]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6149969678714158]], [[0.5641213381926131]], [[0.5227899172158824]]], "std": [[[0.2313300997337226]], [[0.23421688592475687]], [[0.2491156959623873]]], "count": [214]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6598474682567975]], [[0.6048758307022338]], [[0.5599919069418435]]], "std": [[[0.20226261033530551]], [[0.21709713461719013]], [[0.2414117807907094]]], "count": [214]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1284]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1284]}, "observation.state": {"min": [2.264082742982386, -4.649972272858568, 0.6999923063382605, 0.0, 0.0, -1.0, 1.0092649063153658e-06, 0.036936041067713046, -0.25251283658784907, 0.2709937531321981, -0.9886583089828491, -0.30448150634765625, -0.5439413785934448, 0.0004627438320312649, 0.00651661629225587, -0.04002166586737029], "max": [3.514837412912512, -0.879705758278948, 0.7004582749325395, 0.0, 0.0, 1.0, 1.0, 0.5799054569360322, 0.13380396530250727, 0.8510376187893782, 0.896679162979126, 0.4342023730278015, 0.5261089205741882, 0.25310519337654114, 0.04006887757659328, -0.008883786663839117], "mean": [2.8300894770305707, -2.598933324290279, 0.7001339553140371, 0.0, 0.0, 0.09389023243481724, 0.5085601973387548, 0.18612157371578866, -0.029537998973754975, 0.6550307821517067, -0.7799527705922676, 0.19449564989807078, -0.3383851579718315, 0.15481485509709583, 0.02619010434319836, -0.025457127718744806], "std": [0.3634666705862573, 1.522090542882414, 0.0001296006966443479, 0.0, 0.0, 0.7661582401763614, 0.3815137136991338, 0.14446912258667546, 0.10607417691904525, 0.14207588888358821, 0.3645611982263401, 0.20774788697716537, 0.18436305727142102, 0.07293264453191058, 0.012711369742932225, 0.013055540540537354], "count": [1284]}, "action": {"min": [-1.0, -0.75, -0.045714285714285714, 0.0, -1.0, -1.0, -0.6357142857142857, -0.5, -0.3171428571428571, -0.38, -0.21142857142857144, -1.0], "max": [1.0, 1.0, 0.5885714285714285, 0.0, 1.0, 0.8214285714285715, 1.0, 1.0, 0.5542857142857143, 0.44857142857142857, 0.5314285714285715, 1.0], "mean": [0.16658322207387624, 0.03367267467734756, 0.12023141967067204, 0.0, -0.1573208722741433, -0.005574098798397847, -0.008884067645749906, 0.019058744993324397, 0.0045104583889630625, -0.003108589230084566, 0.0011392968402314187, 0.06542056074766354], "std": [0.3906927552007913, 0.32616449375944756, 0.16978902917339175, 0.0, 0.9875475396895651, 0.32991588877617856, 0.1991870178767169, 0.2795437272577342, 0.07482936935284228, 0.08526670917574548, 0.06338391550827437, 0.997857780563667], "count": [1284]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012461058795452118], "std": [0.11093142628669739], "count": [1284]}, "next.done": {"min": [false], "max": [true], "mean": [0.000778816199376947], "std": [0.027896409172231025], "count": [1284]}, "timestamp": {"min": [0.0], "max": [64.15], "mean": [32.075], "std": [18.532938020364355], "count": [1284]}, "frame_index": {"min": [0], "max": [1283], "mean": [641.5], "std": [370.6587604072871], "count": [1284]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1284]}, "index": {"min": [53683], "max": [54966], "mean": [54324.5], "std": [370.6587604072871], "count": [1284]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1284]}}} +{"episode_index": 46, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5159164450527017]], [[0.5029423807181564]], [[0.4624260191823922]]], "std": [[[0.20527543119321862]], [[0.18504990347293562]], [[0.18456291448552015]]], "count": [192]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4669031277201534]], [[0.4561266032698887]], [[0.4296781870274762]]], "std": [[[0.20663051273426603]], [[0.19733843027760914]], [[0.20594799385395307]]], "count": [192]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4786170460819419]], [[0.4695488911049039]], [[0.44123623480204666]]], "std": [[[0.227221566856901]], [[0.21242827395158925]], [[0.2190948810104174]]], "count": [192]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1111]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1111]}, "observation.state": {"min": [0.7916631631122024, -4.2254841692358385, 0.6999876684549973, 0.0, 0.0, -1.0, 8.853031374655984e-08, 0.03351956924110122, -0.4233503610434042, 0.29932242447867197, -0.9890453815460205, -0.27079373598098755, -0.6923736929893494, 0.0008939253748394549, 0.0013063356638359953, -0.0407895554059075], "max": [3.396755963503134, -1.868314362885997, 0.7008672963873149, 0.0, 0.0, 1.0, 0.9999974966049194, 0.6303135670771254, -0.009044305561622945, 0.9018515846048157, 0.9142167568206787, 0.45910727977752686, 0.5453758239746094, 0.3186609745025635, 0.040095136931995526, -0.004747242093377537], "mean": [1.8577872577485413, -2.9700213624132155, 0.7002107800714774, 0.0, 0.0, -0.04585652928744903, 0.4498864076928349, 0.17498053309628483, -0.09310417414845026, 0.7062688915693985, -0.4897671231377994, 0.19080927520051505, -0.20070212187193515, 0.15310212707311094, 0.024902335617185186, -0.02437578069487618], "std": [0.9463784901616227, 0.869958604354583, 0.0003126308754280904, 0.0, 0.0, 0.8184049236838495, 0.3545599893975951, 0.15956262444701527, 0.0980232117642315, 0.14491210627764275, 0.7035678604343375, 0.17302925831555266, 0.35159298086480906, 0.10692941525100469, 0.0135370635128531, 0.013760690248072945], "count": [1111]}, "action": {"min": [-1.0, -1.0, -0.74, 0.0, -1.0, -1.0, -1.0, -1.0, -0.4914285714285715, -0.7685714285714286, -0.35714285714285715, -1.0], "max": [1.0, 1.0, 0.7771428571428571, 0.0, 1.0, 0.8857142857142857, 1.0, 1.0, 0.46857142857142864, 0.6, 0.2257142857142857, 1.0], "mean": [0.12357592902147348, -0.07587115854442585, 0.07942394239423944, 0.0, -0.0423042304230423, -0.005477690626205479, -0.014356435643564352, -0.005169088337405165, -0.003641507007843645, -0.011004243281471015, -0.0023453773948823443, 0.1341134113411341], "std": [0.40627175871509014, 0.3744581752892803, 0.2926925223388929, 0.0, 0.9991047753305446, 0.3626928051124659, 0.23063084023087554, 0.3495262246077237, 0.07756688994030071, 0.12132120131219441, 0.05745890198829854, 0.990965989778882], "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": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [1111]}, "index": {"min": [54967], "max": [56077], "mean": [55522.0], "std": [320.7179446180086], "count": [1111]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1111]}}} +{"episode_index": 47, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.565823371367324]], [[0.561257874731924]], [[0.5357582218182756]]], "std": [[[0.25361650816310677]], [[0.2260644483655898]], [[0.21392905065437498]]], "count": [202]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4949105187402932]], [[0.505849889726737]], [[0.4981820970200909]]], "std": [[[0.2924522658201438]], [[0.2529933266657041]], [[0.24199522135668164]]], "count": [202]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5069999358603571]], [[0.5211362761355122]], [[0.5151014703844292]]], "std": [[[0.29808103799205043]], [[0.25736475553932137]], [[0.24618982502590223]]], "count": [202]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1189]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1189]}, "observation.state": {"min": [0.12682424089203478, -5.317187199758382, 0.6999505293231228, 0.0, 0.0, -1.0, 8.863103317935384e-08, 0.007841179756459482, -0.2440434717416915, 0.2574755344910985, -0.9906420111656189, -0.22184431552886963, -0.6996423006057739, 0.00014741654740646482, 0.007433472044939424, -0.04009517851275413], "max": [3.742193155834595, -1.528354223798591, 0.701427943935919, 0.0, 0.0, 0.9999947547912598, 0.8585858941078186, 0.5550917216644312, 0.006911219660763024, 0.9251080824355153, 0.9739220142364502, 0.7921029329299927, 0.448326051235199, 0.43252789974212646, 0.04004182628377224, -0.004983801730031365], "mean": [2.041877167295216, -3.3739848101600973, 0.7003810972617974, 0.0, 0.0, -0.8186083741805652, 0.2568315622603184, 0.15652579267155525, -0.07657504526132945, 0.608783837505931, -0.3864554543019945, 0.33423623796066787, -0.276264705096001, 0.15406962232092922, 0.020384665315444153, -0.01907703980489863], "std": [1.5386474018837843, 1.0861529925292042, 0.0005550754244399512, 0.0, 0.0, 0.4359736985227173, 0.27174402446778556, 0.158858729252394, 0.07140545344236901, 0.15222773889208382, 0.6828735209295043, 0.3105593887679454, 0.25297083613829163, 0.11009570348757186, 0.014649469488684794, 0.015604201229880032], "count": [1189]}, "action": {"min": [-1.0, -1.0, -0.6657142857142857, 0.0, -1.0, -1.0, -1.0, -1.0, -0.5, -0.6171428571428571, -0.66, -1.0], "max": [1.0, 1.0, 0.7085714285714285, 0.0, 1.0, 1.0, 1.0, 1.0, 0.47714285714285715, 0.5371428571428571, 0.78, 1.0], "mean": [0.19346990267932213, 0.182404181184669, -0.0040874684608915215, 0.0, 0.08494533221194281, 0.0038267451640033737, -0.008722816292202331, -0.026787216148023502, 0.0025759942328487336, -0.01956506067523731, -0.0025928150907124745, 0.2413793103448276], "std": [0.49535055485867663, 0.56267816783352, 0.25994063864342065, 0.0, 0.9963856133723636, 0.4222046877098705, 0.2317022849036696, 0.401233423659967, 0.11542164918115924, 0.14909029274814825, 0.1517356787211991, 0.9704308468600231], "count": [1189]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013456686399877071], "std": [0.11521980166435242], "count": [1189]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008410428931875525], "std": [0.028988541530048928], "count": [1189]}, "timestamp": {"min": [0.0], "max": [59.4], "mean": [29.700000000000003], "std": [17.161730681956293], "count": [1189]}, "frame_index": {"min": [0], "max": [1188], "mean": [594.0], "std": [343.2346136391259], "count": [1189]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1189]}, "index": {"min": [56078], "max": [57266], "mean": [56672.0], "std": [343.2346136391259], "count": [1189]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1189]}}} +{"episode_index": 48, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5399336082943252]], [[0.5264562904572904]], [[0.5013829495201001]]], "std": [[[0.1588465867299355]], [[0.16504856909022497]], [[0.18711114582825714]]], "count": [183]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5195246314818512]], [[0.49899381945961657]], [[0.46106515947957266]]], "std": [[[0.1733203168811877]], [[0.18002507890819103]], [[0.20099614501588417]]], "count": [183]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5153614602926319]], [[0.49400723705743393]], [[0.4559081720613557]]], "std": [[[0.16393560021783882]], [[0.1703783404572023]], [[0.1921052453611986]]], "count": [183]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1042]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1042]}, "observation.state": {"min": [2.54429926441224, -3.853707624628542, 0.6999195805053146, 0.0, 0.0, -0.9999890327453613, 0.004698911681771278, -0.018613361776748327, -0.14629564961290065, 0.28045059469382483, -0.9910534620285034, -0.4298815131187439, -0.5813385248184204, 0.0005195739795453846, 0.007651274075746231, -0.040094103871725996], "max": [4.5827785032482184, -0.7704798559037611, 0.7007052294978411, 0.0, 0.0, 0.9999773502349854, 0.7316176295280457, 0.6081833121550984, 0.09504583152776824, 0.9139964876281454, 0.9644791483879089, 0.40625429153442383, 0.42908626794815063, 0.22154517471790314, 0.0400264155248981, 0.0005400776562892451], "mean": [3.8112853163563907, -2.401835219382955, 0.7000904570270996, 0.0, 0.0, 0.6483021005559105, 0.6366457388362706, 0.16678576833645523, -0.012996503609550276, 0.7012974479730971, -0.7685754037749973, 0.14816718416971345, -0.36639088801253095, 0.09903654766555263, 0.02273432278745746, -0.02135585134636748], "std": [0.7498296841344573, 1.2972025915541971, 0.0001298785980705852, 0.0, 0.0, 0.38437935006926677, 0.16321491034241808, 0.17518607718691165, 0.055926133749244794, 0.14805309420284832, 0.41084647183886974, 0.17161529755778843, 0.20143542515288174, 0.06682028076933771, 0.014311347511347333, 0.015243397780607444], "count": [1042]}, "action": {"min": [-1.0, -1.0, -0.5857142857142857, 0.0, -1.0, -1.0, -0.6642857142857144, -1.0, -0.22, -0.5857142857142857, -0.3485714285714286, -1.0], "max": [1.0, 1.0, 0.6714285714285715, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4828571428571429, 0.47714285714285715, 0.5028571428571429, 1.0], "mean": [0.05944612009871126, 0.14709350150808895, 0.002303262955854133, 0.0, -0.14395393474088292, 0.00497669317247056, -0.0017480120647107192, 0.019783383602961342, 0.0089388538524815, -0.001839868384973947, -0.0005730737592541829, 0.16698656429942418], "std": [0.4823499415391163, 0.4051204025402129, 0.17812228331623442, 0.0, 0.9895843898691159, 0.44044838394899444, 0.198284363141138, 0.38105799319223876, 0.07358748698029122, 0.11240225168051218, 0.07323148719016874, 0.9859591712355344], "count": [1042]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015355085954070091], "std": [0.12296059727668762], "count": [1042]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009596928982725527], "std": [0.030964041852018575], "count": [1042]}, "timestamp": {"min": [0.0], "max": [52.05], "mean": [26.025], "std": [15.039967586401243], "count": [1042]}, "frame_index": {"min": [0], "max": [1041], "mean": [520.5], "std": [300.7993517280248], "count": [1042]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [1042]}, "index": {"min": [57267], "max": [58308], "mean": [57787.5], "std": [300.7993517280248], "count": [1042]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1042]}}} +{"episode_index": 49, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6342424536176332]], [[0.5276131451448655]], [[0.4850959565677745]]], "std": [[[0.17936611446577486]], [[0.22434071381084922]], [[0.22831478166260605]]], "count": [220]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6310993742645318]], [[0.5073220925832602]], [[0.4611980964538248]]], "std": [[[0.19100369641591108]], [[0.24855307138231872]], [[0.24608870254769794]]], "count": [220]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6407408626236806]], [[0.5218962336521522]], [[0.47307218663832723]]], "std": [[[0.18757835022647018]], [[0.24341064675716242]], [[0.23805384240929142]]], "count": [220]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1329]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1329]}, "observation.state": {"min": [0.764056677018476, -7.038190921205273, 0.6999924180961372, 0.0, 0.0, -0.15749859809875488, 0.45596519112586975, 0.010264552338928645, -0.2916923424684148, 0.26217565562757084, -0.9914557337760925, -0.10542824864387512, -0.616203784942627, 2.953698640340008e-05, 0.0060963096845117835, -0.0400904150335425], "max": [4.916515607618144, -2.9560665337125966, 0.700406595991895, 0.0, 0.0, 0.889997661113739, 1.0, 0.5391401865329026, 0.21065548155513447, 0.8896191706888259, 0.9474679231643677, 0.46168285608291626, 0.3809111416339874, 0.2635722756385803, 0.04002636123693146, -0.003240909398269477], "mean": [2.7506012339933954, -5.570785638224675, 0.7000985467119714, 0.0, 0.0, 0.07360664548944669, 0.9536160334686842, 0.15025034942117144, 0.004335492167830265, 0.6900798502492632, -0.5510673313951744, 0.2388807373826355, -0.2786740063051248, 0.1438143337321434, 0.02229547990644166, -0.02067599976555518], "std": [1.623940547329487, 1.4315257083411104, 9.772517846496244e-05, 0.0, 0.0, 0.2632033360155285, 0.12618450832159436, 0.14428476917486532, 0.07266162382974145, 0.12526376213103715, 0.6671490024874026, 0.13307774844901543, 0.26861996655042447, 0.07723251193682447, 0.013903025890322806, 0.015071782033573636], "count": [1329]}, "action": {"min": [-1.0, -1.0, -0.47714285714285715, 0.0, -1.0, -1.0, -1.0, -0.5714285714285715, -0.35714285714285715, -0.4714285714285714, -0.4514285714285714, -1.0], "max": [1.0, 1.0, 0.5514285714285714, 0.0, 1.0, 0.7071428571428572, 0.8285714285714285, 1.0, 0.5342857142857143, 0.3942857142857143, 0.3314285714285714, 1.0], "mean": [0.05835214446952603, 0.17513167795334833, 0.0007395463828872631, 0.0, 0.12415349887133183, -0.00032247662044502726, -0.0171826292593787, 0.0067397613673008784, 0.003880468666021709, -0.0008943351607008539, -0.002986133505320864, 0.21745673438675697], "std": [0.5124892823137531, 0.5363338278019518, 0.16838045720987402, 0.0, 0.9922630239598856, 0.3472063541923768, 0.181518981883242, 0.2846033955285189, 0.06837324517099155, 0.07470013084787527, 0.06150596911444008, 0.9760699609504606], "count": [1329]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012039126828312874], "std": [0.10906047374010086], "count": [1329]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007524454477050414], "std": [0.027420417092985098], "count": [1329]}, "timestamp": {"min": [0.0], "max": [66.4], "mean": [33.2], "std": [19.182457263517275], "count": [1329]}, "frame_index": {"min": [0], "max": [1328], "mean": [664.0], "std": [383.6491452703455], "count": [1329]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [1329]}, "index": {"min": [58309], "max": [59637], "mean": [58973.0], "std": [383.6491452703455], "count": [1329]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1329]}}} +{"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": [[[0.5497093590614076]], [[0.487422233637948]], [[0.436581270485002]]], "std": [[[0.2265587798489669]], [[0.25525511975021115]], [[0.2779252350402373]]], "count": [183]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5058348350479942]], [[0.44389979804838176]], [[0.3956871543630046]]], "std": [[[0.2490820400998438]], [[0.2685035004743903]], [[0.2816663519861603]]], "count": [183]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5332615625816157]], [[0.4621489791845593]], [[0.4062631134356919]]], "std": [[[0.23105364674100076]], [[0.26064456455524854]], [[0.27953981282168444]]], "count": [183]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1046]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1046]}, "observation.state": {"min": [0.8134132336247633, -4.36905548582327, 0.6999892061517597, 0.0, 0.0, -0.04092758893966675, 0.6452032923698425, 0.05349150178639417, -0.2191070053029225, 0.2545745678038086, -0.9860655069351196, -0.3185528516769409, -0.5500548481941223, 0.000191984509001486, 0.006451601983990794, -0.04010529074810249], "max": [5.00483308871209, -1.7343835718240348, 0.7003660552299444, 0.0, 0.0, 0.7640109658241272, 1.0, 0.5323603470283995, 0.18135003327806798, 0.8512072762199223, 0.8393685221672058, 0.6262830495834351, 0.4936445653438568, 0.31291577219963074, 0.04006024751552901, -0.00407451455100725], "mean": [2.8890203585348844, -3.41936586571233, 0.7001235432456095, 0.0, 0.0, 0.09968134860757491, 0.9678709126909194, 0.18614034692738024, -0.04509471106173194, 0.6786979802904486, -0.8026468444394792, 0.27893292399596986, -0.41593779821525795, 0.17013990299234577, 0.022170718237035196, -0.02051208008856181], "std": [1.7182728237978246, 0.9371796720407287, 0.00012165114469176728, 0.0, 0.0, 0.21310443635705376, 0.08874699636396924, 0.11766790403956846, 0.08070550222763115, 0.1430168877101433, 0.1545053444107641, 0.18270622808481046, 0.1158164650765036, 0.07304591110775947, 0.014343968784651865, 0.015348791474182288], "count": [1046]}, "action": {"min": [-1.0, -1.0, -0.5114285714285715, 0.0, -1.0, -1.0, -0.9928571428571428, -0.8571428571428572, -0.41714285714285715, -0.5657142857142857, -0.38285714285714284, -1.0], "max": [1.0, 1.0, 0.9428571428571428, 0.0, 1.0, 0.942857142857143, 0.6714285714285714, 1.0, 0.41428571428571437, 0.22, 0.36857142857142855, 1.0], "mean": [0.03951106255121558, 0.17284894837476117, -0.004091778202676861, 0.0, -0.0841300191204589, -0.003325594099972688, -0.01302239825184376, 0.013418464900300443, 0.0016744059000273165, -0.001043430756623875, -0.0013357006282436494, 0.2045889101338432], "std": [0.4987871336930496, 0.4356962977054126, 0.18294347782379142, 0.0, 0.9964547856690811, 0.34333682904829366, 0.1927777462740886, 0.32265839421320264, 0.08803450567278512, 0.06935118955114851, 0.0699418281630107, 0.9788479850570602], "count": [1046]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01529636699706316], "std": [0.12272892892360687], "count": [1046]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009560229445506692], "std": [0.030904837237561402], "count": [1046]}, "timestamp": {"min": [0.0], "max": [52.25], "mean": [26.125], "std": [15.097702639805831], "count": [1046]}, "frame_index": {"min": [0], "max": [1045], "mean": [522.5], "std": [301.9540527961166], "count": [1046]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [1046]}, "index": {"min": [59638], "max": [60683], "mean": [60160.5], "std": [301.9540527961166], "count": [1046]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1046]}}} +{"episode_index": 51, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6194017942399259]], [[0.555179455476028]], [[0.5073365250980774]]], "std": [[[0.21584625762568938]], [[0.25289226903801015]], [[0.2783720385197029]]], "count": [241]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5747314157657438]], [[0.532518710644714]], [[0.49329976230900974]]], "std": [[[0.23350839493370865]], [[0.2591181221857849]], [[0.27847751317973785]]], "count": [241]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5967450255577951]], [[0.5524103113928159]], [[0.5108183709553421]]], "std": [[[0.21080466773013795]], [[0.24229452230024795]], [[0.26354424955797867]]], "count": [241]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1500]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1500]}, "observation.state": {"min": [0.15682346824982565, -5.642752860261946, 0.6999924445487505, 0.0, 0.0, -1.0, 8.698987130628666e-08, -0.02273061144231736, -0.26036468971910764, 0.27721586724124503, -0.9904922842979431, -0.5814527273178101, -0.6605590581893921, 0.00034040218451991677, 0.009595763567348576, -0.0400988872757677], "max": [3.894457099960502, -1.5828166784477653, 0.7004811780212875, 0.0, 0.0, 0.9999979734420776, 0.9999996423721313, 0.5531823514870241, 0.013737002720811908, 0.9249559617753428, 0.753811240196228, 0.6482401490211487, 0.4170295000076294, 0.4121245741844177, 0.04005916219907014, -0.005903084891159915], "mean": [1.9367369103654644, -4.132024089580316, 0.7001056815723158, 0.0, 0.0, -0.5198517459319749, 0.35795901178634093, 0.13910470283478477, -0.08421447439378592, 0.5849299038434996, -0.5313240167697271, 0.13916351189215978, -0.10774386779032648, 0.12377103091733685, 0.02117838151267405, -0.01954599425426689], "std": [1.5139471365474004, 1.324517625628439, 0.00011754547009671606, 0.0, 0.0, 0.6890601085690791, 0.3561119048251784, 0.1623914539571746, 0.06083018095118768, 0.1329058035047616, 0.6652898139247415, 0.3648121566382073, 0.2926424094609406, 0.10031088114033852, 0.013300211290025094, 0.014411610831345468], "count": [1500]}, "action": {"min": [-0.8428571428571429, -1.0, -0.9857142857142858, 0.0, -1.0, -1.0, -0.7714285714285714, -1.0, -0.3142857142857143, -0.9771428571428572, -0.2885714285714286, -1.0], "max": [1.0, 1.0, 0.4914285714285715, 0.0, 1.0, 1.0, 1.0, 1.0, 0.3171428571428571, 0.8828571428571429, 0.35714285714285715, 1.0], "mean": [0.44905714285714265, 0.11088571428571438, -0.1542933333333333, 0.0, 0.18933333333333333, -0.0058142857142857145, -0.0027952380952380794, -9.523809523806086e-06, 0.006792380952380957, 0.00041714285714285947, 0.0031847619047619033, 0.30266666666666664], "std": [0.4841110045866583, 0.46572729079124464, 0.24953121751271684, 0.0, 0.9819128723511548, 0.35324834233234, 0.14952046788804482, 0.326018550311779, 0.062183683549411346, 0.15205682836709944, 0.06043228750628713, 0.9530964740722153], "count": [1500]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01066666655242443], "std": [0.1027272641658783], "count": [1500]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006666666666666666], "std": [0.025811280910141253], "count": [1500]}, "timestamp": {"min": [0.0], "max": [74.95], "mean": [37.475], "std": [21.65063028335819], "count": [1500]}, "frame_index": {"min": [0], "max": [1499], "mean": [749.5], "std": [433.01260566716377], "count": [1500]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [1500]}, "index": {"min": [60684], "max": [62183], "mean": [61433.5], "std": [433.01260566716377], "count": [1500]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1500]}}} +{"episode_index": 52, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6008389489036431]], [[0.5607999612891118]], [[0.5180860773328657]]], "std": [[[0.19540490045226358]], [[0.18927059598165555]], [[0.18146741179099998]]], "count": [171]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5616355511945619]], [[0.5203551322273016]], [[0.48298245467063605]]], "std": [[[0.20561899238328754]], [[0.19681238978884946]], [[0.2003050950383721]]], "count": [171]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5455940910578184]], [[0.501461194658099]], [[0.4608436734068627]]], "std": [[[0.20508940864901146]], [[0.1919748281386767]], [[0.1932770772937726]]], "count": [171]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [950]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [950]}, "observation.state": {"min": [0.7672565598372717, -3.8213180661257633, 0.6999918091384244, 0.0, 0.0, -1.0, 8.39266149910145e-08, -0.0074270397833768875, -0.00044003981099738354, 0.27628835586922373, -0.9887140989303589, -0.07020482420921326, -0.5690194964408875, 0.00038656164542771876, 0.0043634788539965545, -0.04002915660907455], "max": [2.825148593214761, -2.096140742474037, 0.7013262396637174, 0.0, 0.0, 1.0, 0.9999909400939941, 0.6625783949288246, 0.16839875536485893, 0.8263717315326431, 0.9885122776031494, 0.40322190523147583, 0.49053019285202026, 0.4033682346343994, 0.04008628486164239, -0.007031623845017659], "mean": [1.7080132192602888, -3.022111501575025, 0.7001279373311626, 0.0, 0.0, 0.6498951665493414, 0.5042868570612943, 0.2953279227354242, 0.07690878743962333, 0.6006906564492942, 0.15155803191034417, 0.20856530730661593, -0.023525402483187224, 0.231647378900119, 0.023913545043083115, -0.023106743135034885], "std": [0.7820349164533033, 0.49928215156908656, 0.0003459145799612967, 0.0, 0.0, 0.428412578981808, 0.37388996475666336, 0.194604875669959, 0.039600133797637285, 0.15771312851340155, 0.8548433949507668, 0.12736575259366628, 0.3499674205863753, 0.09929884092610908, 0.0140481803792154, 0.013191839253224216], "count": [950]}, "action": {"min": [-1.0, -0.9285714285714287, -0.8971428571428571, 0.0, -1.0, -1.0, -0.5928571428571429, -0.7928571428571428, -0.2914285714285714, -0.29428571428571426, -0.23714285714285716, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.9285714285714287, 1.0, 0.34285714285714286, 0.28, 0.4, 1.0], "mean": [0.11240601503759394, -0.047714285714285744, 0.0744451127819548, 0.0, -0.17684210526315788, 0.0045789473684210566, 0.0009548872180451273, 0.007721804511278186, 0.0057744360902255605, -0.0021323308270676635, 0.0022195488721804524, 0.24210526315789474], "std": [0.41574349499005475, 0.34595737430139334, 0.3576672245960305, 0.0, 0.9842392340310938, 0.46491354883667413, 0.14719358606250904, 0.3455909771197178, 0.06396868050442263, 0.07286365072543192, 0.05001814412155525, 0.9702499892044506], "count": [950]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016842104494571686], "std": [0.12867963314056396], "count": [950]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010526315789473684], "std": [0.03242720379105129], "count": [950]}, "timestamp": {"min": [0.0], "max": [47.45], "mean": [23.725], "std": [13.712061296537438], "count": [950]}, "frame_index": {"min": [0], "max": [949], "mean": [474.5], "std": [274.2412259307488], "count": [950]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [950]}, "index": {"min": [62184], "max": [63133], "mean": [62658.5], "std": [274.2412259307488], "count": [950]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [950]}}} +{"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": [[[0.4722323790013196]], [[0.3813513021925122]], [[0.3381384476105181]]], "std": [[[0.23333711596373088]], [[0.24138280876940194]], [[0.23954127163996075]]], "count": [171]}, "observation.images.robot0_agentview_left": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5142607722256711]], [[0.40316504447944884]], [[0.3714398671366618]]], "std": [[[0.2598081392282215]], [[0.2843550033404531]], [[0.2997984891343439]]], "count": [171]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4911399359277131]], [[0.3836763192775968]], [[0.35410184804459066]]], "std": [[[0.26488428674905085]], [[0.2798559917474856]], [[0.29289588901932284]]], "count": [171]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [956]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [956]}, "observation.state": {"min": [1.538558382681335, -3.9634595719173804, 0.6999909173683805, 0.0, 0.0, -0.7154995799064636, 0.698613166809082, 0.012308973212131313, -0.34989564326758327, 0.2741909891798454, -0.9864934682846069, -0.08233717083930969, -0.5086774826049805, 0.0022258239332586527, 0.004174172125181476, -0.040034900787652324], "max": [4.429539604880964, -2.147436607764514, 0.7008962623337774, 0.0, 0.0, 0.10778772830963135, 1.0, 0.5247113165185437, 0.11476741094065401, 0.8265717656119728, 0.9866385459899902, 0.7635330557823181, 0.5638684630393982, 0.41287896037101746, 0.04008126758908978, -0.005003882198422916], "mean": [2.862357577475777, -2.9974808413916016, 0.7000951333464974, 0.0, 0.0, -0.06657045262990814, 0.9765024983857965, 0.22699634621960893, -0.07140153541985833, 0.5789575894428455, 0.19188091102753724, 0.30188341939112634, 0.013706778039742714, 0.22544368768011505, 0.023127482448673988, -0.023103745761690005], "std": [1.2062688603991765, 0.56880160948728, 0.00017869667268993639, 0.0, 0.0, 0.19636383172207986, 0.05875801126174672, 0.14823708470615204, 0.10723761839426774, 0.15200188486806643, 0.8061372325576075, 0.24982054486168787, 0.3038541083932053, 0.1282205991882838, 0.01463053018065746, 0.013940702765244542], "count": [956]}, "action": {"min": [-1.0, -1.0, -0.8485714285714285, 0.0, -1.0, -1.0, -1.0, -0.8785714285714286, -0.32571428571428573, -0.48571428571428577, -0.8142857142857143, -1.0], "max": [1.0, 1.0, 0.4542857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.37714285714285717, 0.4742857142857143, 0.31142857142857144, 1.0], "mean": [-0.013747758517633006, -0.11900777047220563, 0.0077435744172145845, 0.0, -0.18828451882845187, -0.003735803945008946, 0.00508069336521219, 0.005469216975493122, 0.012232516437537361, -0.0019754931261207406, -0.024357441721458453, 0.16736401673640167], "std": [0.4434476435375629, 0.4738194341130319, 0.2345559347941875, 0.0, 0.9821145248745314, 0.3896763378026846, 0.22639928153733643, 0.3270382439944696, 0.08442198293661098, 0.09737972465218359, 0.1359086724870424, 0.9858951698339172], "count": [956]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016736401244997978], "std": [0.1282820850610733], "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": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [956]}, "index": {"min": [63134], "max": [64089], "mean": [63611.5], "std": [275.97327769188087], "count": [956]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [956]}}} +{"episode_index": 54, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5155438507516006]], [[0.48718210869657885]], [[0.44868217700440083]]], "std": [[[0.20377953858334324]], [[0.21167070385206993]], [[0.221343446549564]]], "count": [221]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5307105339130845]], [[0.5395057497489062]], [[0.5162845400716406]]], "std": [[[0.22640540845616572]], [[0.19379261397600434]], [[0.1837610212623256]]], "count": [221]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5301404584597467]], [[0.5368106712413737]], [[0.512918513479699]]], "std": [[[0.22614210840179494]], [[0.19138292962122133]], [[0.17881420948230148]]], "count": [221]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1337]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1337]}, "observation.state": {"min": [2.3604469595367004, -6.845726475217274, 0.6999943310890223, 0.0, 0.0, -0.9999889135360718, 0.001822731108404696, 0.05310011991289976, -0.2722080666966402, 0.5581877080029457, -0.9924598932266235, -0.7595626711845398, -0.5541067123413086, 0.00017431411833968014, 0.004919390957969412, -0.04022196086212244], "max": [4.8542547544554155, -1.104940192915802, 0.7007145643522072, 0.0, 0.0, 0.9999983310699463, 0.7075302600860596, 0.5757686561539213, 0.22363244663894477, 0.8632319599462769, 0.9636936783790588, 0.7597935199737549, 0.5172029137611389, 0.3163021206855774, 0.040070881384707574, -0.0017862437964103557], "mean": [4.108392622074431, -3.7518450082737087, 0.7003549857819422, 0.0, 0.0, 0.5954988631813403, 0.5821949073766367, 0.20081754388289064, -0.06915638636558008, 0.6994253640681295, -0.5060368399167114, 0.2218814032206628, -0.17975386494607648, 0.10461474014734348, 0.026471602369190824, -0.02475744365678608], "std": [0.8610836933540751, 2.34406733104143, 0.0002610181555613793, 0.0, 0.0, 0.5171102121474724, 0.1975530936972343, 0.13625257576210792, 0.12028235778240935, 0.08374156050666594, 0.6891412461622453, 0.24366233822693018, 0.3362999383250953, 0.06367902701674408, 0.013911098393969631, 0.014563702646313494], "count": [1337]}, "action": {"min": [-1.0, -1.0, -0.44571428571428573, 0.0, -1.0, -1.0, -0.5214285714285715, -0.9071428571428573, -0.4314285714285714, -0.7028571428571428, -0.3142857142857143, -1.0], "max": [1.0, 1.0, 0.6485714285714286, 0.0, 1.0, 0.7000000000000001, 0.807142857142857, 0.7071428571428572, 0.3514285714285714, 0.32285714285714284, 0.6942857142857143, 1.0], "mean": [0.07226733625387328, 0.15081739502083533, -0.003872208569291567, 0.0, 0.07255048616305161, 0.001367667485842513, 0.0025056095736723915, -0.001554653274922523, -0.00021583502510952104, -0.010347259322577195, -0.004047440965915159, 0.1338818249813014], "std": [0.5295454045149802, 0.45896723205450773, 0.15014556957534392, 0.0, 0.9973647411842381, 0.31630299606365164, 0.14984135746050384, 0.18881109398542523, 0.06349295091969373, 0.09284814243331137, 0.0774833873132416, 0.9909973042040532], "count": [1337]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011967090889811516], "std": [0.10873766243457794], "count": [1337]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007479431563201197], "std": [0.02733831994389987], "count": [1337]}, "timestamp": {"min": [0.0], "max": [66.8], "mean": [33.400000000000006], "std": [19.297927349847704], "count": [1337]}, "frame_index": {"min": [0], "max": [1336], "mean": [668.0], "std": [385.95854699695406], "count": [1337]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1337]}, "index": {"min": [64090], "max": [65426], "mean": [64758.0], "std": [385.95854699695406], "count": [1337]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1337]}}} +{"episode_index": 55, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5345401845362711]], [[0.4722112571699687]], [[0.42945626718026625]]], "std": [[[0.2135430617366053]], [[0.2389350184585684]], [[0.24585266989224674]]], "count": [180]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5604068029731967]], [[0.49274055098656216]], [[0.453050045437283]]], "std": [[[0.2388339051210661]], [[0.2775483301090988]], [[0.2987144386732825]]], "count": [180]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5468375006116812]], [[0.4956051755418964]], [[0.45646772530084084]]], "std": [[[0.22433309208135604]], [[0.2625234335998001]], [[0.28081274691353925]]], "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": [2.4073237887403893, -3.816899690250118, 0.6999949549729948, 0.0, 0.0, -0.999996542930603, 0.002629305003210902, -0.16336624480294093, -0.36933184747214765, 0.26878720945081613, -0.9935848712921143, 0.004194222390651703, -0.48941096663475037, 0.002733460860326886, 0.0054791472999910565, -0.04006170424938199], "max": [4.611677313905758, -0.6870570924143813, 0.7004918963650103, 0.0, 0.0, 0.9998321533203125, 1.0, 0.5701437014950042, -0.012135529030305237, 0.8676983449222645, -0.4258085787296295, 0.6910779476165771, -0.06705650687217712, 0.5736473202705383, 0.040070673764213596, -0.0035859019461441303], "mean": [3.861982309322237, -1.9517437157859514, 0.7000899199136171, 0.0, 0.0, -0.03736564086308363, 0.6792048518443408, 0.09783913582183548, -0.13166352420257127, 0.6734073416248776, -0.664427927503847, 0.5099065860992191, -0.3011408146332271, 0.368124021464638, 0.02022275383245136, -0.018534550639295294], "std": [0.735205191049692, 1.0519660870827512, 0.0001074760732928783, 0.0, 0.0, 0.6527855998007779, 0.33339998733393933, 0.2318930407703536, 0.07974170206017446, 0.15807173573594407, 0.14231463959908372, 0.1430008455855608, 0.1262790194256694, 0.12522232477826337, 0.01575050876299401, 0.016416361990173354], "count": [1022]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.9214285714285714, -1.0, -0.43428571428571433, -0.4028571428571428, -0.7142857142857143, -1.0], "max": [1.0, 1.0, 0.6914285714285714, 0.0, 1.0, 1.0, 0.9857142857142858, 1.0, 0.31142857142857144, 0.4257142857142857, 0.3, 1.0], "mean": [0.08071009225608057, 0.1486301369863013, -0.16685211070729672, 0.0, -0.21135029354207435, 0.0038300251607492316, -0.014013139502376294, -0.0028166060944925806, 0.007581772435001394, -0.010670953312831981, -0.007799832261671783, 0.19765166340508805], "std": [0.47126029369119266, 0.3989068599592999, 0.3227064019144543, 0.0, 0.9774103812727151, 0.5010658076455453, 0.18950343945038242, 0.3521805159481942, 0.08023943668798714, 0.09933792328958914, 0.1042680950567483, 0.9802723192833701], "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": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1022]}, "index": {"min": [65427], "max": [66448], "mean": [65937.5], "std": [295.0258463253686], "count": [1022]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1022]}}} +{"episode_index": 56, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.01568627450980392]], [[0.01568627450980392]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.543278113780646]], [[0.5315093574584109]], [[0.4889893864306454]]], "std": [[[0.2086856558767179]], [[0.19203911197921403]], [[0.18360406346874295]]], "count": [174]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49589861323227885]], [[0.47099214063347367]], [[0.431734554074975]]], "std": [[[0.23112842551823218]], [[0.2180846774972373]], [[0.22256527653223102]]], "count": [174]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.495806476557768]], [[0.4772039190347812]], [[0.44164118514234]]], "std": [[[0.2260084603345451]], [[0.21103385856165136]], [[0.2197906437845965]]], "count": [174]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [976]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [976]}, "observation.state": {"min": [2.6422603844284422, -5.814924357676452, 0.6999855364707585, 0.0, 0.0, -0.9999974966049194, 0.0007631471380591393, 0.06038558327768978, -0.2863786923196474, 0.2714771085065628, -0.990763783454895, -0.04238557815551758, -0.5504921674728394, 0.014290331862866879, 0.0058387858572968255, -0.04023076419236369], "max": [3.800993794318906, -0.7607479381887827, 0.7003819431800586, 0.0, 0.0, 0.9999997615814209, 0.741758406162262, 0.5803779144736989, 0.06420270325496658, 0.9055810342284683, -0.7825810313224792, 0.3388753831386566, -0.022547690197825432, 0.4264124929904938, 0.0400340999999048, -0.003794501795058482], "mean": [3.4502694957405864, -3.2342105028209582, 0.7001830790569108, 0.0, 0.0, 0.5624522228465706, 0.5894673715892332, 0.1909084789062582, -0.024333364927264203, 0.6889717103627649, -0.8827155764962806, 0.15940206438364063, -0.3549390835973785, 0.17486022013911337, 0.022513122129579042, -0.02140077649420439], "std": [0.3680966504014398, 2.0101476410758026, 0.00014357622904291416, 0.0, 0.0, 0.536664898129067, 0.2194686944276547, 0.12119408729771329, 0.06027873946525493, 0.12503973388745063, 0.032136552963336076, 0.12526649552011623, 0.10901052049549977, 0.10118592141761343, 0.013875057607990572, 0.014715608368228494], "count": [976]}, "action": {"min": [-1.0, -1.0, -0.5828571428571429, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2542857142857143, -0.5685714285714286, -0.44285714285714284, -1.0], "max": [1.0, 1.0, 0.6485714285714286, 0.0, 1.0, 1.0, 1.0, 1.0, 0.47714285714285715, 0.5542857142857143, 0.5457142857142857, 1.0], "mean": [0.009565281030444978, 0.169862412177986, -0.0045608899297424005, 0.0, 0.16393442622950818, -0.0004903395784543275, -0.006279274004683842, -0.0004317915690866568, 0.008507025761124125, -0.004859484777517565, 0.0013553864168618244, 0.22745901639344263], "std": [0.5650348883217334, 0.43170274137924103, 0.18173403048063871, 0.0, 0.9864712382511801, 0.41918128239010016, 0.2027358840969627, 0.3599080186054132, 0.07241008915333606, 0.11012807104451683, 0.07295358907902384, 0.973787654399729], "count": [976]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016393441706895828], "std": [0.12698306143283844], "count": [976]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010245901639344263], "std": [0.03199281761474589], "count": [976]}, "timestamp": {"min": [0.0], "max": [48.75], "mean": [24.375], "std": [14.087339173882341], "count": [976]}, "frame_index": {"min": [0], "max": [975], "mean": [487.5], "std": [281.74678347764683], "count": [976]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [976]}, "index": {"min": [66449], "max": [67424], "mean": [66936.5], "std": [281.74678347764683], "count": [976]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [976]}}} +{"episode_index": 57, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5925591401548668]], [[0.5618852391520682]], [[0.5123565867335352]]], "std": [[[0.16383984835322116]], [[0.15988304834563094]], [[0.1710643836584043]]], "count": [201]}, "observation.images.robot0_agentview_left": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5870280066998036]], [[0.5426711829228932]], [[0.4912621535041742]]], "std": [[[0.19266339664979604]], [[0.1852235797474655]], [[0.19228386605773534]]], "count": [201]}, "observation.images.robot0_agentview_right": {"min": [[[0.011764705882352941]], [[0.011764705882352941]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.599045470828208]], [[0.5545117841256723]], [[0.5028480217940818]]], "std": [[[0.18960421188356066]], [[0.18579146969181215]], [[0.19551941124085848]]], "count": [201]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1182]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1182]}, "observation.state": {"min": [0.8643269540568675, -4.843693417541266, 0.6999960840611154, 0.0, 0.0, -0.01334899477660656, 0.6427549719810486, -0.020426964483297283, -0.25726452243850284, 0.27315991492327674, -0.9903731346130371, -0.20148882269859314, -0.5358392596244812, 0.00032568848109804094, 0.005255523610821809, -0.04002022794999256], "max": [3.7289447982940658, -0.7625027031534822, 0.7004960921875829, 0.0, 0.0, 0.7660717964172363, 0.9999992847442627, 0.5872819030315352, 0.10897763298233931, 0.8463257931537272, 0.9722282886505127, 0.3927454352378845, 0.506821870803833, 0.28747469186782837, 0.0401376589391298, -0.0029753489662567804], "mean": [1.8379410733848298, -2.84814634312995, 0.7001285369549518, 0.0, 0.0, 0.6114592049252155, 0.7649543226370351, 0.15090174134788087, -0.0643079223904645, 0.6772184162377739, -0.8096647477896282, 0.13890373171031375, -0.35574850418090964, 0.15303792172879696, 0.02793179486989905, -0.02505917657513353], "std": [1.0442661913571143, 1.6000930946723875, 0.00013505435387103852, 0.0, 0.0, 0.18230257820719012, 0.08791070271737178, 0.1619193363040333, 0.07695354646207044, 0.13464948392647855, 0.32836434222510424, 0.160660976696, 0.18799462346045076, 0.07870246121324047, 0.013497633565372077, 0.013571348391236642], "count": [1182]}, "action": {"min": [-1.0, -1.0, -0.4114285714285714, 0.0, -1.0, -1.0, -0.8357142857142857, -0.7857142857142857, -0.19428571428571428, -0.5542857142857143, -0.2914285714285714, -1.0], "max": [1.0, 1.0, 0.5457142857142857, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5657142857142857, 0.5342857142857143, 0.32285714285714284, 1.0], "mean": [0.054943195552332624, -0.027374909354604734, -0.006630408508581105, 0.0, -0.030456852791878174, -0.007348320038675351, -0.010841189267585183, 0.001293207638385257, 0.006374184191443073, -0.006717428087986462, 0.0030456852791878194, 0.1895093062605753], "std": [0.5575808007591453, 0.37846268593913934, 0.15226542959755773, 0.0, 0.999536082449262, 0.37628476362037305, 0.18659785060865994, 0.2720299223398518, 0.07771877638405482, 0.10777795153484258, 0.05835828807954047, 0.9818789247359504], "count": [1182]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013536378741264343], "std": [0.11555580049753189], "count": [1182]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008460236886632825], "std": [0.029074179826462914], "count": [1182]}, "timestamp": {"min": [0.0], "max": [59.05], "mean": [29.525000000000002], "std": [17.060694348902295], "count": [1182]}, "frame_index": {"min": [0], "max": [1181], "mean": [590.5], "std": [341.2138869780459], "count": [1182]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [1182]}, "index": {"min": [67425], "max": [68606], "mean": [68015.5], "std": [341.2138869780459], "count": [1182]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1182]}}} +{"episode_index": 58, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6179644221124875]], [[0.5603685885499426]], [[0.518050925856058]]], "std": [[[0.2310357221377133]], [[0.24193647508176686]], [[0.2561439802105508]]], "count": [236]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5945472484016862]], [[0.530594303870209]], [[0.4832930377568467]]], "std": [[[0.2333449169921828]], [[0.2506470765082319]], [[0.261246480204365]]], "count": [236]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6275597954873985]], [[0.5501008355447168]], [[0.4941469100592104]]], "std": [[[0.23102479718916347]], [[0.2598205298085279]], [[0.2767987295163349]]], "count": [236]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1462]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1462]}, "observation.state": {"min": [-0.5185424693618017, -6.364138226101223, 0.6999918678604102, 0.0, 0.0, -0.9999990463256836, 0.001368448487482965, 0.020652962627745186, -0.08507572665381263, 0.28648081168899686, -0.9909384846687317, -0.8160589337348938, -0.14185434579849243, 2.636800672917161e-05, 0.0008317318065828977, -0.04004278573892893], "max": [3.686876516000849, -0.8914760728812235, 0.7003403033949128, 0.0, 0.0, 0.9999979734420776, 0.999998927116394, 0.6598222541254268, 0.04462308260447623, 0.849393772123302, 0.9844669103622437, 0.9950456023216248, 0.5527985095977783, 0.339742511510849, 0.040087417013589456, -0.005898841193464262], "mean": [2.1201311106065197, -3.0400304373608638, 0.7000665652741295, 0.0, 0.0, 0.2514887759098898, 0.7211103229892565, 0.24247233657142156, -0.03529975235042702, 0.5967832375946296, 0.4231307841369993, 0.7824108988739723, 0.22622205196942233, 0.1312192988305372, 0.02178938780675361, -0.023344588384998612], "std": [1.533474105076191, 1.9270807497056512, 9.460667501863327e-05, 0.0, 0.0, 0.5820528156390187, 0.27922720591728756, 0.17742003171955115, 0.028624401357945892, 0.15321983734605363, 0.2516224700709283, 0.17273776437632113, 0.19919468760742365, 0.08699351686006498, 0.015575241207264749, 0.014653256883074745], "count": [1462]}, "action": {"min": [-0.8857142857142857, -1.0, -0.6885714285714286, 0.0, -1.0, -1.0, -0.4785714285714286, -0.9285714285714287, -0.48, -0.5028571428571429, -0.7371428571428571, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.5214285714285715, 1.0, 0.6542857142857142, 0.37714285714285717, 0.6771428571428572, 1.0], "mean": [0.336388508891929, 0.06323529411764703, 0.05165526675786598, 0.0, 0.1409028727770178, 0.00459742036349424, 0.004597420363494233, 0.006883916357240565, -0.00606019151846785, -0.004758647645104553, 0.014729333593902688, 0.12585499316005472], "std": [0.4601419454276421, 0.5187593605195178, 0.27831087062562365, 0.0, 0.9900234241891448, 0.3457596375446605, 0.07106152907224689, 0.25700297197919286, 0.09251418366534399, 0.07834803791631444, 0.11148737829886105, 0.992048648351819], "count": [1462]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010943912900984287], "std": [0.10403914749622345], "count": [1462]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006839945280437756], "std": [0.026144343165001905], "count": [1462]}, "timestamp": {"min": [0.0], "max": [73.05], "mean": [36.525], "std": [21.102147402574932], "count": [1462]}, "frame_index": {"min": [0], "max": [1461], "mean": [730.5], "std": [422.0429480514987], "count": [1462]}, "episode_index": {"min": [58], "max": [58], "mean": [58.0], "std": [0.0], "count": [1462]}, "index": {"min": [68607], "max": [70068], "mean": [69337.5], "std": [422.0429480514987], "count": [1462]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1462]}}} +{"episode_index": 59, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6206485995226831]], [[0.5383665012602457]], [[0.4522732091468731]]], "std": [[[0.1989272247540976]], [[0.15404782640242384]], [[0.18120181371915495]]], "count": [146]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6461225867751719]], [[0.5409432557972086]], [[0.4410563708440354]]], "std": [[[0.19140109604863387]], [[0.17876174789985083]], [[0.21739687050094128]]], "count": [146]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6289058962977447]], [[0.5286617429673336]], [[0.43439880379290785]]], "std": [[[0.20853835282353247]], [[0.1946322023131139]], [[0.23072550121490001]]], "count": [146]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [772]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [772]}, "observation.state": {"min": [0.7399930319944247, -4.4012860231839745, 0.6999045209768504, 0.0, 0.0, -1.0, 7.909307697673285e-08, 0.08873338597722635, -0.180393206433064, 0.2880986340464884, -0.9874638915061951, -0.016096368432044983, -0.7292010188102722, 0.02013566717505455, 0.005042842698700835, -0.03922550813068522], "max": [3.1218951972213036, -2.018072768732203, 0.700403689382999, 0.0, 0.0, 1.0, 0.999992847442627, 0.5668374059561841, 0.08509119089053296, 0.8597314367774288, -0.594935953617096, 0.5572486519813538, -0.14460542798042297, 0.3699377477169037, 0.04279059251984298, 0.000578934845115443], "mean": [1.6763774183042006, -3.0564105907783143, 0.7000982976547708, 0.0, 0.0, 0.16332949524886492, 0.5339414685045041, 0.2597868247698422, -0.04096240920824231, 0.6218531729885675, -0.8487723764669092, 0.30179453322692856, -0.2985386248928895, 0.27330664533233856, 0.021860456122896336, -0.019161723362199276], "std": [0.8172281034603226, 0.8754777234081971, 0.00013985898104957174, 0.0, 0.0, 0.7373796191637436, 0.3801332366994537, 0.11989764852865631, 0.0750339092311293, 0.13072104817755625, 0.056061586750075575, 0.1109011642936758, 0.07389630979198836, 0.0614902055047267, 0.015087797227318133, 0.015646121074480674], "count": [772]}, "action": {"min": [-1.0, -1.0, -0.30285714285714294, 0.0, -1.0, -1.0, -0.8, -1.0, -0.26857142857142857, -0.5971428571428572, -0.4371428571428572, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.41428571428571437, 0.38, 0.41714285714285715, 1.0], "mean": [0.2855940044411546, -0.05235011102886756, 0.22656920799407848, 0.0, 0.04145077720207254, 0.01152849740932642, 0.004746484085862315, 0.015368245743893403, 0.00897113249444855, -0.018634344929681714, -0.005481125092524053, 0.20466321243523317], "std": [0.490575015299435, 0.3039408026291349, 0.3274760791581363, 0.0, 0.9991405472051104, 0.43048433265437247, 0.16284286339790105, 0.4226310226964889, 0.06979652076575604, 0.10037134317680653, 0.074855319108671, 0.9788324521978611], "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": [59], "max": [59], "mean": [59.0], "std": [0.0], "count": [772]}, "index": {"min": [70069], "max": [70840], "mean": [70454.5], "std": [222.85701694135636], "count": [772]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [772]}}} +{"episode_index": 60, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.011764705882352941]], [[0.0196078431372549]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6100273724724264]], [[0.5793365606170854]], [[0.5568338500710613]]], "std": [[[0.20686427179043942]], [[0.21488987055565034]], [[0.23035403386203607]]], "count": [225]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.623448066395612]], [[0.574682050451474]], [[0.5344270365264161]]], "std": [[[0.20462534930681056]], [[0.2184764346860615]], [[0.2426653625286847]]], "count": [225]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5787180364604609]], [[0.5283674515867545]], [[0.48745995136335785]]], "std": [[[0.24176018990009546]], [[0.24414119400178458]], [[0.25947364730242073]]], "count": [225]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1375]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1375]}, "observation.state": {"min": [-0.24166164061982504, -3.8850332849101195, 0.699979704444902, 0.0, 0.0, -0.9999953508377075, 0.0030459752306342125, 0.05575914927661341, -0.0326802740725583, 0.2538891105068767, -0.9882360100746155, -0.7185157537460327, -0.8462925553321838, 0.0003020696167368442, 0.005905332529427546, -0.04139768695650503], "max": [5.864464282176215, -0.2608765054330995, 0.7024580454779712, 0.0, 0.0, 0.9999914169311523, 1.0, 0.584123942566027, 0.27459704838491295, 0.8732645665520143, 0.9594370722770691, 0.9247863292694092, 0.8719630241394043, 0.6742579936981201, 0.04005530123577024, -0.005248314679127101], "mean": [3.6360972493667325, -2.0559342250889237, 0.7008365320964192, 0.0, 0.0, 0.03212227039404388, 0.752721110148694, 0.1567855183566587, 0.09014349554143186, 0.6392914309667741, -0.053571364782073284, -0.011755010268904947, -0.1267175427539782, 0.23811268700898455, 0.019521236617572785, -0.01865927226598027], "std": [2.1360737164983736, 1.3681649016822985, 0.0006472371569508483, 0.0, 0.0, 0.5887115711068661, 0.2929125788404835, 0.13986742601794822, 0.07255628251326852, 0.11530614174878585, 0.5421375238622248, 0.4839198047817717, 0.6042531932026539, 0.1761350264401597, 0.01462157671415548, 0.015299189513081526], "count": [1375]}, "action": {"min": [-1.0, -1.0, -0.7742857142857142, 0.0, -1.0, -1.0, -1.0, -1.0, -1.0, -0.8171428571428573, -0.6028571428571429, -1.0], "max": [1.0, 1.0, 0.9885714285714285, 0.0, 1.0, 1.0, 1.0, 1.0, 1.0, 0.78, 0.43428571428571433, 1.0], "mean": [0.3787688311688315, 0.03163116883116888, 0.006142337662337667, 0.0, 0.12, -0.07990129870129865, 0.013496103896103886, 0.017023376623376617, -0.003006753246753241, 0.012475844155844152, -0.011983376623376606, 0.2872727272727273], "std": [0.47158143723147605, 0.5535683768267192, 0.31390033645126564, 0.0, 0.9927738916792764, 0.4439722173466274, 0.25747591685140986, 0.3789266657367976, 0.26256130421325297, 0.19449787134629468, 0.1105066934486193, 0.9578488294951683], "count": [1375]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011636363342404366], "std": [0.10724252462387085], "count": [1375]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007272727272727272], "std": [0.02695818617141911], "count": [1375]}, "timestamp": {"min": [0.0], "max": [68.7], "mean": [34.35], "std": [19.84641025475388], "count": [1375]}, "frame_index": {"min": [0], "max": [1374], "mean": [687.0], "std": [396.9282050950776], "count": [1375]}, "episode_index": {"min": [60], "max": [60], "mean": [60.0], "std": [0.0], "count": [1375]}, "index": {"min": [70841], "max": [72215], "mean": [71528.0], "std": [396.9282050950776], "count": [1375]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1375]}}} +{"episode_index": 61, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5732450851457366]], [[0.5490285322307173]], [[0.5162774952878963]]], "std": [[[0.17786939227768467]], [[0.18349095195181592]], [[0.1918505757700213]]], "count": [212]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5493810317095589]], [[0.522960846308554]], [[0.4938328993130824]]], "std": [[[0.20758381293686007]], [[0.21435335554226595]], [[0.22251894355666343]]], "count": [212]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5495898092582496]], [[0.5229069293802242]], [[0.4946427444418492]]], "std": [[[0.2076555538776487]], [[0.21371242560602696]], [[0.22161401517004087]]], "count": [212]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1271]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1271]}, "observation.state": {"min": [-1.1303880042844778, -3.859629892271264, 0.699927033415815, 0.0, 0.0, -0.622410237789154, 0.7826911211013794, -0.027141793764916766, -0.12585990982267026, 0.28718015637376104, -0.9906882643699646, -0.0871703028678894, -0.5525792837142944, 0.0015691184671595693, 0.008034001212412756, -0.04001285399815499], "max": [2.2782939294168014, -1.614586097310749, 0.7002778219691753, 0.0, 0.0, 0.0008859206573106349, 1.0, 0.5812749743554018, 0.10755871382091864, 0.87954942320769, 0.8998574018478394, 0.4454687237739563, 0.4814453125, 0.24849356710910797, 0.0400687806182692, -0.0029249786641032944], "mean": [0.5536573302638624, -2.401552991543159, 0.7000589192605168, 0.0, 0.0, -0.10333610679068579, 0.9787708701438363, 0.12822208859354514, -0.020916294412670237, 0.7128831984455792, -0.5818688774746671, 0.26727279500169704, -0.2226752433588803, 0.12250534174141323, 0.023506129992048957, -0.022797792059511834], "std": [1.3482489571215424, 0.8861790039536835, 8.716508777642672e-05, 0.0, 0.0, 0.16817493105179568, 0.0551945077861919, 0.17090356432688256, 0.05246086211458566, 0.1523299254126646, 0.6447304377190791, 0.12218457289411988, 0.3052281390039042, 0.04039080420928738, 0.013457360143771227, 0.01374748399138398], "count": [1271]}, "action": {"min": [-1.0, -1.0, -0.5142857142857142, 0.0, -1.0, -1.0, -0.75, -0.7642857142857143, -0.18857142857142858, -0.5742857142857143, -0.14, -1.0], "max": [1.0, 1.0, 0.5142857142857142, 0.0, 1.0, 1.0, 0.9928571428571428, 1.0, 0.4028571428571428, 0.3914285714285714, 0.2257142857142857, 1.0], "mean": [0.025463639429021006, -0.05473755198381481, -0.004322805440035976, 0.0, -0.13296616837136113, -0.0036079577385635703, 0.0018208384848825512, 0.00016297628414071132, 0.0034168820950882316, -0.004311565696302128, 7.19343598965963e-05, 0.1943351691581432], "std": [0.47850253383758407, 0.3600735032142813, 0.12256095933264985, 0.0, 0.9911205769575282, 0.3796907112881168, 0.13511732654744693, 0.28253146958764414, 0.057398787259984194, 0.0804448064661818, 0.04382337378192208, 0.9809351874758557], "count": [1271]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01258851308375597], "std": [0.11149010062217712], "count": [1271]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007867820613690008], "std": [0.028038599026287116], "count": [1271]}, "timestamp": {"min": [0.0], "max": [63.5], "mean": [31.75], "std": [18.345299125389044], "count": [1271]}, "frame_index": {"min": [0], "max": [1270], "mean": [635.0], "std": [366.9059825077809], "count": [1271]}, "episode_index": {"min": [61], "max": [61], "mean": [61.0], "std": [0.0], "count": [1271]}, "index": {"min": [72216], "max": [73486], "mean": [72851.0], "std": [366.9059825077809], "count": [1271]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1271]}}} +{"episode_index": 62, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9882352941176471]], [[0.9882352941176471]]], "mean": [[[0.5196475616458537]], [[0.43374530057659577]], [[0.39931799248612465]]], "std": [[[0.20898925439506105]], [[0.23964135128722033]], [[0.26794524603398645]]], "count": [173]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.48382589181750646]], [[0.4447670184389123]], [[0.424372090194064]]], "std": [[[0.22555777216991157]], [[0.2391024777620748]], [[0.2551947478740303]]], "count": [173]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5206201582096553]], [[0.47882188582763535]], [[0.45507119170232896]]], "std": [[[0.2370877257323731]], [[0.2572798719188519]], [[0.27710535977031614]]], "count": [173]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [965]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [965]}, "observation.state": {"min": [0.7378029762798456, -3.769532755338709, 0.6999942910807491, 0.0, 0.0, -1.0, 8.124137451659408e-08, -0.05725961796184409, -0.46419291966994325, 0.25051631848375, -0.9885563850402832, -0.13930240273475647, -0.551017165184021, 0.0021515164989978075, 0.000187640910776887, -0.039900274772862475], "max": [3.2416985644940115, -1.0506349716966255, 0.7012305113259717, 0.0, 0.0, 1.0, 0.9999815225601196, 0.60827641939124, 0.01675762660419955, 0.8718082314208206, 0.9541963338851929, 0.3623502254486084, 0.552212655544281, 0.41545069217681885, 0.04008491693420345, -0.010627281143501175], "mean": [1.886538491917504, -2.4963285382171376, 0.7006249698561248, 0.0, 0.0, -0.004334657999730327, 0.45750330713606446, 0.1838712187050476, -0.1554218363817801, 0.6708947389022364, -0.8311188103003823, 0.14932905957488815, -0.3971939081200664, 0.13689933754407216, 0.025949210516995103, -0.02527206684503466], "std": [0.9370269721681688, 1.0947087024669888, 0.0005029243410236615, 0.0, 0.0, 0.828524428339829, 0.32283001285492985, 0.1822369032935871, 0.11783746769329041, 0.13931654623667128, 0.2662288945619099, 0.09410670570427786, 0.15304872014424217, 0.08532362355506669, 0.011279254147515103, 0.011308071902380217], "count": [965]}, "action": {"min": [-1.0, -0.8714285714285716, -0.09142857142857143, 0.0, -1.0, -1.0, -0.7642857142857143, -0.8642857142857142, -0.4942857142857143, -0.7571428571428571, -0.2742857142857143, -1.0], "max": [1.0, 1.0, 0.982857142857143, 0.0, 1.0, 0.9357142857142857, 1.0, 1.0, 0.3914285714285714, 0.2885714285714286, 0.4114285714285714, 1.0], "mean": [0.2701924500370096, 0.07088823094004441, 0.20000592153960037, 0.0, -0.025906735751295335, 0.01686158401184308, -0.016639526276832007, -0.0022501850481125288, -0.002877868245743891, -0.01121539600296076, -0.0009030347890451529, 0.23523316062176167], "std": [0.4868295040663583, 0.3515487477326135, 0.28299245349880364, 0.0, 0.9996643641956582, 0.4381313781948212, 0.23582105204769954, 0.32132634546181804, 0.09056106524793853, 0.09978098583720954, 0.06779280372076653, 0.9719389693514257], "count": [965]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016580311581492424], "std": [0.12769262492656708], "count": [965]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010362694300518134], "std": [0.03217445532903632], "count": [965]}, "timestamp": {"min": [0.0], "max": [48.2], "mean": [24.1], "std": [13.928567765567285], "count": [965]}, "frame_index": {"min": [0], "max": [964], "mean": [482.0], "std": [278.57135531134566], "count": [965]}, "episode_index": {"min": [62], "max": [62], "mean": [62.0], "std": [0.0], "count": [965]}, "index": {"min": [73487], "max": [74451], "mean": [73969.0], "std": [278.57135531134566], "count": [965]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [965]}}} +{"episode_index": 63, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5788027420914729]], [[0.5710186718754763]], [[0.561187017446564]]], "std": [[[0.24192252253978289]], [[0.24963211176840863]], [[0.24678587205819347]]], "count": [201]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5739576161657819]], [[0.5622713658533124]], [[0.5557388941260876]]], "std": [[[0.26219253818958643]], [[0.26973472486081046]], [[0.272386604362898]]], "count": [201]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5644659366669068]], [[0.5530092814877817]], [[0.5463916394899163]]], "std": [[[0.258384057852278]], [[0.2645804039772675]], [[0.26761453670432]]], "count": [201]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1178]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1178]}, "observation.state": {"min": [-1.0050008926076213, -3.762568252551152, 0.699995180529781, 0.0, 0.0, -0.7289273142814636, 0.6845911145210266, -0.06088004440632466, -0.2910217130047923, 0.27042812051546417, -0.9882020354270935, -0.5216532349586487, -0.5478893518447876, 0.0010558752110227942, 0.0035133516345462333, -0.039768899136330936], "max": [2.294442483305789, -0.9795568056397104, 0.7006812108570485, 0.0, 0.0, 0.07789110392332077, 1.0, 0.58897814769804, 0.2515851929615708, 0.8874255079713032, 0.863664984703064, 0.5208759307861328, 0.39469680190086365, 0.3050181567668915, 0.04009424149222302, -0.0010078944784551297], "mean": [0.7018681318205834, -2.0480001812770574, 0.7002475537295212, 0.0, 0.0, -0.09024953374189068, 0.9672667486355948, 0.15945566823265225, -0.020817079032285395, 0.6950796396958353, -0.8486135697627918, 0.08661620502307986, -0.3711797366952856, 0.1623602981187193, 0.02404288716875878, -0.023350425181121456], "std": [1.3542130656956883, 1.054970384276407, 0.00021157653906739087, 0.0, 0.0, 0.22085894943906573, 0.08643722487736685, 0.18179124488149992, 0.11686030301792132, 0.13740478048199478, 0.23676221137163908, 0.15091552055549187, 0.15238049615294477, 0.0785221011754533, 0.01388454307297733, 0.013665774727828787], "count": [1178]}, "action": {"min": [-1.0, -1.0, -0.5514285714285714, 0.0, -1.0, -1.0, -0.9214285714285714, -0.7071428571428572, -0.3342857142857143, -0.6685714285714286, -0.22285714285714286, -1.0], "max": [1.0, 1.0, 0.4228571428571429, 0.0, 1.0, 0.8142857142857143, 1.0, 1.0, 0.40857142857142864, 0.3342857142857143, 0.33714285714285713, 1.0], "mean": [0.07900800388066942, -0.08302813485326224, -0.0011642008246422544, 0.0, -0.06621392190152801, -0.0005093378607809961, -0.008585981081736605, -0.007003395585738563, 0.002796507397526075, -0.005842832888673293, 0.002313849138976477, 0.21561969439728354], "std": [0.49120392560520054, 0.3976234145845431, 0.14531140449902333, 0.0, 0.997805450248913, 0.38489461206964737, 0.22482855915568747, 0.2803982272015815, 0.07714287822781171, 0.08447616640907916, 0.077565938836735, 0.9764774177563063], "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": [63], "max": [63], "mean": [63.0], "std": [0.0], "count": [1178]}, "index": {"min": [74452], "max": [75629], "mean": [75040.5], "std": [340.05918602502123], "count": [1178]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1178]}}} +{"episode_index": 64, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3795764576808733]], [[0.32761278561084445]], [[0.2902382680966357]]], "std": [[[0.18202866602508588]], [[0.17537021883773343]], [[0.1749691320377072]]], "count": [216]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3835874370500153]], [[0.3374924969309555]], [[0.3090595306307835]]], "std": [[[0.20490531578873744]], [[0.19882698029455448]], [[0.20187481347169317]]], "count": [216]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3699822649543668]], [[0.3339047722134282]], [[0.311698148418529]]], "std": [[[0.2229738721701945]], [[0.21734760105385664]], [[0.2193693308777668]]], "count": [216]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1304]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1304]}, "observation.state": {"min": [1.417365229010423, -3.954378106247822, 0.699958100251845, 0.0, 0.0, -0.9999995231628418, 0.0006275024497881532, 0.0035265747202712916, -0.28808414966990425, 0.28297663235149484, -0.9899607300758362, -0.3633275628089905, -0.5337958931922913, 0.0004100120277144015, 0.013622952116468839, -0.040084655003749026], "max": [5.8780059496693, -0.16527396198436886, 0.7010533664228414, 0.0, 0.0, 0.9999998807907104, 1.0, 0.6137359416333759, 0.04083003008108044, 0.8437409034196477, 0.9557281732559204, 0.4996315836906433, 0.37117066979408264, 0.46296820044517517, 0.04003736260246894, -0.01152961417192714], "mean": [4.17445684610339, -2.1144629910859627, 0.7000970022352075, 0.0, 0.0, 0.5014508635874794, 0.6095706935215544, 0.149947154921875, -0.07771799515061872, 0.5769494650252867, -0.8563414209185203, 0.20732536823974432, -0.2881967856668713, 0.25500069726212987, 0.029073671228092336, -0.023881866890802992], "std": [1.667096675165014, 1.4661987683047641, 0.00020172017829310748, 0.0, 0.0, 0.520832200977433, 0.32512216991656084, 0.16119411457002616, 0.07487105119378294, 0.12950204887206762, 0.18295520987502562, 0.12336300350553672, 0.10137584270394162, 0.12901439544257026, 0.010131276311451035, 0.01170933717171846], "count": [1304]}, "action": {"min": [-1.0, -1.0, -0.5057142857142857, 0.0, -1.0, -1.0, -0.8571428571428572, -1.0, -0.5342857142857143, -0.4514285714285714, -0.54, -1.0], "max": [1.0, 1.0, 0.8542857142857143, 0.0, 1.0, 1.0, 1.0, 1.0, 0.22285714285714286, 0.6285714285714286, 0.25142857142857145, 1.0], "mean": [0.21338737949167386, 0.19920574057843993, 0.019886064855389976, 0.0, 0.11809815950920245, -0.0048367659947414834, -0.0026018843120070097, -0.01205631025416301, -0.0021450482033304134, -0.004355828220858897, -0.00048641542506573405, 0.2714723926380368], "std": [0.40985073709750147, 0.5050556224664797, 0.2813982277913442, 0.0, 0.9930019258392825, 0.38071832039859177, 0.20760114828971102, 0.28813134394364875, 0.07181290114568475, 0.10444099033797326, 0.06951828587951037, 0.9624462270877263], "count": [1304]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012269938364624977], "std": [0.11008808761835098], "count": [1304]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007668711656441718], "std": [0.02768181847819025], "count": [1304]}, "timestamp": {"min": [0.0], "max": [65.15], "mean": [32.575], "std": [18.82161324116506], "count": [1304]}, "frame_index": {"min": [0], "max": [1303], "mean": [651.5], "std": [376.43226482330124], "count": [1304]}, "episode_index": {"min": [64], "max": [64], "mean": [64.0], "std": [0.0], "count": [1304]}, "index": {"min": [75630], "max": [76933], "mean": [76281.5], "std": [376.43226482330124], "count": [1304]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1304]}}} +{"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": [[[0.43440813550762103]], [[0.40819375964178556]], [[0.382900177223095]]], "std": [[[0.22744093037673926]], [[0.22970351821142074]], [[0.21854910474143174]]], "count": [184]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3993670064368415]], [[0.35643633381485024]], [[0.32874934203789363]]], "std": [[[0.20507118285816092]], [[0.20379687129243013]], [[0.20867799539428886]]], "count": [184]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3964051255586304]], [[0.3607234821498445]], [[0.3339181995960961]]], "std": [[[0.20394151255515938]], [[0.20328501186172862]], [[0.20746307718616092]]], "count": [184]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1053]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1053]}, "observation.state": {"min": [2.379293792955664, -4.071247543226538, 0.6999695776995777, 0.0, 0.0, -1.0, 7.011577690718696e-05, -0.02287637510988816, -0.48354863747206894, 0.2820465585211118, -0.9887460470199585, -0.1526535153388977, -0.4963117241859436, 0.003796124830842018, 0.007504198416615792, -0.04011233506603859], "max": [4.620304875789016, -0.9147290316477465, 0.700555829276122, 0.0, 0.0, 0.9999923706054688, 1.0, 0.5726853352791412, 0.0037959644391128977, 0.8583765858402347, 0.8929165601730347, 0.7889121174812317, 0.5005933046340942, 0.6522813439369202, 0.04004500681601759, -0.003205012537825481], "mean": [3.8382833751567427, -2.100027424537832, 0.7000318575325022, 0.0, 0.0, -0.09332398844596815, 0.6085985121590212, 0.14057525022833323, -0.09839903295331547, 0.6858674945390643, -0.4833954363240589, 0.4873192166699077, -0.14789786006117034, 0.27711796609584, 0.021063490432233222, -0.01927616624875199], "std": [0.7627750390161507, 1.0792686262881053, 9.83197893147222e-05, 0.0, 0.0, 0.6886601865928224, 0.3829434039888813, 0.18115029250823486, 0.11880740010908916, 0.15230126468759905, 0.542833522509296, 0.24107033968470057, 0.2570464833938339, 0.10641734182554032, 0.01485906442019202, 0.015952350903174557], "count": [1053]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.7885714285714286, -0.34, -0.5885714285714285, -1.0], "max": [1.0, 1.0, 0.5514285714285714, 0.0, 1.0, 1.0, 1.0, 1.0, 0.7114285714285714, 0.3628571428571429, 0.6657142857142857, 1.0], "mean": [0.2140415140415141, 0.13864468864468865, -0.16867453534120191, 0.0, -0.13010446343779677, 0.009890109890109886, -0.014387464387464403, -0.0006715506715506716, 0.012440645773979096, -0.009938949938949945, -0.009390856057522726, 0.2022792022792023], "std": [0.4541844802786986, 0.37493820315227117, 0.29577773923151096, 0.0, 0.9915002917768425, 0.41811135270442673, 0.24013622434131934, 0.2968599756150746, 0.12890900297451627, 0.07761672639513718, 0.12407689693649818, 0.9793278941831934], "count": [1053]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015194681473076344], "std": [0.12232664227485657], "count": [1053]}, "next.done": {"min": [false], "max": [true], "mean": [0.000949667616334283], "std": [0.030802041291978832], "count": [1053]}, "timestamp": {"min": [0.0], "max": [52.6], "mean": [26.3], "std": [15.198738982779679], "count": [1053]}, "frame_index": {"min": [0], "max": [1052], "mean": [526.0], "std": [303.9747796555936], "count": [1053]}, "episode_index": {"min": [65], "max": [65], "mean": [65.0], "std": [0.0], "count": [1053]}, "index": {"min": [76934], "max": [77986], "mean": [77460.0], "std": [303.9747796555936], "count": [1053]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1053]}}} +{"episode_index": 66, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6461603986745053]], [[0.6085743902114453]], [[0.5719853073648877]]], "std": [[[0.1947565241104447]], [[0.2144344134909249]], [[0.24719036208347545]]], "count": [159]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6662897375071294]], [[0.6256499833927773]], [[0.5901672050917336]]], "std": [[[0.19077982709080626]], [[0.20016808097050265]], [[0.2197672919537825]]], "count": [159]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6583344920905543]], [[0.6138706099547474]], [[0.5762409984999307]]], "std": [[[0.19983231416381556]], [[0.20772044593111308]], [[0.22677605021093142]]], "count": [159]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [867]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [867]}, "observation.state": {"min": [0.8162601600298206, -4.52294078493416, 0.6999933208591939, 0.0, 0.0, -1.0, 9.066248196631932e-08, -0.012897268608291101, -0.18579473376847977, 0.27106878454071603, -0.989250123500824, -0.8227235674858093, -0.5056330561637878, 0.0010981624945998192, 0.009075842280429196, -0.03979004338369545], "max": [3.0620219205755825, -3.3457396630853453, 0.7005810972609343, 0.0, 0.0, 1.0, 0.9999998807907104, 0.650080062042016, 0.042844544144007735, 0.8322966400009709, 0.7410380244255066, 0.8603110313415527, 0.4025888741016388, 0.39960694313049316, 0.04011631171252712, -0.007920327293856942], "mean": [1.573263529429807, -3.946180887560172, 0.7001647204156355, 0.0, 0.0, -0.15428457077406776, 0.4906971456305837, 0.24970776297813965, -0.03967929104889806, 0.5579090465937152, -0.689160252421785, 0.4597022564869026, -0.271571010566019, 0.14100692438962306, 0.022153743368726136, -0.02104869627573947], "std": [0.8103687900015705, 0.3276828643869384, 0.00018613565373560803, 0.0, 0.0, 0.7549381959088914, 0.40679344162595954, 0.1819590099768486, 0.05003904554620088, 0.153512015327373, 0.30289495194063965, 0.3192998485921624, 0.12867018245007747, 0.09921920963911926, 0.013699310953770959, 0.013903753504409854], "count": [867]}, "action": {"min": [-0.8, -1.0, -0.9228571428571428, 0.0, -1.0, -1.0, -0.5714285714285715, -1.0, -0.5457142857142857, -0.64, -0.4114285714285714, -1.0], "max": [1.0, 1.0, 0.9199999999999999, 0.0, 1.0, 1.0, 0.942857142857143, 1.0, 0.32, 0.7457142857142857, 0.5428571428571428, 1.0], "mean": [0.1658345691217663, -0.12595979568297905, 0.07054869006426108, 0.0, -0.1303344867358708, 0.013890261987147809, -0.0147223595320481, 0.002809359037732721, 0.008241884989289827, -0.002880210907892573, 0.0026264623496457464, 0.22491349480968859], "std": [0.35970339599745565, 0.3777055493222446, 0.31486046362050024, 0.0, 0.9914700810247941, 0.4636307497650537, 0.1922628596083295, 0.41913267955318884, 0.09015760959009343, 0.15037227359767139, 0.12561097435363505, 0.9743787353244657], "count": [867]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01845443993806839], "std": [0.13458779454231262], "count": [867]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011534025374855825], "std": [0.033942189087801986], "count": [867]}, "timestamp": {"min": [0.0], "max": [43.3], "mean": [21.65], "std": [12.514058760716551], "count": [867]}, "frame_index": {"min": [0], "max": [866], "mean": [433.0], "std": [250.28117521433103], "count": [867]}, "episode_index": {"min": [66], "max": [66], "mean": [66.0], "std": [0.0], "count": [867]}, "index": {"min": [77987], "max": [78853], "mean": [78420.0], "std": [250.28117521433103], "count": [867]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [867]}}} +{"episode_index": 67, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5910043165631029]], [[0.5211589618757659]], [[0.46777014715252785]]], "std": [[[0.16585495604146175]], [[0.1917332720556513]], [[0.22187731419172535]]], "count": [235]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5692490440117204]], [[0.45436901030462884]], [[0.3801754889331065]]], "std": [[[0.1776196772975153]], [[0.2077524295939368]], [[0.2393347953184492]]], "count": [235]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.565204625390299]], [[0.4525300729916302]], [[0.3786982156039776]]], "std": [[[0.17839861534678764]], [[0.211069542177788]], [[0.24186839969399485]]], "count": [235]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1452]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1452]}, "observation.state": {"min": [0.33178827537520406, -5.190296729267486, 0.699993696599505, 0.0, 0.0, -0.14306096732616425, 0.43683671951293945, -0.12415566061538941, -0.17986406755211704, 0.4925773194098456, -0.9881948232650757, -0.7137331962585449, -0.8449578881263733, 0.00020889443112537265, 0.004304537614108244, -0.04005475256229482], "max": [3.835158877694806, -2.6117817323658064, 0.7006950568916861, 0.0, 0.0, 0.8995408415794373, 1.0, 0.6049526643500958, 0.22986279324857906, 0.8855268212831997, 0.8516894578933716, 0.7379499077796936, 0.8689977526664734, 0.630329430103302, 0.040036602689848294, -0.0007377229104485179], "mean": [1.9550993070451625, -3.422491433038765, 0.7001809429213455, 0.0, 0.0, 0.2239810021146292, 0.9190474985264878, 0.16225335544167144, -0.0191335908325505, 0.6105360032685293, -0.6723613969714846, 0.2960069432197852, -0.3230174053024203, 0.19048876177976, 0.017836687449407775, -0.016547314298956027], "std": [1.3954580461884474, 0.6845283443735032, 0.0001758509983651389, 0.0, 0.0, 0.2877179013431783, 0.14967506773749242, 0.1884909270720055, 0.09901880742481778, 0.07764934188674195, 0.34001867916834816, 0.30858511393040317, 0.3007701319059078, 0.13558643915577367, 0.01434114522730486, 0.014856877403657641], "count": [1452]}, "action": {"min": [-1.0, -1.0, -0.6485714285714286, 0.0, -1.0, -1.0, -1.0, -1.0, -0.9742857142857143, -0.7428571428571429, -0.6714285714285715, -1.0], "max": [1.0, 1.0, 0.7657142857142857, 0.0, 1.0, 1.0, 1.0, 1.0, 0.6057142857142859, 0.5485714285714286, 0.28, 1.0], "mean": [0.09493801652892561, 0.13302341597796136, -0.000684769775678853, 0.0, -0.06198347107438017, -0.0436393152302243, -0.03771645021645022, 0.019869146005509642, -0.0015131837859110571, 0.006576151121605662, -0.012264856355765418, 0.39669421487603307], "std": [0.40229520893285425, 0.4520094271685501, 0.25330025625347763, 0.0, 0.998077176030781, 0.4296868106144181, 0.2580101277141568, 0.3072798693550046, 0.14347144048172625, 0.13899327772719278, 0.11283296964415936, 0.9179508156126378], "count": [1452]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011019283905625343], "std": [0.10439280420541763], "count": [1452]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006887052341597796], "std": [0.026234155585042575], "count": [1452]}, "timestamp": {"min": [0.0], "max": [72.55], "mean": [36.275], "std": [20.95780980128092], "count": [1452]}, "frame_index": {"min": [0], "max": [1451], "mean": [725.5], "std": [419.15619602561844], "count": [1452]}, "episode_index": {"min": [67], "max": [67], "mean": [67.0], "std": [0.0], "count": [1452]}, "index": {"min": [78854], "max": [80305], "mean": [79579.5], "std": [419.15619602561844], "count": [1452]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1452]}}} +{"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": [[[0.5018417195365702]], [[0.39325713663435996]], [[0.3654168648858074]]], "std": [[[0.23123031996213622]], [[0.23271357593216696]], [[0.24562132505652862]]], "count": [167]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4634211120211324]], [[0.3717020677739191]], [[0.34448516906616455]]], "std": [[[0.25146720086379915]], [[0.25175962638875365]], [[0.26104807529407]]], "count": [167]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5042865992796117]], [[0.4074820878263005]], [[0.37921966305497923]]], "std": [[[0.2532447245971828]], [[0.2694474600119619]], [[0.2828712710322788]]], "count": [167]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [922]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [922]}, "observation.state": {"min": [0.666121684191763, -4.324797704780014, 0.6999928526813927, 0.0, 0.0, -0.02041085995733738, 0.6430580019950867, -0.020437462949028706, -0.20748597806835845, 0.254333648409236, -0.9906573295593262, -0.06454408168792725, -0.41856133937835693, 0.041118573397397995, 0.004335343152788158, -0.040060450304571296], "max": [5.0105528115153986, -1.8387736061219038, 0.7002132598273947, 0.0, 0.0, 0.7658175230026245, 1.0, 0.5593719456790689, 0.16961452280149114, 0.8704351838497614, -0.76479172706604, 0.4469749331474304, -0.1144007071852684, 0.49717947840690613, 0.04014532339414282, -0.008871465949657003], "mean": [2.871205689024531, -3.452215443235529, 0.7000304322987879, 0.0, 0.0, 0.15250345730320822, 0.952126949185146, 0.16166611775670278, -0.0779663781850596, 0.656081589909229, -0.8983627200255943, 0.1329577223856382, -0.2760303313571176, 0.2634515626570149, 0.02436012850554237, -0.022723972969442514], "std": [1.6996588751610637, 0.8975706149679709, 5.4070920429830005e-05, 0.0, 0.0, 0.24070485670539488, 0.11071650086970818, 0.15796599949016027, 0.08234659362776914, 0.13638476204772879, 0.04849104410941789, 0.1282733774419836, 0.07740480664323858, 0.06978719584724967, 0.01232236300759929, 0.013260673199720324], "count": [922]}, "action": {"min": [-1.0, -1.0, -0.86, 0.0, -1.0, -1.0, -1.0, -1.0, -0.19142857142857142, -0.44, -0.5914285714285714, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.6, 1.0, 0.28, 0.4571428571428572, 0.5171428571428571, 1.0], "mean": [0.10934304307406265, 0.14081964673070965, -0.002286953827083986, 0.0, 0.052060737527114966, -0.0034474744344592445, -0.005887821506042764, 0.006716764797025113, 0.010074372482181597, -0.005593430430740627, -0.0013913851874806334, 0.19522776572668113], "std": [0.5808277820702061, 0.5178580767541563, 0.2277486212954566, 0.0, 0.9986439203280211, 0.42959980316260227, 0.16302644793163654, 0.36314538332505936, 0.05591442802630778, 0.08658474189549982, 0.09107132831764647, 0.9807579311376264], "count": [922]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01735357940196991], "std": [0.1305849552154541], "count": [922]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010845986984815619], "std": [0.03291538157373865], "count": [922]}, "timestamp": {"min": [0.0], "max": [46.05], "mean": [23.025], "std": [13.30791587740169], "count": [922]}, "frame_index": {"min": [0], "max": [921], "mean": [460.5], "std": [266.1583175480338], "count": [922]}, "episode_index": {"min": [68], "max": [68], "mean": [68.0], "std": [0.0], "count": [922]}, "index": {"min": [80306], "max": [81227], "mean": [80766.5], "std": [266.1583175480338], "count": [922]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [922]}}} +{"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": [[[0.5648556681056978]], [[0.546703502298639]], [[0.5167791012386688]]], "std": [[[0.23807434788014678]], [[0.22780156510092964]], [[0.21400669875757286]]], "count": [204]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5996431605167822]], [[0.5801380144271058]], [[0.5531827194055472]]], "std": [[[0.24790870153759467]], [[0.22285651524254885]], [[0.20400598661759656]]], "count": [204]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5787600231647309]], [[0.5638110564516765]], [[0.5412903286685672]]], "std": [[[0.26263094530054787]], [[0.23927239608213577]], [[0.22178929959479557]]], "count": [204]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1202]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1202]}, "observation.state": {"min": [4.672700385415136, -5.067734747651763, 0.6999937890508677, 0.0, 0.0, -0.999990701675415, 0.0004447571118362248, -0.07406375150758393, -0.3757400453797617, 0.260758459164816, -0.9900004267692566, -0.030580103397369385, -0.6127483248710632, 0.03493024781346321, 0.007365239314830243, -0.04009455837809376], "max": [6.930569026897197, -0.7734136493035169, 0.7012148520983678, 0.0, 0.0, 0.9999998807907104, 0.9999752044677734, 0.5675435289398707, 0.10998374039338543, 0.8962055206867058, -0.5662984848022461, 0.6498726606369019, -0.06482282280921936, 0.5553492903709412, 0.04004283764996739, -0.0057716429964407845], "mean": [5.544094465486767, -2.782025474553833, 0.7006185293846605, 0.0, 0.0, 0.4262580080674543, 0.640621525404625, 0.16166847160402986, -0.08008160521310587, 0.6847609118158969, -0.7584230456495047, 0.36092854602364655, -0.3511668728128348, 0.28447523348950804, 0.02217569441882416, -0.020639704365984748], "std": [0.5859242148391465, 1.6337052169068078, 0.0003882510399045645, 0.0, 0.0, 0.6028899105072512, 0.21078882721894787, 0.16957542096527448, 0.09631123332110525, 0.14469889356331625, 0.11410560683759989, 0.20667342624044763, 0.1463799589022089, 0.11454103636591241, 0.013694784462904602, 0.014611121834331402], "count": [1202]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.45999999999999996, -0.8714285714285714, -0.3514285714285714, -1.0], "max": [1.0, 1.0, 0.19714285714285715, 0.0, 1.0, 1.0, 1.0, 1.0, 0.32285714285714284, 0.5114285714285715, 0.37714285714285717, 1.0], "mean": [0.23401473734252431, 0.1747682434038507, -0.17515331590206812, 0.0, 0.06821963394342762, 0.005627525552650338, -0.006911100546707879, -0.003945804611362014, 0.012759686237223662, -0.006574756358450208, -0.0027145234133586866, 0.23128119800332778], "std": [0.4680055202165585, 0.5167173400516373, 0.28136089342835036, 0.0, 0.997670327084373, 0.36971024372084066, 0.21309646765854348, 0.32593916718891663, 0.07375241004205488, 0.11807444016789131, 0.05788553535362864, 0.9728869448451591], "count": [1202]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013311147689819336], "std": [0.11460349708795547], "count": [1202]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008319467554076539], "std": [0.028831486607593104], "count": [1202]}, "timestamp": {"min": [0.0], "max": [60.05], "mean": [30.025000000000002], "std": [17.349369585088677], "count": [1202]}, "frame_index": {"min": [0], "max": [1201], "mean": [600.5], "std": [346.9873917017735], "count": [1202]}, "episode_index": {"min": [69], "max": [69], "mean": [69.0], "std": [0.0], "count": [1202]}, "index": {"min": [81228], "max": [82429], "mean": [81828.5], "std": [346.9873917017735], "count": [1202]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1202]}}} +{"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": [[[0.5830838758292224]], [[0.5210415235311232]], [[0.4714617539709814]]], "std": [[[0.19799747281841584]], [[0.2337500915313854]], [[0.25456544860112584]]], "count": [226]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5577721623068734]], [[0.48271800115169305]], [[0.4329527092873585]]], "std": [[[0.2263409975282207]], [[0.2501754554918497]], [[0.2623927596043634]]], "count": [226]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5676113771395241]], [[0.49446388653701073]], [[0.44805451074905034]]], "std": [[[0.23943126823959698]], [[0.2684189527380181]], [[0.28307677668536824]]], "count": [226]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1382]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1382]}, "observation.state": {"min": [1.0917319938271721, -4.121615781934421, 0.6999770344363642, 0.0, 0.0, -0.9999765157699585, 0.006859924178570509, -0.008484951474678759, -0.3729938785988014, 0.2756557679682444, -0.9912891387939453, -0.05859816074371338, -0.5665350556373596, 0.0003374805091880262, 0.007729838839032201, -0.04001945319971245], "max": [3.563128816913333, -0.9143484830422925, 0.700264462920751, 0.0, 0.0, 0.9999741315841675, 0.9999977350234985, 0.6056003827085221, 0.0025627474285307983, 0.8603882951508105, 0.9492917656898499, 0.45841121673583984, 0.5837653875350952, 0.26870688796043396, 0.040076045706476326, -0.005774990823202023], "mean": [2.4907854954443462, -2.5619448659116673, 0.7000350739676378, 0.0, 0.0, 0.5363955719006623, 0.6488623966900268, 0.14601363566652314, -0.11389595532035499, 0.672433599943589, -0.6062546519915722, 0.24180463787745118, -0.22568362479552345, 0.15561075930642174, 0.024751309446293262, -0.022604278462399985], "std": [0.6256877998163064, 1.3513172900831165, 5.7190520088434524e-05, 0.0, 0.0, 0.5093986292706041, 0.17824257559419993, 0.15379547049063144, 0.09034983193823398, 0.13422321215321914, 0.6291150573734096, 0.11753702151169776, 0.29093357558828564, 0.06778612846592844, 0.012787696468906512, 0.01348936323422248], "count": [1382]}, "action": {"min": [-1.0, -0.9214285714285714, -0.3857142857142858, 0.0, -1.0, -1.0, -0.6642857142857144, -0.7428571428571429, -0.30857142857142855, -0.52, -0.2571428571428571, -1.0], "max": [1.0, 1.0, 0.6571428571428571, 0.0, 1.0, 0.6428571428571428, 1.0, 1.0, 0.4914285714285715, 0.2857142857142857, 0.2542857142857143, 1.0], "mean": [0.21202708290262562, 0.0800444490386603, 0.1627868513541452, 0.0, -0.05499276410998553, -0.01435807318585902, -0.014197849906967137, -0.003902212114947288, 0.0030163324374612335, -0.007833367789952445, 0.0004879057266900997, 0.23878437047756873], "std": [0.39537434847170666, 0.3598819003832529, 0.24622105866825728, 0.0, 0.9984867529895058, 0.3242095860966561, 0.18655156186945893, 0.22937279862124768, 0.06915832799343509, 0.08625118798303502, 0.052770811549223674, 0.971072615418449], "count": [1382]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012301012873649597], "std": [0.11022567003965378], "count": [1382]}, "next.done": {"min": [false], "max": [true], "mean": [0.000723589001447178], "std": [0.026889875797484874], "count": [1382]}, "timestamp": {"min": [0.0], "max": [69.05], "mean": [34.525], "std": [19.947446578447078], "count": [1382]}, "frame_index": {"min": [0], "max": [1381], "mean": [690.5], "std": [398.94893156894153], "count": [1382]}, "episode_index": {"min": [70], "max": [70], "mean": [70.0], "std": [0.0], "count": [1382]}, "index": {"min": [82430], "max": [83811], "mean": [83120.5], "std": [398.94893156894153], "count": [1382]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1382]}}} +{"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": [[[0.6106527494730714]], [[0.6059549300140235]], [[0.5735126977436303]]], "std": [[[0.177951443805407]], [[0.16753867582223028]], [[0.15952944029255983]]], "count": [191]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5746409467989483]], [[0.5653447928045359]], [[0.5367745532133829]]], "std": [[[0.20697855478057633]], [[0.20595741138060744]], [[0.20523391781219977]]], "count": [191]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5756439177655376]], [[0.56796087639592]], [[0.5408885041395383]]], "std": [[[0.19991036999054165]], [[0.1977744302222065]], [[0.19695007357468117]]], "count": [191]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1103]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1103]}, "observation.state": {"min": [0.7682233727414434, -4.516509243385132, 0.69999214845053, 0.0, 0.0, -1.0, 9.010619095306538e-08, 0.041363143701156346, -0.3152531326975303, 0.2917271775028494, -0.9907049536705017, -0.4366878867149353, -0.5789692997932434, 0.00048333645099774003, 0.009365020205322868, -0.040039831781788646], "max": [3.107621993051403, -1.6176701608376003, 0.7012720550758025, 0.0, 0.0, 1.0, 0.9999806880950928, 0.5838319998832883, 0.04796969476943125, 0.8585937695819008, 0.956552267074585, 0.5121075510978699, 0.536859393119812, 0.2059648633003235, 0.04008985260274584, -0.0027417057557781043], "mean": [1.808965845225018, -3.1041102059569674, 0.7006484641742143, 0.0, 0.0, 0.3609492280807579, 0.48093331656959193, 0.16359751815477847, -0.03789772737681744, 0.6986495934526883, -0.4237510262028477, 0.1541204092211866, -0.19478094920934813, 0.0833623006691648, 0.02508598260833848, -0.024097373660054825], "std": [0.9004565244918715, 1.203299159582689, 0.0004896767223852717, 0.0, 0.0, 0.7326597777889735, 0.318792178429869, 0.14211421971684066, 0.08141206158067925, 0.12510387721164382, 0.7526362486101006, 0.18353980590357805, 0.3869097547416936, 0.044110489077789826, 0.012072707604239404, 0.012666961197757547], "count": [1103]}, "action": {"min": [-1.0, -0.9071428571428573, -0.20285714285714287, 0.0, -1.0, -1.0, -0.8714285714285716, -0.7857142857142857, -0.3457142857142857, -0.5857142857142857, -0.4571428571428572, -1.0], "max": [1.0, 1.0, 0.7057142857142857, 0.0, 1.0, 0.8571428571428572, 0.8642857142857142, 1.0, 0.47714285714285715, 0.23428571428571432, 0.44285714285714284, 1.0], "mean": [0.271622846781505, 0.022775547208910774, 0.18249190519362785, 0.0, 0.004533091568449683, -0.0029983162802745783, -0.00591892241937574, -0.0015218235979795446, 0.003869965030436472, -0.003041056857919959, -0.002662867504209297, 0.1786038077969175], "std": [0.48140267234983586, 0.3382223519475237, 0.24014444459447756, 0.0, 0.999989725487637, 0.39061680315458575, 0.18406340533301682, 0.30541178459566537, 0.07490404468711663, 0.07535561173633319, 0.0869137633479744, 0.9839210739893887], "count": [1103]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014505892992019653], "std": [0.11956368386745453], "count": [1103]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009066183136899365], "std": [0.030096450902443936], "count": [1103]}, "timestamp": {"min": [0.0], "max": [55.1], "mean": [27.55], "std": [15.920427129948493], "count": [1103]}, "frame_index": {"min": [0], "max": [1102], "mean": [551.0], "std": [318.40854259896986], "count": [1103]}, "episode_index": {"min": [71], "max": [71], "mean": [71.0], "std": [0.0], "count": [1103]}, "index": {"min": [83812], "max": [84914], "mean": [84363.0], "std": [318.40854259896986], "count": [1103]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1103]}}} +{"episode_index": 72, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.508044699261776]], [[0.45911107557816283]], [[0.4180497430611693]]], "std": [[[0.22499106114825543]], [[0.22834494011064307]], [[0.23175780634259263]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5315415632688151]], [[0.5102144579726304]], [[0.48904817483398666]]], "std": [[[0.23416267819065897]], [[0.2293293624430122]], [[0.22735976861112459]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5411133933568603]], [[0.5149400515953981]], [[0.4910032535934178]]], "std": [[[0.21573047131592007]], [[0.20912139387868847]], [[0.20883273819054635]]], "count": [166]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [915]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [915]}, "observation.state": {"min": [1.1886157248209646, -3.692528996149566, 0.6999520993956838, 0.0, 0.0, -0.9999980926513672, 0.001940464018844068, -0.016350437181134492, -0.043198702275143, 0.24882930225634692, -0.988291323184967, -0.27786383032798767, -0.510504961013794, 0.003213273361325264, 0.005668737804471256, -0.040119188583613706], "max": [3.6247011637227358, -1.748291076240777, 0.7010475086137845, 0.0, 0.0, 0.9999954700469971, 1.0, 0.5581151497902934, 0.5744289503112134, 0.8698517062698337, 0.973677933216095, 0.8314127326011658, 0.42702746391296387, 0.5216302871704102, 0.04094029596431591, -0.0039037203860238655], "mean": [2.656344473341155, -2.740965696082695, 0.7004397823823879, 0.0, 0.0, 0.2790428131013728, 0.7609052121218121, 0.21935680296733492, 0.17411435078786888, 0.6028564072498288, -0.056991371170419164, 0.34621857383537813, 0.0022460702216364646, 0.23497610921141962, 0.02000223359084293, -0.020297246879090403], "std": [0.8522758907693245, 0.7130411978447694, 0.00033003325618348624, 0.0, 0.0, 0.5270523763920276, 0.2556837216592466, 0.1661917568380123, 0.17061810471575267, 0.16613146027554815, 0.7990831850115679, 0.31348608934582434, 0.2647477961432709, 0.12151956771247804, 0.014597738496121927, 0.01484604578485019], "count": [915]}, "action": {"min": [-1.0, -1.0, -0.8657142857142858, 0.0, -1.0, -1.0, -1.0, -1.0, -0.35714285714285715, -0.5657142857142857, -0.5085714285714286, -1.0], "max": [1.0, 1.0, 0.9657142857142857, 0.0, 1.0, 1.0, 1.0, 1.0, 0.3142857142857143, 0.5228571428571429, 0.5228571428571429, 1.0], "mean": [0.12367681498829032, 0.13229508196721315, -0.09579078844652611, 0.0, -0.25245901639344265, 0.009867291178766594, 0.033309914129586275, -0.012911787665886049, 0.014491803278688525, 0.0018922716627634683, -0.02302576112412177, 0.2546448087431694], "std": [0.3734111615249963, 0.3617231919335451, 0.3718535501136701, 0.0, 0.9676075883547285, 0.41535018192230927, 0.36571068160131337, 0.3484383541337421, 0.0921879683988824, 0.11324501373763161, 0.11783780507462026, 0.967034653660442], "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": [72], "max": [72], "mean": [72.0], "std": [0.0], "count": [915]}, "index": {"min": [84915], "max": [85829], "mean": [85372.0], "std": [264.1375904082315], "count": [915]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [915]}}} +{"episode_index": 73, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6158749414127779]], [[0.5989317580170385]], [[0.560447976287461]]], "std": [[[0.19333691163364586]], [[0.18382849017661376]], [[0.17855948636154131]]], "count": [220]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.600189727674406]], [[0.583514404296875]], [[0.5507899592054506]]], "std": [[[0.21024621896436702]], [[0.20677254073361692]], [[0.2059775757582425]]], "count": [220]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6080532608440216]], [[0.5897116088867187]], [[0.5566749749549145]]], "std": [[[0.20707293430071264]], [[0.20469036952256864]], [[0.20523745325885961]]], "count": [220]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1332]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1332]}, "observation.state": {"min": [0.7592335234322187, -6.792927027824824, 0.6999930269387432, 0.0, 0.0, -1.0, 0.0, -0.06474046966623836, -0.20769335771282282, 0.27170299400276554, -0.9884885549545288, -0.07746309041976929, -0.5178736448287964, 0.0019658536184579134, 0.0026592864371878552, -0.040031457877798625], "max": [4.1338855581035485, -4.0647217183670055, 0.701002357923023, 0.0, 0.0, 1.0, 0.7806945443153381, 0.5292862863970277, 0.18561724634871535, 0.8723728481942576, 0.908913791179657, 0.4561828076839447, 0.5398665070533752, 0.3099753260612488, 0.04007399482961446, -0.004516311315836698], "mean": [2.351988591537684, -5.350088767769277, 0.700106944488357, 0.0, 0.0, -0.44326689946758857, 0.1245922428442084, 0.10022621028574019, -0.04638732589570611, 0.7132488212757029, -0.5370648965552762, 0.18726836960460688, -0.19273015332533056, 0.13986797781864618, 0.02280604914823286, -0.022208401991794992], "std": [1.3356677016139535, 0.7789947889070603, 0.00016352227710193028, 0.0, 0.0, 0.8572996159407598, 0.23027942100657314, 0.1723811717852301, 0.07458248173728799, 0.1295183869516546, 0.6846403166434102, 0.10391598418153698, 0.3635307732939949, 0.08999096412713097, 0.014146510107966248, 0.014295894654858454], "count": [1332]}, "action": {"min": [-1.0, -1.0, -0.54, 0.0, -1.0, -1.0, -0.7785714285714286, -0.7357142857142858, -0.3485714285714286, -0.6657142857142857, -0.2485714285714286, -1.0], "max": [1.0, 1.0, 0.56, 0.0, 1.0, 0.8571428571428572, 0.9142857142857143, 1.0, 0.4657142857142857, 0.2742857142857143, 0.2885714285714286, 1.0], "mean": [0.06330437580437587, -0.01848991848991851, 0.0005963105963105973, 0.0, 0.036036036036036036, -0.0075075075075075265, -0.002772415272415282, 0.001453238953238957, 0.00258687258687259, -0.0023530673530673513, 0.0013020163020163072, 0.18018018018018017], "std": [0.5023230743263242, 0.42447385798508047, 0.18198071919734485, 0.0, 0.9993504911225219, 0.36755679952660975, 0.16814183673547195, 0.2943261765604582, 0.07990027495639762, 0.07307915047684198, 0.05203326674753061, 0.9836336221735278], "count": [1332]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012762762606143951], "std": [0.11224915087223053], "count": [1332]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007507507507507507], "std": [0.027389544064496542], "count": [1332]}, "timestamp": {"min": [0.0], "max": [66.55], "mean": [33.275000000000006], "std": [19.225758545936923], "count": [1332]}, "frame_index": {"min": [0], "max": [1331], "mean": [665.5], "std": [384.5151709187385], "count": [1332]}, "episode_index": {"min": [73], "max": [73], "mean": [73.0], "std": [0.0], "count": [1332]}, "index": {"min": [85830], "max": [87161], "mean": [86495.5], "std": [384.5151709187385], "count": [1332]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1332]}}} +{"episode_index": 74, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5576396227873729]], [[0.5425667228397305]], [[0.5152649268735596]]], "std": [[[0.20328171146427682]], [[0.20784434708212743]], [[0.21697785105352158]]], "count": [335]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5584480160162537]], [[0.5478479196818069]], [[0.5155030975922319]]], "std": [[[0.19448632666311677]], [[0.19382992775769153]], [[0.1987407704326625]]], "count": [335]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5529458438648897]], [[0.5455018999313519]], [[0.5154265996605324]]], "std": [[[0.20109565050038347]], [[0.19719209075555183]], [[0.2016066007686494]]], "count": [335]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2330]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2330]}, "observation.state": {"min": [0.7253425674395819, -7.312590255006523, 0.6999925654809277, 0.0, 0.0, -1.0, 0.0002247380616609007, -0.010277143141308454, -0.22363922557247484, 0.2522154828545854, -0.9917506575584412, -0.42395830154418945, -0.5088683366775513, 0.0012896864209324121, 0.001569810578005817, -0.040022949381252594], "max": [5.885182264849566, -0.8949085601589115, 0.7007968414168957, 0.0, 0.0, 0.9999997615814209, 0.9999998807907104, 0.589416685473413, 0.060863503329874113, 0.8370544732439594, 0.9069124460220337, 0.5241153836250305, 0.461440771818161, 0.2909085154533386, 0.04008379525110712, -0.004391651458180315], "mean": [3.6350982626881354, -3.7967325021306237, 0.7000709740763714, 0.0, 0.0, 0.05564646019194127, 0.5200166013202971, 0.12949689707629414, -0.06470932604274969, 0.6711166342570825, -0.8306984065684127, 0.21123654228423286, -0.36439392472349524, 0.16756387477842571, 0.021483190275120707, -0.020251767498837014], "std": [1.650284488280607, 2.356624677377975, 0.0001265681185537004, 0.0, 0.0, 0.7820048715546537, 0.33904953402873145, 0.13421543575285994, 0.05637332540489056, 0.11501011855535069, 0.2176642982168171, 0.18863551367829204, 0.1325154772588373, 0.06274740132813843, 0.014819294351463987, 0.015510366349452572], "count": [2330]}, "action": {"min": [-1.0, -0.6428571428571428, -0.4314285714285714, 0.0, -1.0, -1.0, -0.6071428571428572, -0.45, -0.2714285714285714, -0.33714285714285713, -0.35714285714285715, -1.0], "max": [1.0, 1.0, 0.58, 0.0, 1.0, 0.7000000000000001, 1.0, 1.0, 0.35428571428571426, 0.37714285714285717, 0.6628571428571428, 1.0], "mean": [0.44084304107909233, 0.0012967504598405933, 0.11464622930717323, 0.0, 0.2609442060085837, 0.004132434089515627, -0.006931330472103018, 0.004518700183936229, 0.0038369098712446328, 0.000741876149601473, -0.0017388105456774966, 0.21201716738197424], "std": [0.5024911172506342, 0.2784325066058531, 0.22829045347605595, 0.0, 0.965353883998262, 0.24289249062187315, 0.10412897317924918, 0.1931066307004716, 0.043446227660434523, 0.05284903604046811, 0.06562217382264848, 0.9772659416634458], "count": [2330]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.006866952870041132], "std": [0.08258206397294998], "count": [2330]}, "next.done": {"min": [false], "max": [true], "mean": [0.00042918454935622315], "std": [0.020712323625774513], "count": [2330]}, "timestamp": {"min": [0.0], "max": [116.45], "mean": [58.225], "std": [33.63065008292287], "count": [2330]}, "frame_index": {"min": [0], "max": [2329], "mean": [1164.5], "std": [672.6130016584574], "count": [2330]}, "episode_index": {"min": [74], "max": [74], "mean": [74.0], "std": [0.0], "count": [2330]}, "index": {"min": [87162], "max": [89491], "mean": [88326.5], "std": [672.6130016584574], "count": [2330]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2330]}}} +{"episode_index": 75, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5848476490117178]], [[0.5545481324280348]], [[0.5300275125375122]]], "std": [[[0.2523020401706537]], [[0.2780101284295192]], [[0.29917830685174834]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5846953008351189]], [[0.5679881452077843]], [[0.5592133628147701]]], "std": [[[0.2696252814877324]], [[0.27775811439489906]], [[0.28173247951417457]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5670039190683921]], [[0.5481627217596259]], [[0.5373028887436234]]], "std": [[[0.26871690735914233]], [[0.2768615993877026]], [[0.28185105559298684]]], "count": [166]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [917]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [917]}, "observation.state": {"min": [1.4155980511417328, -3.851003907815054, 0.6999915058400078, 0.0, 0.0, -0.0727752149105072, 0.9973483085632324, 0.03651648786457873, -0.30035089956011696, 0.24613662050752716, -0.988629937171936, -0.07714799046516418, -0.44203534722328186, 0.0019360128790140152, 0.006194208476761623, -0.04002907798449587], "max": [4.412433706017802, -1.1587531720700417, 0.704025920855485, 0.0, 0.0, 0.05288546904921532, 1.0, 0.5284155316522643, 0.05758030431825145, 0.8346203007612205, 0.998359203338623, 0.6887359023094177, 0.41413602232933044, 0.44437843561172485, 0.040095536693804334, -0.004910815376009518], "mean": [2.817738004483824, -2.2712955331191433, 0.7017369054095616, 0.0, 0.0, 0.007047011788539393, 0.99952879349824, 0.24105527176460073, -0.06745477242285207, 0.5754246673429347, 0.20527682589080629, 0.25190469306145136, 0.017277980645795554, 0.2038279370879074, 0.022977621213228532, -0.022571417573449683], "std": [1.2530311861395091, 1.0914630971327615, 0.0013280012978099335, 0.0, 0.0, 0.02986995917265183, 0.0005767088772102465, 0.16227452722033206, 0.09646835695429096, 0.15573316275243218, 0.8450109796689693, 0.21107743373224586, 0.2703873489496668, 0.1444110005314354, 0.014087238595544366, 0.014215912339245983], "count": [917]}, "action": {"min": [-1.0, -1.0, -0.16, 0.0, -1.0, -1.0, -1.0, -0.9928571428571428, -0.3171428571428571, -0.47714285714285715, -0.6942857142857143, -1.0], "max": [1.0, 1.0, 0.3485714285714286, 0.0, 1.0, 1.0, 1.0, 1.0, 0.2285714285714286, 0.2571428571428571, 0.2485714285714286, 1.0], "mean": [-0.07480137093005136, -0.055452562704471096, -0.002302539336345227, 0.0, -0.18647764449291168, 0.009417354728150818, -0.006387287739523276, -0.0038946876460507814, 0.005471257205172143, 0.0018289453185854451, -0.007767565041283713, 0.17121046892039257], "std": [0.5186772943067745, 0.4707434139357649, 0.05254974323644062, 0.0, 0.9824592042952077, 0.4408300941245372, 0.23443592737983238, 0.3614411367243985, 0.06185677103994241, 0.08429078346844962, 0.11144680151437839, 0.9852344773362586], "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": [75], "max": [75], "mean": [75.0], "std": [0.0], "count": [917]}, "index": {"min": [89492], "max": [90408], "mean": [89950.0], "std": [264.7149410214694], "count": [917]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [917]}}} +{"episode_index": 76, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5742022804808773]], [[0.5046393184620311]], [[0.4664003702134608]]], "std": [[[0.23216032720483823]], [[0.27284898945992647]], [[0.2981084839857681]]], "count": [180]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5743666179715159]], [[0.4936801975225312]], [[0.44338365808291635]]], "std": [[[0.2542440452228272]], [[0.2799814112031422]], [[0.2901754986552814]]], "count": [180]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.562753437515957]], [[0.4847570947052866]], [[0.43694678844709545]]], "std": [[[0.2678986771436928]], [[0.2883943376978741]], [[0.2946589632171208]]], "count": [180]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1019]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1019]}, "observation.state": {"min": [1.4257909321332292, -3.94945113635209, 0.6999908416911577, 0.0, 0.0, -0.6773239970207214, 0.735684871673584, 0.08977025818146211, -0.36650287864733233, 0.2852107732507334, -0.8839842081069946, -0.3599157929420471, -0.5991310477256775, 0.002504837466403842, 0.007193451190455745, -0.04001948839644742], "max": [4.438354377873264, -1.0724818073846267, 0.700197749016077, 0.0, 0.0, 0.11648113280534744, 1.0, 0.5548173016700275, 0.07085031373990214, 0.8922854540717676, 0.9928082227706909, 0.4830646514892578, 0.5414260625839233, 0.31403106451034546, 0.0400954833556329, -0.008327302811157936], "mean": [2.861436154837151, -2.3609508571138114, 0.700055190939716, 0.0, 0.0, -0.06881286998092345, 0.9770802069342055, 0.2368524961587649, -0.11220268304919116, 0.6799385885353348, -0.4814396151382626, 0.2823000712223329, -0.20077271925484702, 0.13620521726225657, 0.024351256158563067, -0.02351791307067947], "std": [1.215721407006133, 1.1688649410795724, 6.920496581406751e-05, 0.0, 0.0, 0.19059098599793634, 0.06522383996150448, 0.12165106045624857, 0.09754185482309156, 0.14087358131046201, 0.6909308461682421, 0.13782176526869616, 0.35334177888265067, 0.09181683892533207, 0.013107925534383424, 0.013399437023657637], "count": [1019]}, "action": {"min": [-1.0, -1.0, -0.5485714285714286, 0.0, -1.0, -1.0, -0.8357142857142857, -0.807142857142857, -0.21142857142857144, -0.7171428571428572, -0.32, -1.0], "max": [1.0, 1.0, 0.5685714285714286, 0.0, 1.0, 0.8, 1.0, 1.0, 0.5428571428571428, 0.3914285714285714, 0.5057142857142857, 1.0], "mean": [0.09261180428992011, -0.09743445955418488, -0.0035665218000841222, 0.0, -0.1364082433758587, 0.004717510164026357, -0.009932707135847462, 0.020531333239871007, 0.011941679517734475, -0.001741202859946728, 0.0006617131641665472, 0.15799803729146222], "std": [0.5364936056737019, 0.44937055517875796, 0.16153467255534162, 0.0, 0.9906527096511225, 0.3794707407812999, 0.20273343741546893, 0.3565282754593822, 0.08204102321467835, 0.11415464759610335, 0.0799964621643006, 0.9874394260976551], "count": [1019]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015701668336987495], "std": [0.12431865185499191], "count": [1019]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009813542688910696], "std": [0.031311199477024175], "count": [1019]}, "timestamp": {"min": [0.0], "max": [50.9], "mean": [25.45], "std": [14.707991025289619], "count": [1019]}, "frame_index": {"min": [0], "max": [1018], "mean": [509.0], "std": [294.15982050579237], "count": [1019]}, "episode_index": {"min": [76], "max": [76], "mean": [76.0], "std": [0.0], "count": [1019]}, "index": {"min": [90409], "max": [91427], "mean": [90918.0], "std": [294.15982050579237], "count": [1019]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1019]}}} +{"episode_index": 77, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6129639328978799]], [[0.5550201687245704]], [[0.4977364714686985]]], "std": [[[0.19902725975096966]], [[0.2178482385217781]], [[0.222053164167403]]], "count": [214]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5684140843438079]], [[0.48419279769944995]], [[0.42765863246264113]]], "std": [[[0.20070727488510262]], [[0.2241403654616838]], [[0.24076079879743228]]], "count": [214]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5881407936435928]], [[0.5116713166127651]], [[0.461615915772066]]], "std": [[[0.18358124355119454]], [[0.20964117531041362]], [[0.2289517851898335]]], "count": [214]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1286]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1286]}, "observation.state": {"min": [0.9221497750767497, -4.865849856747183, 0.6999937966493667, 0.0, 0.0, -0.9999874830245972, 0.005005308892577887, -0.09921372457645905, -0.09889198725107917, 0.2871468831180748, -0.9892016053199768, -0.05063629150390625, -0.5362277030944824, 0.006651211529970169, 0.005451787759184512, -0.0400816984360574], "max": [4.8687701942541235, -1.915135032278771, 0.7010636761753635, 0.0, 0.0, 0.9999740123748779, 0.9999982118606567, 0.6075025340301448, 0.19442647889530917, 0.8481014537769868, -0.6893606781959534, 0.6913267970085144, -0.11317320913076401, 0.4585605263710022, 0.04006431978882142, -0.003017226783444377], "mean": [2.955314221469364, -3.626466981286867, 0.7005295609668446, 0.0, 0.0, -0.19774073702815492, 0.7590273818121368, 0.10092903581406591, 0.003167715290864701, 0.7080231055993679, -0.8354261726558115, 0.3497506297696063, -0.2856558469380506, 0.15686972914437414, 0.021100439839557332, -0.019790713771001826], "std": [1.7027466507657714, 1.081552576534032, 0.0004021109049048891, 0.0, 0.0, 0.568324144870439, 0.24856328592040366, 0.20528458465888905, 0.05681042834325453, 0.1349306144524736, 0.07205959747780129, 0.21281452221310754, 0.10981166521882, 0.1048285579211956, 0.015819305314574733, 0.016637715030989222], "count": [1286]}, "action": {"min": [-1.0, -1.0, -0.7, 0.0, -1.0, -1.0, -0.9357142857142857, -0.6857142857142858, -0.3171428571428571, -0.37142857142857144, -0.3171428571428571, -1.0], "max": [1.0, 1.0, 0.2914285714285714, 0.0, 1.0, 1.0, 0.41428571428571426, 1.0, 0.7657142857142857, 0.3657142857142857, 0.3914285714285714, 1.0], "mean": [0.2747889357920461, 0.0950177738280382, -0.1549633414796712, 0.0, -0.05443234836702955, -0.0018051544101310845, -0.004704510108864701, 0.002338369251277486, 0.007056209731170849, 0.0027082870473228186, -0.006205287713841366, 0.15085536547433903], "std": [0.4926792266483428, 0.42122269739117413, 0.2173085562562871, 0.0, 0.9985174607643377, 0.4110541355196757, 0.14675113073613094, 0.26684833183628937, 0.08204887032539504, 0.06737691289566224, 0.07049985086019757, 0.9885558450121146], "count": [1286]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012441679835319519], "std": [0.11084621399641037], "count": [1286]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007776049766718507], "std": [0.027874725239401116], "count": [1286]}, "timestamp": {"min": [0.0], "max": [64.25], "mean": [32.125], "std": [18.561805542565086], "count": [1286]}, "frame_index": {"min": [0], "max": [1285], "mean": [642.5], "std": [371.23611085130176], "count": [1286]}, "episode_index": {"min": [77], "max": [77], "mean": [77.0], "std": [0.0], "count": [1286]}, "index": {"min": [91428], "max": [92713], "mean": [92070.5], "std": [371.23611085130176], "count": [1286]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1286]}}} +{"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": [[[0.560606860166949]], [[0.5416323025266634]], [[0.5232213420057888]]], "std": [[[0.24137937476362137]], [[0.23911174181501507]], [[0.2383325394577887]]], "count": [223]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5105031715097229]], [[0.4931135299200958]], [[0.4840288121142866]]], "std": [[[0.27078722888912954]], [[0.2676302078938768]], [[0.2628816080605405]]], "count": [223]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5172904231015206]], [[0.5016915563772717]], [[0.4938661122336757]]], "std": [[[0.2756578017845118]], [[0.2732092440638186]], [[0.26945857986003385]]], "count": [223]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1360]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1360]}, "observation.state": {"min": [0.786336550153624, -4.511647448025408, 0.6999075045038179, 0.0, 0.0, -1.0, 1.8421108052280033e-06, -0.05310925451913384, -0.4354433780819411, 0.26007320158359803, -0.9884465932846069, -0.23512688279151917, -0.6239362359046936, 8.409822476096451e-05, 0.007327736301608919, -0.0400776173473827], "max": [4.443253609225394, -2.6244475336364657, 0.7002622773617145, 0.0, 0.0, 1.0, 0.9999996423721313, 0.5762047378762328, 0.014025916093858726, 0.8764371275814088, 0.9798403978347778, 0.397553026676178, 0.592940628528595, 0.2595230042934418, 0.040081135518791354, -0.006785708767020434], "mean": [2.4504899752746407, -3.3430443424408063, 0.7000208952095922, 0.0, 0.0, 0.20434551661990769, 0.13739076498929972, 0.1458618383739195, -0.07247609829405983, 0.6926535105245589, -0.8623855712659219, 0.08259546927669469, -0.3181416354525615, 0.11201273483888786, 0.02297414367559377, -0.02248163940472418], "std": [1.4911062665724024, 0.5119904620207845, 4.558603234622856e-05, 0.0, 0.0, 0.9325274556646175, 0.26411974379105657, 0.18609564165550016, 0.09801737153286719, 0.13555419961996484, 0.2961855697625141, 0.1551693079635286, 0.14603790740752287, 0.050770910951235, 0.014682929076186204, 0.014733220324384618], "count": [1360]}, "action": {"min": [-1.0, -1.0, -0.1657142857142857, 0.0, -1.0, -1.0, -0.9785714285714284, -0.6, -0.16857142857142857, -0.5171428571428571, -0.3857142857142858, -1.0], "max": [1.0, 1.0, 0.66, 0.0, 1.0, 0.75, 0.8285714285714285, 1.0, 0.40571428571428575, 0.26857142857142857, 0.27714285714285714, 1.0], "mean": [0.14612394957983205, -0.03282037815126052, 0.07726470588235299, 0.0, -0.08970588235294118, 0.006706932773109225, -0.01093487394957982, 0.016664915966386536, 0.0033529411764705885, -0.000594537815126044, -0.0007079831932773116, 0.12352941176470589], "std": [0.5183979184018482, 0.3407121586602376, 0.19603438716511995, 0.0, 0.995968300033329, 0.36697975721126264, 0.18727574654074258, 0.2874570085705242, 0.04944330226035037, 0.07392811923011149, 0.0754281692989013, 0.9923409113954162], "count": [1360]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.0117647061124444], "std": [0.10782531648874283], "count": [1360]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007352941176470588], "std": [0.027106336163480533], "count": [1360]}, "timestamp": {"min": [0.0], "max": [67.95], "mean": [33.975], "std": [19.62990384591835], "count": [1360]}, "frame_index": {"min": [0], "max": [1359], "mean": [679.5], "std": [392.598076918367], "count": [1360]}, "episode_index": {"min": [78], "max": [78], "mean": [78.0], "std": [0.0], "count": [1360]}, "index": {"min": [92714], "max": [94073], "mean": [93393.5], "std": [392.598076918367], "count": [1360]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1360]}}} +{"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": [[[0.5078732692078568]], [[0.48533061332196425]], [[0.45538996037078816]]], "std": [[[0.21510228415223567]], [[0.20851721030008563]], [[0.20054290533187333]]], "count": [198]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5283951361737975]], [[0.513004809035998]], [[0.49671204858403273]]], "std": [[[0.23879853115752914]], [[0.2277103276123265]], [[0.21696998848715737]]], "count": [198]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5271144151451517]], [[0.5117211731525194]], [[0.49548590832546124]]], "std": [[[0.2344553394619528]], [[0.22186775690062083]], [[0.21038972753189886]]], "count": [198]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1159]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1159]}, "observation.state": {"min": [1.295796816674598, -3.6379443272072205, 0.6999827478262466, 0.0, 0.0, -8.625142555729326e-08, 0.6023090481758118, -0.07537007620214808, -0.1544662270085344, 0.2577584862422593, -0.9906120896339417, -0.0512881726026535, -0.5477002859115601, 0.022368064150214195, 0.006441067862954873, -0.04010046591959967], "max": [3.7343309608532116, -1.8266774691202061, 0.7015250083638684, 0.0, 0.0, 0.7982630729675293, 1.0, 0.5411417859869925, 0.02076261548764924, 0.8819731034554115, -0.6595537662506104, 0.5069633722305298, -0.12500044703483582, 0.29568254947662354, 0.04015202896829714, -0.004714386573505369], "mean": [2.734225411507158, -2.6302968029810354, 0.7008053971780348, 0.0, 0.0, 0.4193549520795747, 0.817155813173141, 0.15473590316234848, -0.04389306189982241, 0.6809669836761696, -0.8215941859279037, 0.3194370774280624, -0.3846135342604544, 0.20651354110053224, 0.028354541250388984, -0.024548551837741562], "std": [0.9294477535510657, 0.7504365354675652, 0.0006260624742430598, 0.0, 0.0, 0.3551494522098628, 0.17397324104166678, 0.19597779100246224, 0.028272385204313136, 0.16811953949972883, 0.06185040863117749, 0.12611883309198607, 0.08397332271458857, 0.07473003696537613, 0.015182531942216195, 0.014681202171753187], "count": [1159]}, "action": {"min": [-1.0, -1.0, -0.5542857142857143, 0.0, -1.0, -1.0, -0.6214285714285714, -0.6357142857142857, -0.2142857142857143, -0.48571428571428577, -0.21714285714285717, -1.0], "max": [1.0, 1.0, 0.7142857142857143, 0.0, 1.0, 0.7142857142857143, 0.4928571428571429, 1.0, 0.3142857142857143, 0.37714285714285717, 0.29428571428571426, 1.0], "mean": [-0.022969308517194604, 0.060458523357574276, 0.023769259213607803, 0.0, -0.2907679033649698, 0.004542092937261204, -0.01736718846296068, 0.007586589424380631, 0.0077875015407370875, -0.001400221866140767, -0.002970541106865525, 0.1544434857635893], "std": [0.41371280544432276, 0.30136508812947965, 0.1966160497193717, 0.0, 0.9567936174393831, 0.37320779299765755, 0.11398338709658676, 0.30622165759274994, 0.04746083862865153, 0.08274522616216604, 0.04349054708777246, 0.9880016243434024], "count": [1159]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013805004768073559], "std": [0.11668087542057037], "count": [1159]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008628127696289905], "std": [0.02936100004689138], "count": [1159]}, "timestamp": {"min": [0.0], "max": [57.9], "mean": [28.950000000000003], "std": [16.72871782295344], "count": [1159]}, "frame_index": {"min": [0], "max": [1158], "mean": [579.0], "std": [334.5743564590687], "count": [1159]}, "episode_index": {"min": [79], "max": [79], "mean": [79.0], "std": [0.0], "count": [1159]}, "index": {"min": [94074], "max": [95232], "mean": [94653.0], "std": [334.5743564590687], "count": [1159]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1159]}}} +{"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": [[[0.5673739992386361]], [[0.4751615180838856]], [[0.4092351758023307]]], "std": [[[0.17202622614230192]], [[0.21561433459251295]], [[0.21810256841526185]]], "count": [218]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5537888048106463]], [[0.44335329673727286]], [[0.37593916872247213]]], "std": [[[0.1860397509751532]], [[0.21654558653339329]], [[0.22538594105311965]]], "count": [218]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.558183504870779]], [[0.44462306679185076]], [[0.377565961228062]]], "std": [[[0.18554695651768435]], [[0.21475376846994332]], [[0.2270566190489058]]], "count": [218]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1320]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1320]}, "observation.state": {"min": [3.534659385766295, -4.556807896934567, 0.6999926907337359, 0.0, 0.0, -0.9999954700469971, 0.0004143405531067401, -0.11023009917531468, -0.20204254154663026, 0.2784484129869904, -0.9919674396514893, -0.21233659982681274, -0.599388837814331, 0.0010160570964217186, 0.004506866516218878, -0.04009137712567559], "max": [6.5141445753442575, -0.7772933422413915, 0.7002190856636814, 0.0, 0.0, 1.0, 0.77366703748703, 0.5533192170458134, 0.1996913697847349, 0.8617929080981266, 0.9707959890365601, 0.37899601459503174, 0.5898963212966919, 0.3350434899330139, 0.04002962948842241, -0.0019215878404359803], "mean": [5.257028449532485, -2.65594457494987, 0.7000297223979908, 0.0, 0.0, 0.6383230730439677, 0.6017333203099648, 0.11065096546108717, -0.02951834170228876, 0.6895537177964384, -0.54647747273698, 0.14601106617712614, -0.23201063409673445, 0.18035853922571704, 0.01910805513517175, -0.017806188603637477], "std": [1.0814410172462225, 1.5154551186995529, 4.857421163904591e-05, 0.0, 0.0, 0.41655635588316103, 0.23862410848661733, 0.18477054477138402, 0.07395865346001299, 0.13789032313919072, 0.6991471038016351, 0.10529036759171291, 0.2853760970454281, 0.1111429370797701, 0.015624561287470574, 0.016572445185517055], "count": [1320]}, "action": {"min": [-1.0, -1.0, -0.5542857142857143, 0.0, -1.0, -1.0, -0.6428571428571428, -0.6214285714285714, -0.4285714285714286, -0.6685714285714286, -0.35714285714285715, -1.0], "max": [1.0, 1.0, 0.6371428571428571, 0.0, 1.0, 0.7928571428571428, 1.0, 1.0, 0.3514285714285714, 0.3457142857142857, 0.3742857142857143, 1.0], "mean": [0.13988095238095236, 0.1770616883116884, 0.002041125541125539, 0.0, 0.0030303030303030303, -0.0036093073593073404, -0.004832251082251077, 0.0025378787878787895, 0.005945887445887448, -0.005904761904761894, 0.004813852813852815, 0.2515151515151515], "std": [0.4611360377595207, 0.5065884731877761, 0.20302494928975454, 0.0, 0.9999954086212292, 0.375276540111947, 0.17408396970546952, 0.26062519699474396, 0.07366861258781147, 0.08091736446642016, 0.07030954163436365, 0.967853361082302], "count": [1320]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012121211737394333], "std": [0.10942709445953369], "count": [1320]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007575757575757576], "std": [0.0275136663595983], "count": [1320]}, "timestamp": {"min": [0.0], "max": [65.95], "mean": [32.975], "std": [19.05255341592477], "count": [1320]}, "frame_index": {"min": [0], "max": [1319], "mean": [659.5], "std": [381.0510683184954], "count": [1320]}, "episode_index": {"min": [80], "max": [80], "mean": [80.0], "std": [0.0], "count": [1320]}, "index": {"min": [95233], "max": [96552], "mean": [95892.5], "std": [381.0510683184954], "count": [1320]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1320]}}} +{"episode_index": 81, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5579409810266123]], [[0.49303107378858785]], [[0.4311876875891339]]], "std": [[[0.17852258832535073]], [[0.19148325797604898]], [[0.21734940496631247]]], "count": [142]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6143594210334193]], [[0.5465543475673859]], [[0.47646431321104865]]], "std": [[[0.19154431991522572]], [[0.20456532696387733]], [[0.228408304143658]]], "count": [142]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6013077249977345]], [[0.5249636882117229]], [[0.4469404973301628]]], "std": [[[0.1700466158192929]], [[0.19113201360722942]], [[0.22513294262805364]]], "count": [142]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [743]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [743]}, "observation.state": {"min": [3.589622021048232, -4.289985134712974, 0.6999529103308527, 0.0, 0.0, -0.9980998635292053, 0.06161753460764885, -0.05529244775595421, -0.2847645543267232, 0.2754531378570817, -0.9895367622375488, -0.8748366236686707, -0.5866180658340454, 4.25410908064805e-05, 0.007963800488113378, -0.039483936700597126], "max": [4.392981304667848, -2.8969536651181196, 0.7006183927214786, 0.0, 0.0, 0.9690675139427185, 1.0, 0.4968137550642129, 0.09904941236313358, 0.7334575499429772, 0.8934588432312012, 0.9067964553833008, 0.49789631366729736, 0.37928274273872375, 0.04007688466520178, 0.0035086287205424813], "mean": [4.002839763530719, -3.758334172487375, 0.7002438559701059, 0.0, 0.0, -0.10519619636679124, 0.6082220340190232, 0.16383291692011281, -0.06599263730265856, 0.5529256387278378, -0.22140306920254374, -0.0026749289653503396, -0.06470350409741357, 0.10749421324422855, 0.021818002273576532, -0.01881405905554994], "std": [0.3094220981349981, 0.47103579018620007, 0.0001875544012738263, 0.0, 0.0, 0.6899906048614676, 0.3780379475275919, 0.16288445445329372, 0.09206755792664022, 0.10401034521426239, 0.5648640584094342, 0.6962021877594478, 0.350294988513702, 0.09357617770702044, 0.014806855768053746, 0.015301267210926115], "count": [743]}, "action": {"min": [-1.0, -0.4357142857142858, -0.9571428571428573, 0.0, -1.0, -1.0, -0.8500000000000001, -1.0, -0.30285714285714294, -0.5485714285714286, -0.5285714285714286, -1.0], "max": [1.0, 0.5642857142857142, 0.76, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4028571428571428, 0.88, 0.52, 1.0], "mean": [0.01753508940588351, 0.02788886752547587, 0.054393385887329365, 0.0, -0.17631224764468373, -9.613535858489675e-05, 0.03279177081330512, -0.03461834262641799, 0.019696212266871772, -0.01653143626225725, -0.014247260142280354, 0.1601615074024226], "std": [0.3802353791800167, 0.12187822221726967, 0.3406471900472807, 0.0, 0.9843342884053597, 0.4967275464250321, 0.2878204931248916, 0.34104767790663865, 0.08891323421641206, 0.16417610763744658, 0.12890541190265498, 0.9870908223393507], "count": [743]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.02153431996703148], "std": [0.14515714347362518], "count": [743]}, "next.done": {"min": [false], "max": [true], "mean": [0.0013458950201884253], "std": [0.03666174555013791], "count": [743]}, "timestamp": {"min": [0.0], "max": [37.1], "mean": [18.55], "std": [10.724271537032248], "count": [743]}, "frame_index": {"min": [0], "max": [742], "mean": [371.0], "std": [214.48543074064494], "count": [743]}, "episode_index": {"min": [81], "max": [81], "mean": [81.0], "std": [0.0], "count": [743]}, "index": {"min": [96553], "max": [97295], "mean": [96924.0], "std": [214.48543074064494], "count": [743]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [743]}}} +{"episode_index": 82, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.00392156862745098]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5047572158291357]], [[0.45550051714447265]], [[0.4275209264817581]]], "std": [[[0.20716471276340148]], [[0.22203315781186278]], [[0.2459028696566798]]], "count": [204]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4486637688929738]], [[0.4238917009411569]], [[0.4109807505418777]]], "std": [[[0.22843496918599437]], [[0.22872753002248847]], [[0.23791670159396824]]], "count": [204]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4524068800864977]], [[0.4235983347351942]], [[0.4080682982577126]]], "std": [[[0.23140689305131545]], [[0.2326578674056366]], [[0.24309338225529625]]], "count": [204]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1202]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1202]}, "observation.state": {"min": [0.8091961627543236, -4.824858432419495, 0.6998875674319759, 0.0, 0.0, -1.0, 2.742840706559946e-06, -0.06192358946408172, -0.32317836197727523, 0.2897237069326699, -0.9853550791740417, -0.5327259302139282, -0.5372410416603088, 0.00014112469216343015, 0.007355903262017621, -0.04008716209116978], "max": [4.155261598318077, -2.4688158832830758, 0.7002654784691719, 0.0, 0.0, 1.0, 0.8552252054214478, 0.5882402572956262, 0.002487936840313232, 0.8815689258341315, 0.9099385142326355, 0.522847056388855, 0.25159406661987305, 0.21399469673633575, 0.04006658086849883, -0.003366127929531128], "mean": [2.3120022333386885, -3.987901858852895, 0.7000530898123801, 0.0, 0.0, 0.012825996824191534, 0.15272822398660277, 0.13545721300219538, -0.07400799075707115, 0.6666944234900638, -0.865042143822113, 0.20618149010889145, -0.2896060598223856, 0.09555355351398256, 0.021538369293394616, -0.020843688564177443], "std": [1.2667430112526965, 0.7449433793757679, 7.41076583790638e-05, 0.0, 0.0, 0.9639686757504926, 0.2174258037643073, 0.1776537086735915, 0.0711621469149595, 0.12955316683007073, 0.26021583432001333, 0.1841080836615191, 0.11053591638252831, 0.048609395887672095, 0.014625079472297218, 0.015155972049810515], "count": [1202]}, "action": {"min": [-1.0, -1.0, -0.6457142857142857, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2257142857142857, -0.46857142857142864, -0.3457142857142857, -1.0], "max": [1.0, 1.0, 0.9485714285714286, 0.0, 1.0, 0.8642857142857142, 0.8857142857142857, 1.0, 0.4971428571428572, 0.28, 0.3514285714285714, 1.0], "mean": [-0.01694794390301878, 0.12096505823627286, -0.009579272640836682, 0.0, 0.029950083194675542, -0.0004100309008794694, -0.01839790824815783, 0.003214879961968148, 0.004708818635607323, -0.005440931780366052, -0.004342762063227953, 0.18801996672212978], "std": [0.4861477630997721, 0.5402088981181827, 0.2723769905949026, 0.0, 0.9995513956353828, 0.39416248332094206, 0.15876536806521876, 0.30151486756625406, 0.0648549208353184, 0.08823640594022555, 0.07189843183723153, 0.9821652061205505], "count": [1202]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013311147689819336], "std": [0.11460349708795547], "count": [1202]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008319467554076539], "std": [0.028831486607593104], "count": [1202]}, "timestamp": {"min": [0.0], "max": [60.05], "mean": [30.025000000000002], "std": [17.349369585088677], "count": [1202]}, "frame_index": {"min": [0], "max": [1201], "mean": [600.5], "std": [346.9873917017735], "count": [1202]}, "episode_index": {"min": [82], "max": [82], "mean": [82.0], "std": [0.0], "count": [1202]}, "index": {"min": [97296], "max": [98497], "mean": [97896.5], "std": [346.9873917017735], "count": [1202]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1202]}}} +{"episode_index": 83, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[0.9294117647058824]], [[0.8980392156862745]]], "mean": [[[0.5477599792889303]], [[0.5310195274292632]], [[0.5095835914189045]]], "std": [[[0.20131843029497756]], [[0.19814132011609495]], [[0.18997927689019614]]], "count": [161]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5713719691447401]], [[0.5512923040309874]], [[0.5292739494638719]]], "std": [[[0.25037549902874373]], [[0.23469018369411124]], [[0.2191301942506903]]], "count": [161]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5647497264233479]], [[0.547948815119628]], [[0.5296884600158848]]], "std": [[[0.23944493226523075]], [[0.2264288907723411]], [[0.21390529915139947]]], "count": [161]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [882]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [882]}, "observation.state": {"min": [0.7288692450725726, -3.3208841855635045, 0.6999938890348858, 0.0, 0.0, -0.09727893024682999, 0.7066880464553833, 0.011643919631092847, -0.2661529903915154, 0.2744696544181481, -0.9897828102111816, -0.18187826871871948, -0.485759973526001, 0.0005683491472154856, 0.004285503932046877, -0.04000722322336427], "max": [1.3205601280876178, -0.8158320721731513, 0.700338254601365, 0.0, 0.0, 0.7075253129005432, 1.0, 0.5470824983982585, 0.11749601939236043, 0.7496248183635381, 0.939430832862854, 0.39794379472732544, 0.4429616630077362, 0.26186898350715637, 0.04015079012822299, -0.005665197609444969], "mean": [1.1669977754839027, -2.086233023821423, 0.7001447564441365, 0.0, 0.0, 0.2883814581613243, 0.8996078903172292, 0.1816414872971298, -0.011092889841943735, 0.6423463629416939, -0.8391815864580289, 0.19143659934029827, -0.3573246635074248, 0.10483413089297462, 0.021336938919688735, -0.0204829894285342], "std": [0.1425412477892071, 0.9882305437356385, 0.0001038234569685645, 0.0, 0.0, 0.30960081931732236, 0.10811621345268668, 0.17530724595454397, 0.08624961175224921, 0.127454418955818, 0.2622972671414268, 0.17115854409522557, 0.12793424990063307, 0.07741384597931582, 0.014892445714304921, 0.015140331154106816], "count": [882]}, "action": {"min": [-1.0, -1.0, -0.6085714285714285, 0.0, -1.0, -1.0, -0.8785714285714286, -0.5785714285714286, -0.24571428571428575, -0.6571428571428571, -0.40571428571428575, -1.0], "max": [1.0, 1.0, 0.5828571428571429, 0.0, 1.0, 0.8500000000000001, 1.0, 1.0, 0.3628571428571429, 0.35428571428571426, 0.39714285714285713, 1.0], "mean": [-0.033649173955296416, -0.028822481373501806, -0.04891804340783933, 0.0, -0.19047619047619047, 0.022311305474570775, 0.00012957563977971772, 0.031195335276967943, 0.006728215095562027, 0.0036022027858762496, -0.0030903790087463525, 0.18594104308390022], "std": [0.44199808496441806, 0.3048046000856201, 0.1864009636734898, 0.0, 0.9816918156232514, 0.42697220312897494, 0.19352810579672752, 0.3539367739709793, 0.06470098918945763, 0.09368638836487814, 0.07755759146579055, 0.9825609031998276], "count": [882]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01814058981835842], "std": [0.13345974683761597], "count": [882]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011337868480725624], "std": [0.03365265777699735], "count": [882]}, "timestamp": {"min": [0.0], "max": [44.05], "mean": [22.025], "std": [12.730565253226844], "count": [882]}, "frame_index": {"min": [0], "max": [881], "mean": [440.5], "std": [254.61130506453688], "count": [882]}, "episode_index": {"min": [83], "max": [83], "mean": [83.0], "std": [0.0], "count": [882]}, "index": {"min": [98498], "max": [99379], "mean": [98938.5], "std": [254.61130506453688], "count": [882]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [882]}}} +{"episode_index": 84, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6041705388970714]], [[0.5581353288906175]], [[0.5116259936311551]]], "std": [[[0.16771883720237468]], [[0.1774208455384623]], [[0.18785190882780356]]], "count": [305]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6338968985351248]], [[0.6008892784989252]], [[0.5604954602870862]]], "std": [[[0.19953663254463141]], [[0.19428709268811312]], [[0.20004153081094422]]], "count": [305]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6234574049946887]], [[0.5957244653312465]], [[0.5603549819205667]]], "std": [[[0.19046530329919642]], [[0.18292036146478838]], [[0.18714508230576252]]], "count": [305]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2061]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [2061]}, "observation.state": {"min": [0.9442471635977818, -7.3341394053605065, 0.6999518516970652, 0.0, 0.0, -1.0, 3.2534324418520555e-05, 0.033989217564944774, -0.1597957178539735, 0.2640340049360774, -0.9873266220092773, -0.3084087669849396, -0.5794304013252258, 0.0017631787341088057, 0.008662880095720072, -0.040018099154408654], "max": [6.125226734926459, -0.8921008618875431, 0.7002050569421603, 0.0, 0.0, 1.0, 1.0, 0.6151721453951304, 0.11989421998773375, 0.8658991461445341, 0.9491536617279053, 0.5021560192108154, 0.34207412600517273, 0.3478630483150482, 0.043161391013605936, -0.006415381807810811], "mean": [3.6001455549760926, -3.7129993183291865, 0.7000259613017855, 0.0, 0.0, 0.049750461705216936, 0.48406519510252743, 0.15077132465332224, -0.013954785932177707, 0.6545086030693237, -0.47759848118753817, 0.11662077426563357, -0.22339021207377033, 0.13747668042808342, 0.023969146400698846, -0.02253874078640161], "std": [1.7260190048503106, 2.3037660874140995, 4.234817266109184e-05, 0.0, 0.0, 0.8056175660619413, 0.3379143485464702, 0.11716729016955059, 0.06831174218919608, 0.13020976490186553, 0.7470942594785771, 0.22234845803485237, 0.2782474229109869, 0.06697731018738895, 0.01294296684237129, 0.01364220354569101], "count": [2061]}, "action": {"min": [-1.0, -1.0, -0.84, 0.0, -1.0, -1.0, -0.7928571428571428, -0.95, -0.3457142857142857, -0.5, -0.26857142857142857, -1.0], "max": [1.0, 1.0, 0.78, 0.0, 1.0, 0.7428571428571429, 0.7857142857142857, 1.0, 0.4371428571428572, 0.38857142857142857, 0.3342857142857143, 1.0], "mean": [0.48789076037984364, 0.03690996049074652, 0.12875719137727878, 0.0, 0.3042212518195051, -0.00735080058224164, -0.001899216746378323, -0.005295626256324947, 0.002514729326956407, -0.0021030013169751134, -0.00020239828100089907, 0.22950024260067928], "std": [0.5446056722195851, 0.33387218606297503, 0.2754836488425185, 0.0, 0.9526014013958627, 0.26618500289153507, 0.11910274166657141, 0.22586377779242678, 0.05821239999736412, 0.07488776119950369, 0.04216706772544032, 0.9733086040132566], "count": [2061]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.007763221859931946], "std": [0.08776648342609406], "count": [2061]}, "next.done": {"min": [false], "max": [true], "mean": [0.00048520135856380397], "std": [0.022021942198758308], "count": [2061]}, "timestamp": {"min": [0.0], "max": [103.0], "mean": [51.5], "std": [29.747969118356075], "count": [2061]}, "frame_index": {"min": [0], "max": [2060], "mean": [1030.0], "std": [594.9593823671215], "count": [2061]}, "episode_index": {"min": [84], "max": [84], "mean": [84.0], "std": [0.0], "count": [2061]}, "index": {"min": [99380], "max": [101440], "mean": [100410.0], "std": [594.9593823671215], "count": [2061]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2061]}}} +{"episode_index": 85, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.53020816673782]], [[0.518908404453978]], [[0.49975591921338847]]], "std": [[[0.23071190174465947]], [[0.20924060156799615]], [[0.19764792626867436]]], "count": [176]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5312408855254638]], [[0.5207654293420694]], [[0.5037787636333608]]], "std": [[[0.2657431873330932]], [[0.24080651152401258]], [[0.22268014263144037]]], "count": [176]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5333111975494765]], [[0.5215011566080512]], [[0.5030318748079731]]], "std": [[[0.2598736822896058]], [[0.2365578809387126]], [[0.22097200127191494]]], "count": [176]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [989]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [989]}, "observation.state": {"min": [2.4567793553183788, -3.523202113752872, 0.6999665838491443, 0.0, 0.0, -0.999992847442627, 0.0037810399662703276, -0.10944569130415771, -0.12025284000920511, 0.40307320567105065, -0.9935962557792664, -0.006524085998535156, -0.5129990577697754, 0.0006274352199397981, 0.010178238572600766, -0.04008472568299797], "max": [4.17192421214813, -0.7303234251768442, 0.7021987055443066, 0.0, 0.0, 0.9999285936355591, 0.7081193327903748, 0.6056840471768787, 0.13300849751675248, 0.8897166415055803, 0.9937415719032288, 0.5677772760391235, 0.11341338604688644, 0.7097315192222595, 0.04004714642501544, -0.00819991855640749], "mean": [3.5785288530781822, -1.95884088132195, 0.7012604600447059, 0.0, 0.0, 0.6539439249207446, 0.6061471252745965, 0.12918823124951012, 0.0002046129032024087, 0.7059448310837589, -0.772312430930451, 0.3321245972394823, -0.28675327047750854, 0.3550944457642703, 0.022710265952018138, -0.02108951699515293], "std": [0.5846971210410571, 1.0707317766125666, 0.0008128125743274699, 0.0, 0.0, 0.41978495946587374, 0.16948036816761108, 0.1973716339133155, 0.05492988542081048, 0.12862398062535552, 0.1546574111608662, 0.1352315187926245, 0.1261112389359373, 0.16369705898029774, 0.013725112214547754, 0.014513423614971448], "count": [989]}, "action": {"min": [-1.0, -1.0, -0.58, 0.0, -1.0, -1.0, -0.75, -1.0, -0.56, -0.4742857142857143, -0.6257142857142857, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.8428571428571429, 1.0, 0.4571428571428572, 0.48571428571428577, 0.48571428571428577, 1.0], "mean": [0.05358226202513361, 0.1082406471183013, 0.006771630795897749, 0.0, -0.16481294236602628, -0.00876787519861331, 0.003647262747363869, -0.01829409215657952, 0.009438104867831865, -0.008964321825798063, -0.001805575617506858, 0.1890798786653185], "std": [0.5137172078727011, 0.3932797248597846, 0.21119659955971223, 0.0, 0.9863248420417325, 0.49260811000518745, 0.1811855656655202, 0.32320696249907865, 0.11628473435493243, 0.1245518094732884, 0.0849221439901709, 0.9819617097850116], "count": [989]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.016177957877516747], "std": [0.12615954875946045], "count": [989]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010111223458038423], "std": [0.03178207006168192], "count": [989]}, "timestamp": {"min": [0.0], "max": [49.4], "mean": [24.699999999999996], "std": [14.274978108564651], "count": [989]}, "frame_index": {"min": [0], "max": [988], "mean": [494.0], "std": [285.499562171293], "count": [989]}, "episode_index": {"min": [85], "max": [85], "mean": [85.0], "std": [0.0], "count": [989]}, "index": {"min": [101441], "max": [102429], "mean": [101935.0], "std": [285.499562171293], "count": [989]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [989]}}} +{"episode_index": 86, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6162918116837004]], [[0.5675021315474644]], [[0.5183204250872288]]], "std": [[[0.20835424383725115]], [[0.232615469697549]], [[0.24645181508566746]]], "count": [184]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6457716383287669]], [[0.6200807176282643]], [[0.5827463603690457]]], "std": [[[0.17168729624561452]], [[0.17786173116051737]], [[0.1822923168962943]]], "count": [184]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6395832933326714]], [[0.6207062580599708]], [[0.5848704117744882]]], "std": [[[0.1771950658663894]], [[0.18334978798065352]], [[0.1893541978832833]]], "count": [184]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1047]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1047]}, "observation.state": {"min": [3.600644969779252, -4.969706288239403, 0.699905588363374, 0.0, 0.0, -0.9999996423721313, 0.0008951593772508204, -0.13878243842991766, -0.36560936044702874, 0.2778566475244403, -0.9881486892700195, -0.28920936584472656, -0.48828253149986267, 0.00024735284387134016, 0.006768778565837649, -0.040014691082468974], "max": [4.4077061881878885, -2.4896498854917044, 0.7001289893694118, 0.0, 0.0, 0.9999979734420776, 1.0, 0.49230428793122005, 0.14272565078266908, 0.7446335683403683, 0.9874469637870789, 0.7167859673500061, 0.5053531527519226, 0.40054577589035034, 0.04324595749403223, -0.00036736054891258027], "mean": [3.9720040784729993, -4.049276266078256, 0.7000122675479427, 0.0, 0.0, -0.17457809264341503, 0.6232978129780445, 0.08708220885104385, -0.07828712388107507, 0.6371701404439426, -0.7680017025901117, 0.18316615209936982, -0.28151295622303696, 0.13861355278415827, 0.023874252645301568, -0.02127722603065737], "std": [0.30760305159300644, 0.9440491500719482, 3.110907284742803e-05, 0.0, 0.0, 0.6409815163971433, 0.41251066204083153, 0.17298569867702973, 0.10685498284000981, 0.11530277412464783, 0.4437930570288386, 0.1993359811958736, 0.18895925492905677, 0.07594453490635851, 0.014403798024373169, 0.015057524927840519], "count": [1047]}, "action": {"min": [-1.0, -1.0, -0.011428571428571429, 0.0, -1.0, -1.0, -0.7071428571428572, -0.7142857142857143, -0.33714285714285713, -0.5057142857142857, -0.3, -1.0], "max": [1.0, 1.0, 0.7628571428571429, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4257142857142857, 0.5, 0.41714285714285715, 1.0], "mean": [0.1650020466639379, 0.03432937644972028, 0.17121298949379196, 0.0, -0.03724928366762178, 0.01620275617410289, -0.01868604175194435, 0.029096738982125815, -0.001522717969709372, 0.0035066175467321553, -0.0030618092509209997, 0.18051575931232092], "std": [0.4938895511895791, 0.24394921532894134, 0.22808932372936247, 0.0, 0.9993060046183391, 0.39149583563175205, 0.23121906523213964, 0.3327918435648525, 0.07908806260944161, 0.09357638464816716, 0.06793994646315907, 0.9835720922433181], "count": [1047]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.015281757339835167], "std": [0.1226712167263031], "count": [1047]}, "next.done": {"min": [false], "max": [true], "mean": [0.0009551098376313276], "std": [0.030890089071243992], "count": [1047]}, "timestamp": {"min": [0.0], "max": [52.3], "mean": [26.15], "std": [15.112136403125358], "count": [1047]}, "frame_index": {"min": [0], "max": [1046], "mean": [523.0], "std": [302.2427280625072], "count": [1047]}, "episode_index": {"min": [86], "max": [86], "mean": [86.0], "std": [0.0], "count": [1047]}, "index": {"min": [102430], "max": [103476], "mean": [102953.0], "std": [302.2427280625072], "count": [1047]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1047]}}} +{"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": [[[0.5316998022472613]], [[0.5049467381423082]], [[0.47329001552120226]]], "std": [[[0.239967302055337]], [[0.23593343940554423]], [[0.22479084450401973]]], "count": [164]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5332821653084229]], [[0.5202677649667193]], [[0.5067626471498946]]], "std": [[[0.26658314471369504]], [[0.2576583463993746]], [[0.24487906480774757]]], "count": [164]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4909847126344583]], [[0.4720786745499219]], [[0.4542033143957969]]], "std": [[[0.22394275993682522]], [[0.21194758081250342]], [[0.1944147194263201]]], "count": [164]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [900]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [900]}, "observation.state": {"min": [0.7453803138195141, -4.138736569415896, 0.699992668560145, 0.0, 0.0, -1.0, 9.67827489262163e-08, 0.044954771576668606, -0.11207157099242959, 0.24636062682580373, -0.9915308952331543, -0.9117336273193359, -0.46592649817466736, 0.0005944852600805461, 0.002191641689691442, -0.04004300554892844], "max": [3.213785046269629, -1.0851292798754404, 0.7014148130525505, 0.0, 0.0, 1.0, 0.9999960660934448, 0.5631192740508308, 0.23034982517385139, 0.8052785523476839, 0.9854958653450012, 0.9556710720062256, 0.48127296566963196, 0.5300193428993225, 0.040075683601068696, -0.003922674116053689], "mean": [1.8325211830676011, -2.7829343676669063, 0.7006784997914283, 0.0, 0.0, 0.3630392767452738, 0.5802886647008068, 0.247182145712763, 0.05522632178187503, 0.5949722835254079, 0.06407358720484707, 0.2180219215651353, -0.010818064784010251, 0.1833728018719315, 0.023443037264531324, -0.02238003557717173], "std": [0.9117262058055949, 1.2803380923209426, 0.0005384401811704787, 0.0, 0.0, 0.6272825323843375, 0.3714622189816154, 0.16304331199624597, 0.07712924058642624, 0.13981937015891582, 0.8069595771130742, 0.4001406802724902, 0.28236097662039894, 0.15360454514571284, 0.014779216793136343, 0.01424697392924839], "count": [900]}, "action": {"min": [-1.0, -1.0, -0.08571428571428572, 0.0, -1.0, -1.0, -1.0, -1.0, -0.2571428571428571, -0.5514285714285714, -0.9514285714285715, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.5742857142857143, 0.26, 0.5828571428571429, 1.0], "mean": [0.2762142857142857, -0.060761904761904836, 0.20454285714285747, 0.0, -0.04888888888888889, 0.0045873015873015574, 0.029785714285714297, 0.005642857142857138, 0.013501587301587294, -0.010742857142857153, -0.02850476190476193, 0.2111111111111111], "std": [0.48364328497096304, 0.4091779381076328, 0.2856748180676838, 0.0, 0.9988042233306819, 0.4430224215106958, 0.2759589536585241, 0.32762902376145464, 0.10531202799353391, 0.09537524220360745, 0.2130365390822102, 0.9774620702438751], "count": [900]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017777778208255768], "std": [0.1321428269147873], "count": [900]}, "next.done": {"min": [false], "max": [true], "mean": [0.0011111111111111111], "std": [0.033314809667922114], "count": [900]}, "timestamp": {"min": [0.0], "max": [44.95], "mean": [22.475], "std": [12.990373038010366], "count": [900]}, "frame_index": {"min": [0], "max": [899], "mean": [449.5], "std": [259.80746076020733], "count": [900]}, "episode_index": {"min": [87], "max": [87], "mean": [87.0], "std": [0.0], "count": [900]}, "index": {"min": [103477], "max": [104376], "mean": [103926.5], "std": [259.80746076020733], "count": [900]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [900]}}} +{"episode_index": 88, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5875007047231897]], [[0.5249607049233238]], [[0.45978995867719497]]], "std": [[[0.17698541982177315]], [[0.1987142683194682]], [[0.21762299199269738]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6163887411433417]], [[0.5615589321180632]], [[0.5010313337304872]]], "std": [[[0.19975124739955066]], [[0.20990243049806287]], [[0.2261885610255637]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6140440153450428]], [[0.5632232352404795]], [[0.5068519568854462]]], "std": [[[0.19339584145953626]], [[0.2040322877615739]], [[0.22146388894688465]]], "count": [166]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [916]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [916]}, "observation.state": {"min": [3.3547511360693223, -5.382263377313405, 0.6999794840586213, 0.0, 0.0, -0.9999998807907104, 0.0005688730161637068, 0.023947946557230093, -0.3498185244033163, 0.24546403434933417, -0.9915632605552673, -0.27220290899276733, -0.5349988341331482, 0.0009074010304175317, 0.005999220213767919, -0.040111875245522996], "max": [3.91847944079708, -0.7667855612381395, 0.7005757480598492, 0.0, 0.0, 0.9999994039535522, 0.742705225944519, 0.5757659269327013, 0.13384838880643724, 0.8753463910894024, 0.88922119140625, 0.6063075065612793, 0.5247510671615601, 0.3648965060710907, 0.04002552216739325, -0.003038189262184193], "mean": [3.672810588113654, -2.676847719157218, 0.7001014796866718, 0.0, 0.0, 0.38451307341781765, 0.3508116604546014, 0.18866691228518134, -0.04822435526369581, 0.6639448551445204, -0.8508237938042812, 0.20360418277341205, -0.3025338711892153, 0.15424700190500493, 0.022139197228930558, -0.02075159754169569], "std": [0.18561885223927463, 1.7868236521732117, 0.00013216124322330068, 0.0, 0.0, 0.7901765709326666, 0.3235766665295562, 0.16983787333776876, 0.10650076203610798, 0.1433544903916303, 0.21969990698644876, 0.20655954586399566, 0.1446582686036849, 0.08639681664970354, 0.0143242901345891, 0.015452543049737734], "count": [916]}, "action": {"min": [-1.0, -1.0, -0.5142857142857142, 0.0, -1.0, -1.0, -1.0, -1.0, -0.3171428571428571, -0.7257142857142858, -0.48571428571428577, -1.0], "max": [1.0, 1.0, 0.7171428571428572, 0.0, 1.0, 1.0, 1.0, 1.0, 0.38285714285714284, 0.32, 0.5485714285714286, 1.0], "mean": [0.02285558328134744, 0.13721927635683093, 0.02708047411104179, 0.0, -0.13755458515283842, 0.0030255770430442797, -0.019268558951965054, -0.010924828446662486, 0.0086930754834685, -0.01181534622582658, 0.0009419837804117305, 0.17685589519650655], "std": [0.4580931156919861, 0.4670882315447852, 0.2120903252458889, 0.0, 0.9904941878191083, 0.46912087417517445, 0.2865946001161843, 0.3542625749080276, 0.0882004455474835, 0.12458801956361899, 0.11273347110622853, 0.9842367562402111], "count": [916]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.017467249184846878], "std": [0.13100436329841614], "count": [916]}, "next.done": {"min": [false], "max": [true], "mean": [0.001091703056768559], "std": [0.0330228896555768], "count": [916]}, "timestamp": {"min": [0.0], "max": [45.75], "mean": [22.875], "std": [13.221313285751913], "count": [916]}, "frame_index": {"min": [0], "max": [915], "mean": [457.5], "std": [264.4262657150382], "count": [916]}, "episode_index": {"min": [88], "max": [88], "mean": [88.0], "std": [0.0], "count": [916]}, "index": {"min": [104377], "max": [105292], "mean": [104834.5], "std": [264.4262657150382], "count": [916]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [916]}}} +{"episode_index": 89, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.496769012660862]], [[0.4616318973920364]], [[0.41173703369631603]]], "std": [[[0.2274382132092453]], [[0.21447587440668217]], [[0.21321108242247105]]], "count": [234]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.45940930810988756]], [[0.41618814648985764]], [[0.3722042973005174]]], "std": [[[0.2522887146312381]], [[0.2368614465055694]], [[0.24003772308679386]]], "count": [234]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4647569339599405]], [[0.42521520876416974]], [[0.3854313912574662]]], "std": [[[0.24969435616120064]], [[0.2386166444808469]], [[0.24363692421362454]]], "count": [234]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1446]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1446]}, "observation.state": {"min": [-3.5697137082474284, -5.7525628362805294, 0.6999597121909533, 0.0, 0.0, -0.9999970197677612, 0.0024608364328742027, -0.04418730707340046, -0.24266385098753318, 0.2711453779737033, -0.9911872744560242, -0.05311697721481323, -0.5898951888084412, 0.006873813457787037, 0.007198586711681303, -0.04007219231923271], "max": [-0.779867234715921, -1.3155580709991204, 0.7015353988215485, 0.0, 0.0, 0.9999936819076538, 1.0, 0.5711342736105394, 0.09848248500206869, 0.8460201610730157, -0.7856431603431702, 0.4398447871208191, -0.12729938328266144, 0.2834504544734955, 0.04005424585314491, -0.005456811982303528], "mean": [-1.9413191290373333, -3.3425935202361576, 0.700860794293572, 0.0, 0.0, 0.13413190054741012, 0.7676226418997698, 0.13601368698740876, -0.03898556726227898, 0.7205550379848881, -0.8696729325654595, 0.23493231307421483, -0.364293146945464, 0.15273102448208523, 0.025714172134803787, -0.02390969288709872], "std": [0.9657834279121408, 1.8210644939610612, 0.0006963905680726269, 0.0, 0.0, 0.5796950445849809, 0.23815492543822128, 0.1568812946044845, 0.0743782272283158, 0.1332536049541094, 0.038467108926139436, 0.1503164937722959, 0.07706313830854042, 0.049254863955311104, 0.012731540469614853, 0.013513256370685964], "count": [1446]}, "action": {"min": [-1.0, -1.0, -0.5657142857142857, 0.0, -1.0, -1.0, -0.8785714285714286, -0.8142857142857143, -0.23428571428571432, -0.4228571428571429, -0.34285714285714286, -1.0], "max": [1.0, 1.0, 0.0, 0.0, 1.0, 1.0, 0.8357142857142857, 1.0, 0.3857142857142858, 0.5657142857142857, 0.31142857142857144, 1.0], "mean": [0.25991898834222465, 0.06323849041691362, -0.1456668642560758, 0.0, 0.03319502074688797, -0.008965619442797867, -0.011316933412369102, 0.0055176842521240796, 0.002912467891721006, -0.004941711124283735, -0.0008022130013831243, 0.16459197786998617], "std": [0.47446576522486034, 0.36470316934096175, 0.18493621456793136, 0.0, 0.9994488934395814, 0.3444803686634594, 0.14697714443222992, 0.26947359482900696, 0.05474753681162557, 0.08913395989267976, 0.060782433506329774, 0.9863617393334067], "count": [1446]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01106500718742609], "std": [0.1046067401766777], "count": [1446]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006915629322268327], "std": [0.026288489362030723], "count": [1446]}, "timestamp": {"min": [0.0], "max": [72.25], "mean": [36.125], "std": [20.87120724027881], "count": [1446]}, "frame_index": {"min": [0], "max": [1445], "mean": [722.5], "std": [417.4241448055762], "count": [1446]}, "episode_index": {"min": [89], "max": [89], "mean": [89.0], "std": [0.0], "count": [1446]}, "index": {"min": [105293], "max": [106738], "mean": [106015.5], "std": [417.4241448055762], "count": [1446]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1446]}}} +{"episode_index": 90, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5787054608502875]], [[0.5683656912162723]], [[0.561403872299423]]], "std": [[[0.24030029213937662]], [[0.232755587436142]], [[0.23609807472827768]]], "count": [229]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5520341218768229]], [[0.5318678459940284]], [[0.5192250796995074]]], "std": [[[0.2695737735620801]], [[0.26726771605370636]], [[0.2664736708622371]]], "count": [229]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.559082355004425]], [[0.5389691236319429]], [[0.5260526811109951]]], "std": [[[0.26392238089312897]], [[0.26019504672913146]], [[0.2599424622096144]]], "count": [229]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1406]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1406]}, "observation.state": {"min": [0.6981240700027651, -5.708457293999261, 0.6999895789787569, 0.0, 0.0, -0.9999990463256836, 0.001378289656713605, -0.044505050818036906, -0.26029379807805597, 0.2666883072957622, -0.9850908517837524, -0.023738905787467957, -0.48959943652153015, 0.014500699937343597, 0.008946632880455371, -0.04002644355094783], "max": [4.912058206461804, -1.4945724736849102, 0.7008237850670958, 0.0, 0.0, 0.9999982118606567, 1.0, 0.5480090000539004, 0.014826043776126951, 0.8553693607189385, -0.626573383808136, 0.6293812990188599, -0.16925868391990662, 0.4370839595794678, 0.04009527642042278, -0.00588990291056715], "mean": [3.0923098973265133, -3.716079443929316, 0.7001889028391518, 0.0, 0.0, -0.06291297834403219, 0.8028843318242851, 0.10695687131213777, -0.055567070111182955, 0.6453142557464783, -0.8196577752382623, 0.344395485702653, -0.32905532598792236, 0.2735090911577841, 0.023383296942394615, -0.021715122490433877], "std": [1.5461841914215981, 1.4863360451020255, 0.0002644974746493683, 0.0, 0.0, 0.5017231099141867, 0.3157414320103488, 0.17540890294406106, 0.06285303447154164, 0.12974779622186575, 0.0660906826436067, 0.12191266471471525, 0.049775152595153485, 0.06899281069512948, 0.012943652985837075, 0.013549228166902023], "count": [1406]}, "action": {"min": [-1.0, -1.0, -0.6542857142857142, 0.0, -1.0, -1.0, -0.7642857142857143, -1.0, -0.3942857142857143, -0.56, -0.7628571428571429, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0, 0.4371428571428572, 0.4314285714285714, 0.34285714285714286, 1.0], "mean": [0.3344492989229835, -0.24307051412314568, 0.1576427555374923, 0.0, 0.1934566145092461, -0.0016510871774029585, -0.007564519406624679, -0.0019000203210729541, 0.007364356838041047, -0.003261532208900628, -0.0005141231457020966, 0.22901849217638692], "std": [0.4790575567902193, 0.5626816304358824, 0.2983366566441065, 0.0, 0.9811088310185714, 0.3937035217549625, 0.15350106849376835, 0.29647392403920675, 0.06405152990670683, 0.0839582648803225, 0.09562130878245924, 0.9734220719920166], "count": [1406]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011379800736904144], "std": [0.10606744140386581], "count": [1406]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007112375533428165], "std": [0.026659551655748664], "count": [1406]}, "timestamp": {"min": [0.0], "max": [70.25], "mean": [35.125], "std": [20.293856829099784], "count": [1406]}, "frame_index": {"min": [0], "max": [1405], "mean": [702.5], "std": [405.8771365819957], "count": [1406]}, "episode_index": {"min": [90], "max": [90], "mean": [90.0], "std": [0.0], "count": [1406]}, "index": {"min": [106739], "max": [108144], "mean": [107441.5], "std": [405.8771365819957], "count": [1406]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1406]}}} +{"episode_index": 91, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00392156862745098]], [[0.00392156862745098]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6201661178489137]], [[0.6009275551091612]], [[0.5753414231343986]]], "std": [[[0.20509267726877412]], [[0.20360012771217584]], [[0.20341303045934092]]], "count": [240]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.011764705882352941]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5934021970960829]], [[0.5721309689291162]], [[0.5475254173528135]]], "std": [[[0.23129358300363326]], [[0.22798647946848954]], [[0.22629155379220653]]], "count": [240]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5626342955445932]], [[0.5420391930474175]], [[0.5187272549298855]]], "std": [[[0.24661683981183574]], [[0.24075114236599815]], [[0.2363924252902008]]], "count": [240]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1499]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1499]}, "observation.state": {"min": [1.325705727094546, -4.1694981256695005, 0.6999920509164952, 0.0, 0.0, -0.17537972331047058, 0.5951471924781799, -0.010967887488482653, -0.37311632541050965, 0.27175630664915107, -0.9911314845085144, -0.16629242897033691, -0.6614052057266235, 0.00055741734104231, 0.006379758536843943, -0.04004705513192004], "max": [3.6441182302581323, -0.8721406402447615, 0.7004045471963766, 0.0, 0.0, 0.8036167621612549, 0.9999960660934448, 0.6140950620415728, 0.22790881617392067, 0.8545382581877028, 0.9234465956687927, 0.4334681034088135, 0.4834648072719574, 0.5453936457633972, 0.04005064825086548, -0.004796581599388686], "mean": [2.682724129979164, -2.454551758853601, 0.7000384033157406, 0.0, 0.0, 0.592655899668556, 0.7481792741731614, 0.18560472281152732, -0.015419543172831255, 0.6707009669558106, -0.5580192764573609, 0.2727714692098924, -0.21112328812509795, 0.13588296037347952, 0.023056875865512916, -0.022182956834488038], "std": [0.5786842232083002, 1.319907980911645, 7.222725765709824e-05, 0.0, 0.0, 0.2763941953193637, 0.11221854421459969, 0.14677474613042907, 0.12189855535087848, 0.13629389497228964, 0.672450949440312, 0.10780556460801931, 0.2780738710220659, 0.10017781677435396, 0.01355243721767704, 0.014045728560353793], "count": [1499]}, "action": {"min": [-1.0, -1.0, -0.4971428571428572, 0.0, -1.0, -1.0, -0.942857142857143, -0.55, -0.4, -0.4371428571428572, -0.30857142857142855, -1.0], "max": [1.0, 1.0, 0.5142857142857142, 0.0, 1.0, 0.6500000000000001, 1.0, 1.0, 0.39714285714285713, 0.3485714285714286, 0.34285714285714286, 1.0], "mean": [0.052644620223005784, -0.05391689697893827, -0.004982369198513292, 0.0, -0.03268845897264843, -0.004369579719813208, -0.010864385780996851, 0.009792242447345832, -0.0051100733822548325, -0.0034670732869532066, 0.002382540741446677, 0.2274849899933289], "std": [0.4412322477814898, 0.3847934925323801, 0.14625643347395725, 0.0, 0.9994655895277164, 0.29969283725122364, 0.20459022329733442, 0.24768384078808858, 0.07857590632577519, 0.07495187994155007, 0.05781561649076654, 0.9737815870757354], "count": [1499]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.010673782788217068], "std": [0.1027611494064331], "count": [1499]}, "next.done": {"min": [false], "max": [true], "mean": [0.00066711140760507], "std": [0.025819883229304372], "count": [1499]}, "timestamp": {"min": [0.0], "max": [74.9], "mean": [37.45], "std": [21.636196523418807], "count": [1499]}, "frame_index": {"min": [0], "max": [1498], "mean": [749.0], "std": [432.7239304683761], "count": [1499]}, "episode_index": {"min": [91], "max": [91], "mean": [91.0], "std": [0.0], "count": [1499]}, "index": {"min": [108145], "max": [109643], "mean": [108894.0], "std": [432.7239304683761], "count": [1499]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1499]}}} +{"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": [[[0.5191225306322741]], [[0.5026435143847889]], [[0.47284018559668267]]], "std": [[[0.24188844409154278]], [[0.2258374881029203]], [[0.2295610587353864]]], "count": [173]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4489760953039995]], [[0.46047072113877613]], [[0.45137021020333484]]], "std": [[[0.2936378225462526]], [[0.25328471820896864]], [[0.24176377685533412]]], "count": [173]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49970002635379474]], [[0.5105131368713829]], [[0.5020442619786354]]], "std": [[[0.29450658010955477]], [[0.25394612853067533]], [[0.24417335597356546]]], "count": [173]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [970]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [970]}, "observation.state": {"min": [2.2386092880170287, -4.732139705697296, 0.6999916059067725, 0.0, 0.0, -1.0, 2.1163277779123746e-05, -0.043057945605573966, -0.2685795544987144, 0.25978831014977954, -0.9895748496055603, -0.05973683297634125, -0.5173811912536621, 0.00488503510132432, 0.008934388563477731, -0.040065524945046234], "max": [3.318479053704559, -0.9023777655955225, 0.7003764258560561, 0.0, 0.0, 1.0, 0.9999991655349731, 0.5562484287254017, 0.015214632623017366, 0.8663720926593776, -0.6071503758430481, 0.5428482294082642, -0.039179954677820206, 0.5058519244194031, 0.040041728467249564, -0.005207242585550752], "mean": [2.8205671858202552, -2.422333495263696, 0.7001564284328431, 0.0, 0.0, -0.5960485695870881, 0.44286901275109, 0.17636233613710878, -0.1100093457315144, 0.6364781220487562, -0.8103166395855933, 0.35442208948823595, -0.31275417850420034, 0.28096340071006687, 0.023959422578531578, -0.02228327445729097], "std": [0.32564907570600277, 1.4407393231800827, 0.0001135799053923089, 0.0, 0.0, 0.529207449452348, 0.4105272479335658, 0.17296582742758745, 0.07620105600681114, 0.14694532305829117, 0.08219004618999946, 0.1270027528345284, 0.10277985512919108, 0.08699261254592251, 0.013499781255889423, 0.014394230952685228], "count": [970]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.6357142857142857, -1.0, -0.2857142857142857, -0.32857142857142857, -0.4285714285714286, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.7642857142857143, 1.0, 0.3942857142857143, 0.48571428571428577, 0.3171428571428571, 1.0], "mean": [0.09781296023564069, -0.07091310751104565, 0.05914285714285712, 0.0, -0.15257731958762888, 0.004469808541973501, -0.014948453608247427, 0.009749631811487452, 0.004547864506627398, -0.006347569955817384, -0.004273932253313714, 0.13814432989690723], "std": [0.4398440219777997, 0.3988182725766273, 0.26777030423480996, 0.0, 0.9882915367175081, 0.41163983921712893, 0.16120464376204244, 0.3274220153140582, 0.06853597107448268, 0.10483844264517757, 0.07260384995319329, 0.9904121082243231], "count": [970]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01649484597146511], "std": [0.12736861407756805], "count": [970]}, "next.done": {"min": [false], "max": [true], "mean": [0.0010309278350515464], "std": [0.03209151013664614], "count": [970]}, "timestamp": {"min": [0.0], "max": [48.45], "mean": [24.225], "std": [14.00073658776566], "count": [970]}, "frame_index": {"min": [0], "max": [969], "mean": [484.5], "std": [280.01473175531316], "count": [970]}, "episode_index": {"min": [92], "max": [92], "mean": [92.0], "std": [0.0], "count": [970]}, "index": {"min": [109644], "max": [110613], "mean": [110128.5], "std": [280.01473175531316], "count": [970]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [970]}}} +{"episode_index": 93, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0196078431372549]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44336628253701743]], [[0.39802300009049263]], [[0.36147232245506666]]], "std": [[[0.23679391560209848]], [[0.22303217447438248]], [[0.22156351198065607]]], "count": [197]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4140049618963722]], [[0.3494499479156947]], [[0.3041005558785816]]], "std": [[[0.23586615783625958]], [[0.21727693766853226]], [[0.22033748513130155]]], "count": [197]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4217487762350935]], [[0.35662653230014246]], [[0.3113511907243961]]], "std": [[[0.24026600142826013]], [[0.2208207853207701]], [[0.2245534616316437]]], "count": [197]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1149]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1149]}, "observation.state": {"min": [0.7591988331900389, -4.720656041389884, 0.6999922093369214, 0.0, 0.0, 0.16609351336956024, 0.7005816102027893, -0.009926551106824721, -0.2685553725072838, 0.28496775770066674, -0.988384485244751, -0.0835692286491394, -0.5417833924293518, 0.00021884265879634768, 0.0047488643167332345, -0.04000827439618977], "max": [3.7501207825951304, -0.8083792495071368, 0.7002349212721494, 0.0, 0.0, 0.7135722637176514, 0.9861099720001221, 0.654328066342778, 0.18156445664635867, 0.8501609099410725, 0.9860170483589172, 0.5926632285118103, 0.5107472538948059, 0.26557010412216187, 0.04008977319698624, -0.002539844910723179], "mean": [1.8008433463493425, -2.7757079791726373, 0.7000499801355814, 0.0, 0.0, 0.6076941706104004, 0.7810966140607629, 0.17958698341213458, -0.04247372774235417, 0.6991812292866111, -0.5172461739719381, 0.3014130247505568, -0.1535827094855985, 0.15838912603727473, 0.02281164969554559, -0.022089645405414866], "std": [1.0133277967305119, 1.6052601556331432, 6.249231411100478e-05, 0.0, 0.0, 0.12231180095559807, 0.07507124055622032, 0.16360388933253267, 0.08341857130978722, 0.1348661010507606, 0.6777721077962159, 0.14445627790236334, 0.32412416706105934, 0.08736530534773285, 0.015561850716713838, 0.015767203905947314], "count": [1149]}, "action": {"min": [-1.0, -1.0, -0.5028571428571429, 0.0, -1.0, -1.0, -0.9071428571428573, -0.8500000000000001, -0.32571428571428573, -0.5028571428571429, -0.3914285714285714, -1.0], "max": [1.0, 1.0, 0.45999999999999996, 0.0, 1.0, 0.7571428571428572, 0.7642857142857143, 1.0, 0.6771428571428572, 0.30857142857142855, 0.3628571428571429, 1.0], "mean": [0.03039910481163739, -0.07946040034812887, -0.0022951634962078897, 0.0, -0.04960835509138381, 0.005364913589456662, -0.012047743379336083, -0.0008454556757428682, 0.004928509262712925, -0.00624642546313564, -0.002272783787144103, 0.07571801566579635], "std": [0.5530592466726305, 0.4785966747960681, 0.13855533622712946, 0.0, 0.9987687475612765, 0.36802438297435575, 0.18703268748798713, 0.29129327919348147, 0.07588140218966449, 0.08095205078807889, 0.07319054886260237, 0.9971292705079078], "count": [1149]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.013925151899456978], "std": [0.11718038469552994], "count": [1149]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008703220191470844], "std": [0.029488380062832754], "count": [1149]}, "timestamp": {"min": [0.0], "max": [57.4], "mean": [28.700000000000003], "std": [16.58438020146266], "count": [1149]}, "frame_index": {"min": [0], "max": [1148], "mean": [574.0], "std": [331.68760402925324], "count": [1149]}, "episode_index": {"min": [93], "max": [93], "mean": [93.0], "std": [0.0], "count": [1149]}, "index": {"min": [110614], "max": [111762], "mean": [111188.0], "std": [331.68760402925324], "count": [1149]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1149]}}} +{"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": [[[0.515066191278787]], [[0.46604791898522396]], [[0.4411373946786687]]], "std": [[[0.21984286358684385]], [[0.22060552439828768]], [[0.21775279140324724]]], "count": [166]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5198846832787261]], [[0.4954077295510166]], [[0.47350494975940066]]], "std": [[[0.23135645460364535]], [[0.2257914450958662]], [[0.22101080084904817]]], "count": [166]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5252527663647467]], [[0.5034820560245347]], [[0.4837798545976184]]], "std": [[[0.24021222416194224]], [[0.2360827492229502]], [[0.2322796005682144]]], "count": [166]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [919]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [919]}, "observation.state": {"min": [0.5628815409590471, -3.8124590062513497, 0.6999922242909181, 0.0, 0.0, -0.3688971698284149, 0.6732733249664307, -0.1296324366047088, -0.5151704871510097, 0.4057602481240974, -0.9911487698554993, -0.02416832745075226, -0.5331114530563354, 0.017182784155011177, 0.008733068711087321, -0.03939505686023859], "max": [2.761953223473306, -0.7905168138760966, 0.7023329768320214, 0.0, 0.0, 0.7393936514854431, 0.9999994039535522, 0.4739980220062566, -0.0025766051732613038, 0.8950171728117229, -0.486505389213562, 0.8126829266548157, -0.09225226193666458, 0.5897272229194641, 0.0412728272982215, 0.0016433429682496295], "mean": [1.5235540048065899, -2.3297742479879893, 0.7006390190105877, 0.0, 0.0, 0.6124886067414917, 0.7412227353930344, 0.10847399737801725, -0.1172925595409694, 0.673618841137383, -0.6730026995785477, 0.5429256776665967, -0.24374182960900181, 0.3838346649500439, 0.022706051828635488, -0.019924327386359107], "std": [0.8268144694693932, 1.1171511233167186, 0.0007020708432752122, 0.0, 0.0, 0.26049320894380135, 0.08711977389416248, 0.18712296392327765, 0.1182548097149344, 0.11841715301789887, 0.08764101581175075, 0.14027793895127677, 0.07860322981882967, 0.10964776654152125, 0.013577844715787653, 0.014213483624052756], "count": [919]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -1.0, -1.0, -0.24, -0.7714285714285716, -0.3942857142857143, -1.0], "max": [1.0, 1.0, 0.9257142857142858, 0.0, 1.0, 1.0, 1.0, 1.0, 0.43428571428571433, 0.7885714285714286, 0.37714285714285717, 1.0], "mean": [0.11288667806622107, -0.11120006217938751, 0.004088294730296893, 0.0, -0.062023939064200215, 0.0043136950101041426, -0.0016166640758588577, -0.014518886988963165, 0.008139281828073998, -0.005897714907508161, -0.0015575936577024642, 0.21871599564744287], "std": [0.5507967395252013, 0.48403938386046313, 0.24551377230235877, 0.0, 0.998074662028331, 0.4831812904720567, 0.2858315205949166, 0.3313187326261975, 0.07946859860924371, 0.15431079161816785, 0.08531800596128848, 0.975788559703363], "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": [94], "max": [94], "mean": [94.0], "std": [0.0], "count": [919]}, "index": {"min": [111763], "max": [112681], "mean": [112222.0], "std": [265.29229163320974], "count": [919]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [919]}}} +{"episode_index": 95, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5747957459350928]], [[0.5646703322060637]], [[0.5529569705995191]]], "std": [[[0.2594794443770786]], [[0.2610125929607202]], [[0.25882245743840543]]], "count": [224]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.011764705882352941]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5705771221834071]], [[0.5561756828585926]], [[0.5485504719389587]]], "std": [[[0.2706528576173044]], [[0.2712447521432816]], [[0.27045841133469606]]], "count": [224]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.565310612312552]], [[0.5450182423204267]], [[0.532598060052268]]], "std": [[[0.2732185924641567]], [[0.2730020555148269]], [[0.27264592617328465]]], "count": [224]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1365]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1365]}, "observation.state": {"min": [1.2437138043616038, -6.01240037426219, 0.6999833082360406, 0.0, 0.0, -0.6134293079376221, 0.6400617361068726, -0.030016816938755464, -0.08692215346298804, 0.28085223546783544, -0.9892415404319763, -0.0603003203868866, -0.5221179723739624, 0.006852293852716684, 0.0053773586343360815, -0.03965607098238775], "max": [3.0261025889109052, -0.79871329393298, 0.7002053368186467, 0.0, 0.0, 0.7683234810829163, 1.0, 0.5423241622470876, 0.13326289948663805, 0.8741344244266166, -0.7529782652854919, 0.4468269348144531, 0.03175003081560135, 0.534399688243866, 0.040100864519354074, -0.0035766995501776357], "mean": [1.8066770302209696, -3.1835060117297314, 0.7000135402448253, 0.0, 0.0, 0.4561327951073505, 0.7712162855343941, 0.17679213494337667, -0.012926417580616509, 0.6591692436900679, -0.8671394949430947, 0.26477854667784095, -0.22914421042434244, 0.2896200238327895, 0.022229885584842467, -0.020765308345047567], "std": [0.6601003701627856, 2.1627386605247922, 3.279270088409031e-05, 0.0, 0.0, 0.4333028939646503, 0.09704080065308762, 0.19570437496906418, 0.046586218012220786, 0.14038643073985668, 0.05336795866863232, 0.13419903751187656, 0.10304254504927458, 0.1004952820326018, 0.014735209093634839, 0.015204505090352123], "count": [1365]}, "action": {"min": [-1.0, -1.0, -0.9085714285714286, 0.0, -1.0, -1.0, -1.0, -1.0, -0.48571428571428577, -0.76, -0.45999999999999996, -1.0], "max": [1.0, 1.0, 0.7285714285714285, 0.0, 1.0, 1.0, 0.8785714285714286, 1.0, 0.4714285714285714, 0.9485714285714286, 0.4914285714285715, 1.0], "mean": [0.27153846153846145, -0.13118785975928834, 0.006911564625850339, 0.0, -0.040293040293040296, 0.0009733124018838345, 0.003448456305599162, 0.006504447933019344, 0.0035311355311355287, -0.0033846153846153813, 0.0005086342229199359, 0.19706959706959706], "std": [0.43883781784408293, 0.4272674585285789, 0.2922094207018409, 0.0, 0.999187905703396, 0.39425523808082835, 0.1364933771496929, 0.28700852183149417, 0.08953988658514263, 0.10940464867347932, 0.07318566172354188, 0.9803895011222963], "count": [1365]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011721611954271793], "std": [0.10762999206781387], "count": [1365]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007326007326007326], "std": [0.027056681776731702], "count": [1365]}, "timestamp": {"min": [0.0], "max": [68.2], "mean": [34.1], "std": [19.70207264900489], "count": [1365]}, "frame_index": {"min": [0], "max": [1364], "mean": [682.0], "std": [394.04145298009786], "count": [1365]}, "episode_index": {"min": [95], "max": [95], "mean": [95.0], "std": [0.0], "count": [1365]}, "index": {"min": [112682], "max": [114046], "mean": [113364.0], "std": [394.04145298009786], "count": [1365]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1365]}}} +{"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": [[[0.5756481067554371]], [[0.5742908548538055]], [[0.5606272812172668]]], "std": [[[0.20389452112044545]], [[0.195391575531798]], [[0.19624807843924374]]], "count": [148]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5627359953265249]], [[0.5564949282275727]], [[0.5397341931883343]]], "std": [[[0.24342371682170022]], [[0.22615813886411346]], [[0.2113867821440388]]], "count": [148]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.580326109432833]], [[0.5744091500917565]], [[0.5584075939863777]]], "std": [[[0.23897980348368758]], [[0.22344176320524503]], [[0.2114515496690984]]], "count": [148]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [787]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [787]}, "observation.state": {"min": [1.9934027714332725, -4.342750217687166, 0.699992719664016, 0.0, 0.0, -0.7072508335113525, 0.6572139263153076, 0.08757304711314928, -0.24360272297009944, 0.2605480313039932, -0.9884245991706848, -0.0635191798210144, -0.5781636238098145, 0.0005401895032264292, 0.007188920569051151, -0.04008959547112192], "max": [3.29968073935089, -3.1586301940257364, 0.7001626656228994, 0.0, 0.0, 0.7537040710449219, 0.9999983310699463, 0.5606078631981797, 0.0014365213675908706, 0.8691164772483793, 0.9191456437110901, 0.3265272378921509, 0.4823704957962036, 0.3163577616214752, 0.040033261066610634, -0.009266463932382446], "mean": [2.820543356308019, -3.754038544042503, 0.7000158386117711, 0.0, 0.0, -0.018526575335785462, 0.7806763093838092, 0.23175249653848407, -0.08471490961551832, 0.6765289875595071, -0.8238699983762816, 0.12132322926457682, -0.3782753157115801, 0.1643684761608469, 0.027014511789831157, -0.026104205564507467], "std": [0.42786738179784745, 0.5044894698353832, 3.019876879646087e-05, 0.0, 0.0, 0.6164799539904123, 0.1007657635750277, 0.14752883250537457, 0.04764061338105889, 0.15495940267924693, 0.29380649542628984, 0.11572505363340077, 0.1662616243817524, 0.09514316018220915, 0.012459592047838811, 0.012870750809871436], "count": [787]}, "action": {"min": [-1.0, -0.8857142857142857, -0.7371428571428571, 0.0, -1.0, -1.0, -0.7285714285714285, -1.0, -0.4257142857142857, -0.6485714285714286, -0.2, -1.0], "max": [1.0, 0.9, 0.8199999999999998, 0.0, 1.0, 0.7142857142857143, 0.8428571428571429, 1.0, 0.5571428571428572, 0.35714285714285715, 0.2914285714285714, 1.0], "mean": [-0.024106008349972778, 0.018469776728988918, 0.0652967870756943, 0.0, -0.2681067344345616, 0.0015066255218732884, -0.019822109275730637, 0.006661826102740974, 0.003579597023053189, -0.005805046287892541, 0.007769105100744238, 0.0063532401524777635], "std": [0.33356928994374624, 0.21812334176735362, 0.33854752278142786, 0.0, 0.9633892146743387, 0.4731503584518481, 0.1667524938449246, 0.3839541729296617, 0.1034972659568781, 0.11031673244482641, 0.05705174623178307, 0.9999798179661271], "count": [787]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.020330367609858513], "std": [0.14112776517868042], "count": [787]}, "next.done": {"min": [false], "max": [true], "mean": [0.0012706480304955528], "std": [0.035623496236025884], "count": [787]}, "timestamp": {"min": [0.0], "max": [39.3], "mean": [19.65], "std": [11.359357376189905], "count": [787]}, "frame_index": {"min": [0], "max": [786], "mean": [393.0], "std": [227.1871475237981], "count": [787]}, "episode_index": {"min": [96], "max": [96], "mean": [96.0], "std": [0.0], "count": [787]}, "index": {"min": [114047], "max": [114833], "mean": [114440.0], "std": [227.1871475237981], "count": [787]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [787]}}} +{"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": [[[0.5308528349431783]], [[0.5080909810390315]], [[0.46335146399299076]]], "std": [[[0.1967367341832481]], [[0.16515114016824342]], [[0.14881811022106878]]], "count": [193]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.523366346265271]], [[0.5035827472395714]], [[0.4709781248710219]]], "std": [[[0.22194054980563122]], [[0.19027061312261306]], [[0.17065158130597943]]], "count": [193]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5522741833777614]], [[0.5372754476109887]], [[0.507599264817498]]], "std": [[[0.24337258696637368]], [[0.22049447113666568]], [[0.20516402316373972]]], "count": [193]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1118]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1118]}, "observation.state": {"min": [-0.15886413477661318, -5.507833682431192, 0.6999904146420375, 0.0, 0.0, -0.999943733215332, 0.0012304299743846059, -0.11948595675360174, -0.5397894613251486, 0.5264277052657544, -0.9881412386894226, -0.023511916399002075, -0.39775171875953674, 0.01918298378586769, 0.007552661996272404, -0.04005763577409805], "max": [3.8216115655869705, -2.632338902181158, 0.7002152801100971, 0.0, 0.0, 0.9999992847442627, 1.0, 0.40675464225538827, 0.020797614964799038, 0.710180192738827, -0.5058751702308655, 0.7304790616035461, -0.14980901777744293, 0.4936436116695404, 0.04007159980750566, -0.006282734744832084], "mean": [1.9739045277126048, -3.6358938434268273, 0.700051029439084, 0.0, 0.0, 0.187433360028084, 0.8045945949836847, 0.030470639871880426, -0.20935472405803002, 0.6224218941127199, -0.6819185629513694, 0.5718586776332266, -0.30262932094723677, 0.25190246212321177, 0.02142035667918623, -0.019616128962380765], "std": [1.3708640318842558, 0.7995224621097808, 5.829976334971138e-05, 0.0, 0.0, 0.4983297685765189, 0.2629899653812142, 0.1555488710273032, 0.10700117385155553, 0.04784940660645802, 0.1089990566793874, 0.15603869458592687, 0.04808866911805732, 0.11993324318410015, 0.013051065482755968, 0.013788351658641595], "count": [1118]}, "action": {"min": [-1.0, -1.0, -1.0, 0.0, -1.0, -1.0, -0.8642857142857142, -0.4285714285714286, -0.43428571428571433, -0.37714285714285717, -0.4657142857142857, -1.0], "max": [1.0, 1.0, 0.76, 0.0, 1.0, 1.0, 1.0, 0.8428571428571429, 0.6657142857142857, 0.8285714285714287, 0.29714285714285715, 1.0], "mean": [0.3683938154868387, 0.10698952210580118, -0.1783695374393048, 0.0, 0.1556350626118068, -0.001801686685407623, -0.015940454893943263, 0.0019550217224635915, 0.007030411449016106, 0.0009941221569128556, -0.007191413237924858, 0.32558139534883723], "std": [0.5395530403312931, 0.48261597523057975, 0.30697861895602513, 0.0, 0.9878146219234707, 0.38377657291117795, 0.2657548043544174, 0.17655522226061104, 0.10078983354880129, 0.09245295864402513, 0.0723770998136178, 0.9455140162909822], "count": [1118]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.014311269856989384], "std": [0.11877061426639557], "count": [1118]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008944543828264759], "std": [0.029894051819442585], "count": [1118]}, "timestamp": {"min": [0.0], "max": [55.85], "mean": [27.924999999999997], "std": [16.136933568680266], "count": [1118]}, "frame_index": {"min": [0], "max": [1117], "mean": [558.5], "std": [322.7386713736053], "count": [1118]}, "episode_index": {"min": [97], "max": [97], "mean": [97.0], "std": [0.0], "count": [1118]}, "index": {"min": [114834], "max": [115951], "mean": [115392.5], "std": [322.7386713736053], "count": [1118]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1118]}}} +{"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": [[[0.5036800432249723]], [[0.4759271385556176]], [[0.4484951597012503]]], "std": [[[0.23247905444960407]], [[0.23300313552464516]], [[0.24086491531799656]]], "count": [210]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4608324742250416]], [[0.4256580142636482]], [[0.3932193018809086]]], "std": [[[0.24879217543481935]], [[0.2373601918317955]], [[0.2432779060128888]]], "count": [210]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.46217586371299824]], [[0.43219612100211174]], [[0.4022192003836039]]], "std": [[[0.25658154178435383]], [[0.24875540737756846]], [[0.2548257975840577]]], "count": [210]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1249]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1249]}, "observation.state": {"min": [0.759863573884031, -4.858443393283661, 0.6999942032727638, 0.0, 0.0, -1.0, 8.216837699137614e-08, 0.025836760689485594, -0.4198057916318536, 0.24896815401967964, -0.9889735579490662, -0.4182572364807129, -0.6068312525749207, 0.002025915076956153, 0.00607864822234955, -0.040036281295876074], "max": [3.7442136260819217, -3.061083840785482, 0.7007304662441031, 0.0, 0.0, 1.0, 0.8355562686920166, 0.5313945635269974, 0.044781027275180074, 0.8584072430930502, 0.9751492142677307, 0.48674219846725464, 0.4049006700515747, 0.2704942524433136, 0.04008129039720067, -0.004676398973353323], "mean": [2.192443527420509, -3.9548818742470124, 0.7000287978714256, 0.0, 0.0, -0.2373850598060388, 0.11186612901522903, 0.16609780772411825, -0.08551250317795758, 0.658896177787702, -0.5092668899352117, 0.22654675079690065, -0.22307460641173768, 0.16272528201909817, 0.024370745407765914, -0.02262895131943738], "std": [1.2323243764664737, 0.512124680290224, 0.00011831445771992071, 0.0, 0.0, 0.9378172389890275, 0.22722928733691947, 0.1279132254113334, 0.10276935462203492, 0.13965042418477217, 0.7055196043968098, 0.1481926883106876, 0.2945638464194425, 0.08121061124789951, 0.01383868297439171, 0.014315690415487034], "count": [1249]}, "action": {"min": [-1.0, -1.0, -0.7371428571428571, 0.0, -1.0, -1.0, -1.0, -0.6571428571428571, -0.29428571428571426, -0.36, -0.2542857142857143, -1.0], "max": [1.0, 1.0, 0.56, 0.0, 1.0, 0.5785714285714286, 1.0, 1.0, 0.4371428571428572, 0.43428571428571433, 0.22285714285714286, 1.0], "mean": [0.02209767814251406, -0.07854855312821683, -0.004428685805787489, 0.0, 0.01200960768614892, -0.003968889397232052, -0.0020301955850394763, -0.002333295207594653, 0.0014800411757977822, -0.0008075031453734394, -0.00038888253459910653, 0.18174539631705364], "std": [0.46048697319342397, 0.39686532070213304, 0.18880234861106188, 0.0, 0.9999278820611063, 0.3122574470990627, 0.22979699202017184, 0.2514949925992592, 0.06125839748744124, 0.07826500647345033, 0.042589262422580064, 0.983345621293733], "count": [1249]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01281024795025587], "std": [0.1124550849199295], "count": [1249]}, "next.done": {"min": [false], "max": [true], "mean": [0.0008006405124099279], "std": [0.02828426218199471], "count": [1249]}, "timestamp": {"min": [0.0], "max": [62.4], "mean": [31.200000000000003], "std": [18.027756377319946], "count": [1249]}, "frame_index": {"min": [0], "max": [1248], "mean": [624.0], "std": [360.5551275463989], "count": [1249]}, "episode_index": {"min": [98], "max": [98], "mean": [98.0], "std": [0.0], "count": [1249]}, "index": {"min": [115952], "max": [117200], "mean": [116576.0], "std": [360.5551275463989], "count": [1249]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1249]}}} +{"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": [[[0.6017858252382583]], [[0.48208145293044397]], [[0.4208566885272306]]], "std": [[[0.18555175630413226]], [[0.2295095844710186]], [[0.23934018521257072]]], "count": [243]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5859243857892309]], [[0.48819303491796023]], [[0.4314988070343074]]], "std": [[[0.204097029968698]], [[0.22271017295534834]], [[0.2396728387509206]]], "count": [243]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.578841248026466]], [[0.5013734683145538]], [[0.4530267771321733]]], "std": [[[0.19906802820903083]], [[0.2212077390637809]], [[0.23939646058400949]]], "count": [243]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1523]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1523]}, "observation.state": {"min": [-3.462901168175742, -5.616691077525202, 0.6999863307718616, 0.0, 0.0, -0.9999808073043823, 0.0015362401027232409, -0.06071948696644969, -0.2032555626854795, 0.2821931634544699, -0.9937430024147034, -0.43001437187194824, -0.5865688920021057, 0.0019495395245030522, 0.005076735696666754, -0.040537151599110914], "max": [-0.7469201934848683, -1.977113906658513, 0.7006541445488413, 0.0, 0.0, 0.9999988079071045, 1.0, 0.5230213052454633, 0.11372660793285094, 0.8111987692185954, 0.9894478917121887, 0.5142166018486023, 0.49459460377693176, 0.37263721227645874, 0.04046131993446684, -0.0031400188908662545], "mean": [-1.9449919098394397, -4.024003428930756, 0.7000559335227943, 0.0, 0.0, 0.3270633110400781, 0.7772617980934745, 0.13881834590432518, -0.04758375326688527, 0.6784945479238399, -0.5207255061175271, 0.30801823933854044, -0.20259351303061554, 0.2256159868851293, 0.023706337951868574, -0.02256564678813216], "std": [1.010654697482729, 1.201687156368946, 0.00011973337000741091, 0.0, 0.0, 0.48197769435349047, 0.23788907566497836, 0.15230872828773398, 0.062496392369951206, 0.13215018351071176, 0.6475861266947068, 0.1308081127706606, 0.3130751206425713, 0.08676647574864901, 0.01357926883941794, 0.014621354879153645], "count": [1523]}, "action": {"min": [-1.0, -1.0, -0.5885714285714285, 0.0, -1.0, -1.0, -0.7714285714285714, -0.5, -0.1657142857142857, -0.5828571428571429, -0.28285714285714286, -1.0], "max": [1.0, 1.0, 0.7542857142857143, 0.0, 1.0, 0.8285714285714285, 0.8428571428571429, 1.0, 0.5085714285714286, 0.5428571428571428, 0.7142857142857143, 1.0], "mean": [0.09075133664759392, 0.11658381014914182, 0.01808085545446014, 0.0, -0.07419566644780039, -0.01229246787355781, -0.007147547134415152, -0.0044836319294625235, 0.011800018759966233, -0.0003057874495825914, 0.0020129443767001294, 0.21076822061720288], "std": [0.412930054793797, 0.39788274250924693, 0.22416871598124447, 0.0, 0.9972437029534702, 0.33040024813217717, 0.1475510396088313, 0.24189557805856543, 0.06582590483344813, 0.09244161223201483, 0.09761020898291128, 0.9775360643873333], "count": [1523]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01050558127462864], "std": [0.10195692628622055], "count": [1523]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006565988181221273], "std": [0.025615770457165017], "count": [1523]}, "timestamp": {"min": [0.0], "max": [76.1], "mean": [38.050000000000004], "std": [21.982606760800685], "count": [1523]}, "frame_index": {"min": [0], "max": [1522], "mean": [761.0], "std": [439.65213521601373], "count": [1523]}, "episode_index": {"min": [99], "max": [99], "mean": [99.0], "std": [0.0], "count": [1523]}, "index": {"min": [117201], "max": [118723], "mean": [117962.0], "std": [439.65213521601373], "count": [1523]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1523]}}} +{"episode_index": 100, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5146264379553314]], [[0.423441164129892]], [[0.35814323117682206]]], "std": [[[0.16775033710232265]], [[0.18617326107857313]], [[0.19640831960692304]]], "count": [231]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5379445041584935]], [[0.4563263315062057]], [[0.39848786294080846]]], "std": [[[0.1885876639845809]], [[0.20860981765251776]], [[0.2235313279968609]]], "count": [231]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5475903153490326]], [[0.4649459161475906]], [[0.40804364792348047]]], "std": [[[0.18211893803021517]], [[0.2054686869029284]], [[0.22306356787921763]]], "count": [231]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1421]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1421]}, "observation.state": {"min": [1.2936480929851464, -5.187311405855182, 0.6999951557336913, 0.0, 0.0, -1.0, 5.70127485843841e-05, -0.08618533613913915, -0.3930362581603639, 0.2632110620838274, -0.9868307113647461, -0.07871600985527039, -0.5096076726913452, 0.0032982444390654564, 0.008429367148313601, -0.04069352505090255], "max": [4.226400673606961, -0.8733489600217221, 0.7010533662980205, 0.0, 0.0, 0.9997112154960632, 0.9999972581863403, 0.5682298868357979, 6.067025899159084e-05, 0.8856306209237115, 0.8994788527488708, 0.6694144010543823, 0.4597114622592926, 0.577542781829834, 0.04008705115597934, -0.0073465478471131385], "mean": [3.2079123534022815, -2.859034480213283, 0.700283196433172, 0.0, 0.0, 0.47170952934510274, 0.6698805440281307, 0.06901641794240773, -0.0979912372892045, 0.6845558033314237, -0.7531595470870069, 0.3331705766253535, -0.28701691350607655, 0.28161352484032803, 0.02307753109846824, -0.021414597330409898], "std": [0.9272662905754483, 1.638001760604878, 0.00022177516950301206, 0.0, 0.0, 0.5552141779112443, 0.14313417460200614, 0.18550684630997163, 0.10414347167874868, 0.1356015392810237, 0.25393249900420484, 0.19479981084477266, 0.1556431761399835, 0.18278319760992173, 0.013380219785767337, 0.014240135138419659], "count": [1421]}, "action": {"min": [-1.0, -1.0, -0.17142857142857143, 0.0, -1.0, -1.0, -1.0, -1.0, -0.6571428571428571, -0.6285714285714286, -0.5457142857142857, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 0.9928571428571428, 1.0, 1.0, 0.3057142857142857, 0.7171428571428572, 0.37714285714285717, 1.0], "mean": [0.2398461847793305, -0.20108575449884386, 0.15258872021715086, 0.0, 0.028852920478536243, -0.0020056298381421677, -0.010646426058107979, -0.008861968432693268, 0.0009791897054388236, -0.007525887202171507, -0.004940182969739625, 0.2076002814919071], "std": [0.47992750695833214, 0.5435712884326204, 0.27337690736159564, 0.0, 0.9995836678236769, 0.37126482949905387, 0.22522870538737766, 0.28781247331559723, 0.10129416052317414, 0.10641721935757843, 0.08402766350237374, 0.9782137410221096], "count": [1421]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011259675957262516], "std": [0.10551254451274872], "count": [1421]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007037297677691766], "std": [0.026518569572718892], "count": [1421]}, "timestamp": {"min": [0.0], "max": [71.0], "mean": [35.5], "std": [20.510363234228688], "count": [1421]}, "frame_index": {"min": [0], "max": [1420], "mean": [710.0], "std": [410.20726468457383], "count": [1421]}, "episode_index": {"min": [100], "max": [100], "mean": [100.0], "std": [0.0], "count": [1421]}, "index": {"min": [118724], "max": [120144], "mean": [119434.0], "std": [410.20726468457383], "count": [1421]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1421]}}} +{"episode_index": 101, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.00784313725490196]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.6345218615143169]], [[0.5641920600841248]], [[0.5086423366718534]]], "std": [[[0.18187685556278127]], [[0.20774801287171454]], [[0.23301234600675766]]], "count": [228]}, "observation.images.robot0_agentview_left": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00784313725490196]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5941192647949051]], [[0.5256882970998245]], [[0.47666976109869835]]], "std": [[[0.22059386350089444]], [[0.2416707152452783]], [[0.2555963895664403]]], "count": [228]}, "observation.images.robot0_agentview_right": {"min": [[[0.00784313725490196]], [[0.00784313725490196]], [[0.00392156862745098]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.623725174889763]], [[0.5429815598767691]], [[0.48771392276371556]]], "std": [[[0.20837785595356859]], [[0.24420243827790247]], [[0.26619316434522944]]], "count": [228]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1393]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1393]}, "observation.state": {"min": [-1.4427325574764476, -4.021794103762941, 0.6999934190277087, 0.0, 0.0, -0.1284133940935135, 0.03360382094979286, 0.00043291880576024067, -0.21327552610241352, 0.2647115226090936, -0.9878612756729126, -0.3403383493423462, -0.5586137175559998, 0.002193644642829895, 0.005422921113499578, -0.040098746992473365], "max": [3.162930308368717, -0.7443382093877725, 0.7006847236005264, 0.0, 0.0, 0.9994352459907532, 0.9999995231628418, 0.5390083264958192, 0.060646586663929414, 0.8215367796784119, 0.8900797367095947, 0.546358048915863, 0.556602954864502, 0.42084601521492004, 0.04004806636469565, -0.0032807220329532007], "mean": [0.7791459384615458, -2.115711831402995, 0.7002631210486769, 0.0, 0.0, 0.45059550021208783, 0.7395399899542203, 0.16843872047823835, -0.027103440950941107, 0.6664125034796256, -0.8219388550934994, 0.12377989298563079, -0.36455650950667673, 0.20065282795702596, 0.0200480952608976, -0.018718367396189806], "std": [1.8119746771624656, 1.0621554468945993, 0.00021776970885178552, 0.0, 0.0, 0.4029725639963621, 0.2960699608011044, 0.1404888391346967, 0.05885005248403279, 0.14237202536839397, 0.22776917806654126, 0.235178912290817, 0.13493831842997248, 0.10264396503238767, 0.015205104675315724, 0.016158562173557864], "count": [1393]}, "action": {"min": [-1.0, -1.0, -0.56, 0.0, -1.0, -1.0, -1.0, -0.8, -0.3457142857142857, -0.4314285714285714, -0.3742857142857143, -1.0], "max": [1.0, 1.0, 0.6885714285714286, 0.0, 1.0, 0.8785714285714286, 0.7642857142857143, 1.0, 0.5457142857142857, 0.4285714285714286, 0.5485714285714286, 1.0], "mean": [0.2929289303661165, 0.24711311660342514, -0.01698287355143062, 0.0, 0.06389088298636038, 0.0016613680648138623, -0.009686186032201831, 0.0077838170444057215, 0.004627217721259351, 0.00713978053532971, -0.004233411957747922, 0.23618090452261306], "std": [0.48821332607573786, 0.4544446838653801, 0.24705204060943706, 0.0, 0.9979568903871555, 0.3316086190135469, 0.16426925932337674, 0.25980683049220354, 0.0764333936483551, 0.06879421677330019, 0.07789492687504247, 0.9717091027354252], "count": [1393]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011486001312732697], "std": [0.10655549168586731], "count": [1393]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007178750897343862], "std": [0.02678357229889107], "count": [1393]}, "timestamp": {"min": [0.0], "max": [69.6], "mean": [34.800000000000004], "std": [20.106217943710845], "count": [1393]}, "frame_index": {"min": [0], "max": [1392], "mean": [696.0], "std": [402.1243588742169], "count": [1393]}, "episode_index": {"min": [101], "max": [101], "mean": [101.0], "std": [0.0], "count": [1393]}, "index": {"min": [120145], "max": [121537], "mean": [120841.0], "std": [402.1243588742169], "count": [1393]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1393]}}} +{"episode_index": 102, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.43070745407515715]], [[0.3355696198720195]], [[0.29213112513395056]]], "std": [[[0.21122739717944328]], [[0.18408804944979634]], [[0.1919268109906236]]], "count": [219]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4318225656694345]], [[0.3674167078048757]], [[0.32659159812411515]]], "std": [[[0.21999212499402418]], [[0.20501585115775425]], [[0.21186167567012001]]], "count": [219]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.44126624757061605]], [[0.3753630487928887]], [[0.33120808361872145]]], "std": [[[0.23802295985677965]], [[0.22617971159270495]], [[0.2342158167025165]]], "count": [219]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1327]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1327]}, "observation.state": {"min": [1.4210088741568123, -4.971080036630619, 0.699983097139491, 0.0, 0.0, -0.9999998807907104, 0.00047840463230386376, -0.07304424461478765, -0.20912134358456846, 0.25037897017240296, -0.9942734837532043, -0.12611162662506104, -0.5504903197288513, 0.00021290364384185523, 0.005866655445656078, -0.0400760441568327], "max": [3.66639896046039, -0.9242304314211365, 0.7002239330004675, 0.0, 0.0, 0.9998952150344849, 0.9999831914901733, 0.5906639038232346, 0.1427931263743467, 0.8519045464617523, 0.919934868812561, 0.43748486042022705, 0.6173737049102783, 0.3643019497394562, 0.04007062399183968, -0.005729860329684506], "mean": [2.5597264279892626, -2.933909499851905, 0.7000409055232375, 0.0, 0.0, 0.55894241433804, 0.7240022229657196, 0.12641163267785874, -0.07502460660128839, 0.6981829111186093, -0.5355883689418985, 0.14737305427482458, -0.15070592941043964, 0.1545299046494946, 0.023927627831262226, -0.023301650797328478], "std": [0.6382833706487127, 1.6649156186587053, 5.593749714652253e-05, 0.0, 0.0, 0.3831958622140335, 0.12870541549651635, 0.1789641114542065, 0.07006180642829057, 0.12967182357057272, 0.6938922068643699, 0.08656717795004237, 0.38712016400301297, 0.0774094280500847, 0.013931292636170226, 0.014203777076550506], "count": [1327]}, "action": {"min": [-1.0, -1.0, -0.14285714285714285, 0.0, -1.0, -1.0, -1.0, -0.7571428571428572, -0.38, -0.34, -0.24, -1.0], "max": [1.0, 1.0, 0.6742857142857143, 0.0, 1.0, 0.8785714285714286, 0.8857142857142857, 1.0, 0.5057142857142857, 0.26, 0.47714285714285715, 1.0], "mean": [0.10873075680912897, -0.026913553665625988, 0.08580686833889549, 0.0, 0.01281085154483798, 0.0031327376466788615, -0.005985574335235227, 0.011212186457099779, -0.0011992679513402977, -0.0022951878566045848, 0.0024243729141995908, 0.15146948003014318], "std": [0.5563875034143622, 0.38073314404559533, 0.18413971166080997, 0.0, 0.9999179376742409, 0.39088740505876596, 0.16464913276043483, 0.2913408267749559, 0.0852203517939846, 0.06780557288905446, 0.06341770201067458, 0.9884619348358457], "count": [1327]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.012057271786034107], "std": [0.10914164036512375], "count": [1327]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007535795026375283], "std": [0.02744105720577713], "count": [1327]}, "timestamp": {"min": [0.0], "max": [66.3], "mean": [33.150000000000006], "std": [19.153589741873454], "count": [1327]}, "frame_index": {"min": [0], "max": [1326], "mean": [663.0], "std": [383.0717948374691], "count": [1327]}, "episode_index": {"min": [102], "max": [102], "mean": [102.0], "std": [0.0], "count": [1327]}, "index": {"min": [121538], "max": [122864], "mean": [122201.0], "std": [383.0717948374691], "count": [1327]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1327]}}} +{"episode_index": 103, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5985583977460343]], [[0.5247427364174837]], [[0.45902999472358386]]], "std": [[[0.18580180441541885]], [[0.1961830850614102]], [[0.2081810305675332]]], "count": [225]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5744495469303172]], [[0.4844273277399067]], [[0.4244402863413161]]], "std": [[[0.1952159741843486]], [[0.21665842402503027]], [[0.23565131995053681]]], "count": [225]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.573260320925245]], [[0.48980565049913194]], [[0.4349260370923543]]], "std": [[[0.21480154470524068]], [[0.2346186451418141]], [[0.2533589648718949]]], "count": [225]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1373]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1373]}, "observation.state": {"min": [1.3378048347455844, -4.283724711666986, 0.6999943949720163, 0.0, 0.0, -0.9999791383743286, 0.006462522782385349, 0.03719075423683138, -0.3434052194869168, 0.2542284975507888, -0.9902362823486328, -0.2341092824935913, -0.5192641615867615, 0.0024652830325067043, 0.00449674617483625, -0.04004337465122381], "max": [3.6098596585643894, -0.8810889748338009, 0.7006860661345651, 0.0, 0.0, 0.9998980760574341, 0.9999855756759644, 0.6149061779922241, 0.007816229523978091, 0.8751873802225152, 0.9747030735015869, 0.4256832003593445, 0.5226954817771912, 0.23868577182292938, 0.04056951241883652, -0.0033125960971847643], "mean": [2.5633972431571657, -2.464403358835378, 0.7001532406316633, 0.0, 0.0, 0.5889678730996352, 0.7125331352750424, 0.19567318199177502, -0.09489520467102151, 0.6711709977364343, -0.8522407297487252, 0.16778036513557767, -0.2750690667635645, 0.12796474309320693, 0.0206541771804056, -0.01970971997767703], "std": [0.6199461037119892, 1.3715868680661225, 0.00014100982249938004, 0.0, 0.0, 0.3645124427827501, 0.1120002124658905, 0.1508912978512312, 0.0744437319240728, 0.12809437648654717, 0.311461516784796, 0.15495074900454472, 0.167817618184542, 0.0657019808636608, 0.01516230959307175, 0.01545676699936463], "count": [1373]}, "action": {"min": [-1.0, -1.0, -0.22, 0.0, -1.0, -1.0, -0.5857142857142857, -0.8285714285714285, -0.26285714285714284, -0.3942857142857143, -0.2285714285714286, -1.0], "max": [1.0, 1.0, 0.7314285714285714, 0.0, 1.0, 0.7714285714285714, 0.7285714285714285, 1.0, 0.35714285714285715, 0.41428571428571437, 0.23142857142857146, 1.0], "mean": [0.09864218083446047, -0.0861252731245448, 0.07749245656019138, 0.0, -0.04734158776402039, -0.0032358755592550316, -0.005072312974716463, 0.006612215170117552, -0.0007012797835813131, -0.004453230673186979, -0.0009759650400582684, 0.22505462490895847], "std": [0.4799157275367177, 0.40073065868641233, 0.1903390360292869, 0.0, 0.9988787584426799, 0.33145335688814453, 0.15308227737617242, 0.3016743574287931, 0.06028783238079643, 0.09864231459084234, 0.056909250688883105, 0.9743461478381733], "count": [1373]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011653314344584942], "std": [0.10731969028711319], "count": [1373]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007283321194464676], "std": [0.02697779923882321], "count": [1373]}, "timestamp": {"min": [0.0], "max": [68.6], "mean": [34.3], "std": [19.817542733648892], "count": [1373]}, "frame_index": {"min": [0], "max": [1372], "mean": [686.0], "std": [396.35085467297785], "count": [1373]}, "episode_index": {"min": [103], "max": [103], "mean": [103.0], "std": [0.0], "count": [1373]}, "index": {"min": [122865], "max": [124237], "mean": [123551.0], "std": [396.35085467297785], "count": [1373]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1373]}}} +{"episode_index": 104, "stats": {"observation.images.robot0_eye_in_hand": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5356886878891848]], [[0.5286785426842261]], [[0.5115409241182951]]], "std": [[[0.23449010992115346]], [[0.2156413938185291]], [[0.21591491634746182]]], "count": [234]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4771984677628814]], [[0.483461226892767]], [[0.47465527308972133]]], "std": [[[0.26974594506035937]], [[0.23153082950406792]], [[0.2207533687976941]]], "count": [234]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5000459126657391]], [[0.5024643933970824]], [[0.4913574384967746]]], "std": [[[0.263292722024093]], [[0.2278803479487627]], [[0.21862369512950122]]], "count": [234]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1448]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1448]}, "observation.state": {"min": [-1.638428510697876, -4.485109504751727, 0.6999964830999099, 0.0, 0.0, -0.9999881982803345, 0.0003958072338718921, -0.1074573738334399, -0.4621350454766895, 0.2477804914535866, -0.9865971803665161, -0.04836055636405945, -0.6000174880027771, 0.023752957582473755, 0.0067720406935177346, -0.04008422353708955], "max": [3.244738983615258, -0.7626416651933875, 0.7007789835744134, 0.0, 0.0, 1.0, 0.9999994039535522, 0.588767735157179, 0.12213696855267964, 0.8575306308665963, -0.43675246834754944, 0.6750457286834717, -0.033392056822776794, 0.5350217223167419, 0.040042486546350585, -0.00023472233696933184], "mean": [0.9169946790096155, -2.1083531605134564, 0.7004284682878185, 0.0, 0.0, 0.3723141642285605, 0.7691904988726326, 0.11441607514088246, -0.09330577442137516, 0.6783635049208568, -0.7370515728359064, 0.4197356619805262, -0.32071801258549504, 0.2823229945684109, 0.02289634231695485, -0.020750296032256862], "std": [1.957706135284154, 1.1806167230827778, 0.00018420437529848872, 0.0, 0.0, 0.453411209022539, 0.25327145114724503, 0.20674598266745514, 0.10917938680873336, 0.14902889650714676, 0.15970183514642985, 0.17827537539932392, 0.12230303875022198, 0.16051734027918216, 0.013719649787264651, 0.015096051568811282], "count": [1448]}, "action": {"min": [-1.0, -1.0, -0.7828571428571428, 0.0, -1.0, -1.0, -0.942857142857143, -0.8714285714285716, -0.44285714285714284, -0.37142857142857144, -0.34, -1.0], "max": [1.0, 1.0, 1.0, 0.0, 1.0, 1.0, 0.9857142857142858, 1.0, 0.37142857142857144, 0.34, 0.3914285714285714, 1.0], "mean": [0.2101223362273086, 0.14599940805051306, -0.020367008681925786, 0.0, 0.011049723756906077, -0.001154301499605368, -0.010808011049723766, -0.0023480662983425397, 0.008508287292817667, -0.0007123125493291209, -0.0005840568271507505, 0.19475138121546962], "std": [0.5638796349158377, 0.5224243652840369, 0.22784004072333272, 0.0, 0.9999389499388918, 0.37821973400844205, 0.2213609126183409, 0.28173553696381787, 0.08154685094171117, 0.06860763478294273, 0.06906350879688543, 0.9808526390415062], "count": [1448]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.01104972418397665], "std": [0.1045352891087532], "count": [1448]}, "next.done": {"min": [false], "max": [true], "mean": [0.0006906077348066298], "std": [0.026270340609958885], "count": [1448]}, "timestamp": {"min": [0.0], "max": [72.35], "mean": [36.175000000000004], "std": [20.90007476063184], "count": [1448]}, "frame_index": {"min": [0], "max": [1447], "mean": [723.5], "std": [418.00149521263677], "count": [1448]}, "episode_index": {"min": [104], "max": [104], "mean": [104.0], "std": [0.0], "count": [1448]}, "index": {"min": [124238], "max": [125685], "mean": [124961.5], "std": [418.00149521263677], "count": [1448]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1448]}}} +{"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": [[[0.5012538849612411]], [[0.3727130245048271]], [[0.3459608853167076]]], "std": [[[0.22103467965362247]], [[0.22807311612604214]], [[0.24977155786532906]]], "count": [227]}, "observation.images.robot0_agentview_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.49778414124331244]], [[0.3732462902518868]], [[0.3411067064082137]]], "std": [[[0.23335796170071962]], [[0.24912957261324525]], [[0.266329297598794]]], "count": [227]}, "observation.images.robot0_agentview_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.512345116107773]], [[0.39424407054818417]], [[0.3639842661837588]]], "std": [[[0.23197979374961847]], [[0.2565814405090722]], [[0.2747344115516857]]], "count": [227]}, "annotation.human.task_description": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1391]}, "annotation.human.task_name": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1391]}, "observation.state": {"min": [0.7618789736420453, -4.613183871979364, 0.6999642363203781, 0.0, 0.0, -1.0, 1.6759769323471119e-06, -0.005513490717238945, -0.3129149015746071, 0.25320498390063895, -0.9895010590553284, -0.39485877752304077, -0.5785653591156006, 0.00246859691105783, 0.009831389605637293, -0.04009315319114735], "max": [4.432690574629548, -0.9023701698311701, 0.7003410353350549, 0.0, 0.0, 1.0, 0.9999940395355225, 0.5802123228903401, 0.02389579471932768, 0.8764569482805948, 0.9278455376625061, 0.4106593728065491, 0.469827264547348, 0.2914656400680542, 0.04006828526002666, -0.006500691912845959], "mean": [2.554390392845286, -2.1817937327511543, 0.7000575326543638, 0.0, 0.0, 0.17227493172864972, 0.13880353143755955, 0.1667663491726023, -0.10471837084194123, 0.6631297172759978, -0.5732455777230664, 0.2717423118292043, -0.25697439541540756, 0.15572343574884387, 0.022023453579975313, -0.02066095816888764], "std": [1.4699375679387006, 1.0013783697221863, 7.862623700815936e-05, 0.0, 0.0, 0.9367747272149792, 0.27112370879206577, 0.15317474943344062, 0.07597734846435909, 0.13437543594859427, 0.6348299251709278, 0.11811926968563159, 0.2948269104570313, 0.058102446511398065, 0.013183310089703363, 0.014299304314630406], "count": [1391]}, "action": {"min": [-1.0, -1.0, -0.19142857142857142, 0.0, -1.0, -1.0, -0.6857142857142858, -0.8, -0.24571428571428575, -0.4228571428571429, -0.2714285714285714, -1.0], "max": [1.0, 1.0, 0.5971428571428572, 0.0, 1.0, 0.8642857142857142, 0.8857142857142857, 1.0, 0.5685714285714286, 0.23428571428571432, 0.26, 1.0], "mean": [0.14476738215055968, 0.024468522132073494, 0.08068398890828798, 0.0, -0.02228612508986341, 0.0004518845640340889, -0.0061774673924206765, 0.0013351134846462033, 0.0036438328027113107, -0.0004087501283762979, -0.0004005340453938565, 0.26383896477354424], "std": [0.5214318604800279, 0.3552842698448064, 0.17786373116904228, 0.0, 0.9997516334712757, 0.31103878628081183, 0.15941992909319727, 0.24111809326015932, 0.07998120145530446, 0.07108940862645514, 0.057153211732659887, 0.9645667424638005], "count": [1391]}, "next.reward": {"min": [0.0], "max": [1.0], "mean": [0.011502516455948353], "std": [0.10663117468357086], "count": [1391]}, "next.done": {"min": [false], "max": [true], "mean": [0.0007189072609633358], "std": [0.026802806444726452], "count": [1391]}, "timestamp": {"min": [0.0], "max": [69.5], "mean": [34.75], "std": [20.077350422802308], "count": [1391]}, "frame_index": {"min": [0], "max": [1390], "mean": [695.0], "std": [401.54700845604617], "count": [1391]}, "episode_index": {"min": [105], "max": [105], "mean": [105.0], "std": [0.0], "count": [1391]}, "index": {"min": [125686], "max": [127076], "mean": [126381.0], "std": [401.54700845604617], "count": [1391]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1391]}}} diff --git a/pretrain/composite/PortionOnSize/20250806/lerobot/meta/info.json b/pretrain/composite/PortionOnSize/20250806/lerobot/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..e7563ed8f771a1a8abc07d72e7d4d60aec7f59c9 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/meta/info.json @@ -0,0 +1,179 @@ +{ + "codebase_version": "v2.1", + "robot_type": "PandaOmron", + "total_episodes": 106, + "total_frames": 127077, + "total_tasks": 1, + "total_videos": 318, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 20, + "splits": { + "train": "0:106" + }, + "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/PortionOnSize/20250806/lerobot/meta/modality.json b/pretrain/composite/PortionOnSize/20250806/lerobot/meta/modality.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cf7a673c0f30723a873f2ae19bba98a2a97496 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/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/PortionOnSize/20250806/lerobot/meta/stats.json b/pretrain/composite/PortionOnSize/20250806/lerobot/meta/stats.json new file mode 100644 index 0000000000000000000000000000000000000000..1ba0e946a2748da598c6f2a97b3c0c61e7ba567a --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/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": [ + 2.5256714820861816, + -2.9452147483825684, + 0.7005788087844849, + 0.0, + 0.0, + 0.21109195053577423, + 0.6586353182792664, + 0.1595233529806137, + -0.05397728830575943, + 0.6621554493904114, + -0.5977219343185425, + 0.2686764597892761, + -0.24146999418735504, + 0.19411388039588928, + 0.022967446595430374, + -0.021527230739593506 + ], + "std": [ + 1.8087561130523682, + 1.5510594844818115, + 0.0005380696384236217, + 0.0, + 0.0, + 0.6434683203697205, + 0.32793760299682617, + 0.17204616963863373, + 0.100503109395504, + 0.14124318957328796, + 0.5684857964515686, + 0.2522658407688141, + 0.26952090859413147, + 0.12289915233850479, + 0.014204580336809158, + 0.014709333889186382 + ], + "min": [ + -3.569713592529297, + -7.4575910568237305, + 0.6998269557952881, + 0.0, + 0.0, + -1.0, + 0.0, + -0.18551811575889587, + -0.5397894382476807, + 0.23731587827205658, + -0.9963849782943726, + -0.9345121383666992, + -0.8462925553321838, + 2.636800672917161e-05, + 0.00018764090782497078, + -0.041397687047719955 + ], + "max": [ + 7.305666923522949, + -0.16527396440505981, + 0.70402592420578, + 0.0, + 0.0, + 1.0, + 1.0, + 0.6988335251808167, + 0.5744289755821228, + 0.9290308952331543, + 0.998359203338623, + 0.9950456023216248, + 0.8719630241394043, + 0.7229040861129761, + 0.04324595630168915, + 0.003508628811687231 + ], + "q01": [ + -1.9659420251846313, + -6.751964092254639, + 0.6999947428703308, + 0.0, + 0.0, + -1.0, + 0.00010956204641843215, + -0.11457069218158722, + -0.34752124547958374, + 0.28307387232780457, + -0.982239842414856, + -0.6673409342765808, + -0.5965459942817688, + 0.005216022953391075, + 0.004723601508885622, + -0.040068261325359344 + ], + "q99": [ + 6.513916969299316, + -0.7499628663063049, + 0.7018312215805054, + 0.0, + 0.0, + 0.9999995231628418, + 1.0, + 0.5744906067848206, + 0.19573459029197693, + 0.8723399639129639, + 0.9619330167770386, + 0.8729934692382812, + 0.5201600790023804, + 0.5272572636604309, + 0.04007486626505852, + -0.0035554885398596525 + ] + }, + "action": { + "mean": [ + 0.1600712090730667, + 0.02831544727087021, + 0.02219502441585064, + 0.0, + -0.0141725093126297, + -0.0017442231765016913, + -0.006232418119907379, + 0.0024580892641097307, + 0.004300394095480442, + -0.003483555745333433, + -0.0018175857840105891, + 0.20179103314876556 + ], + "std": [ + 0.501503050327301, + 0.44143185019493103, + 0.2555388808250427, + 0.0, + 0.9998602271080017, + 0.386143296957016, + 0.1952914148569107, + 0.3026677370071411, + 0.08292072266340256, + 0.10213236510753632, + 0.08143726736307144, + 0.9799925684928894 + ], + "min": [ + -1.0, + -1.0, + -1.0, + 0.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -1.0, + -0.9514285922050476, + -1.0 + ], + "max": [ + 1.0, + 1.0, + 1.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 1.0, + 0.808571457862854, + 1.0 + ], + "q01": [ + -1.0, + -1.0, + -0.6971428394317627, + 0.0, + -1.0, + -1.0, + -0.699999988079071, + -0.7642857432365417, + -0.25782856345176697, + -0.38285714387893677, + -0.28857141733169556, + -1.0 + ], + "q99": [ + 1.0, + 1.0, + 0.7714285850524902, + 0.0, + 1.0, + 0.9142857193946838, + 0.7285714149475098, + 1.0, + 0.3171428442001343, + 0.3257142901420593, + 0.2914285659790039, + 1.0 + ] + }, + "next.reward": { + "mean": [ + 0.0133698470890522 + ], + "std": [ + 0.11485248059034348 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 1.0 + ] + }, + "next.done": { + "mean": [ + 0.000834139937069267 + ], + "std": [ + 0.02886943519115448 + ], + "min": [ + 0.0 + ], + "max": [ + 1.0 + ], + "q01": [ + 0.0 + ], + "q99": [ + 0.0 + ] + }, + "timestamp": { + "mean": [ + 31.314672470092773 + ], + "std": [ + 19.86469841003418 + ], + "min": [ + 0.0 + ], + "max": [ + 116.44999694824219 + ], + "q01": [ + 0.550000011920929 + ], + "q99": [ + 85.4000015258789 + ] + }, + "frame_index": { + "mean": [ + 626.29345703125 + ], + "std": [ + 397.29400634765625 + ], + "min": [ + 0.0 + ], + "max": [ + 2329.0 + ], + "q01": [ + 11.0 + ], + "q99": [ + 1708.0 + ] + }, + "episode_index": { + "mean": [ + 52.92255783081055 + ], + "std": [ + 30.950347900390625 + ], + "min": [ + 0.0 + ], + "max": [ + 105.0 + ], + "q01": [ + 1.0 + ], + "q99": [ + 105.0 + ] + }, + "index": { + "mean": [ + 63538.0 + ], + "std": [ + 36683.96875 + ], + "min": [ + 0.0 + ], + "max": [ + 127076.0 + ], + "q01": [ + 1270.760009765625 + ], + "q99": [ + 125805.2421875 + ] + }, + "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/PortionOnSize/20250806/lerobot/meta/tasks.jsonl b/pretrain/composite/PortionOnSize/20250806/lerobot/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93c20c01dce6bd9714b76715f94ebd8e1b450cc0 --- /dev/null +++ b/pretrain/composite/PortionOnSize/20250806/lerobot/meta/tasks.jsonl @@ -0,0 +1,2 @@ +{"task_index": 0, "task": "Take the smaller bowl and place it next to the appetizer plate on the dining counter , and place the larger bowl next to the plate with cooked food."} +{"task_index": 1, "task": "PortionOnSize"}